Class AutoEnd

java.lang.Object

frc.robot.auton.AutoEnd

public final class AutoEnd
extends Object

Logs why the auto command ended and how long it ran. Nine TXMAN1 autos stopped between 2.5 and 17.9 s, and nothing in those logs said whether the auto finished, was interrupted, or the robot was disabled.

The scheduler's finish and interrupt callbacks run on the main thread inside the scheduler, and every input the reason reads (the Driver Station's enable, E-stop, FMS, DS attached and match time) is an AdvantageKit input, so a replayed log gives the same reason.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	AutoEnd.Ended	How an auto ended, as logged.
static enum	AutoEnd.Reason	Why the auto command ended.

Constructor Summary

Constructors

Constructor	Description
AutoEnd()

Method Summary

Modifier and Type	Method	Description
void	onEnded(Consumer<AutoEnd.Ended> listener)	Sets the one listener told when an auto ends, on the main thread, after it is logged.
void	start(Command command, double timeLimitSeconds)	Schedules an auto and watches how it ends.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AutoEnd

public AutoEnd()

Method Details

onEnded

public void onEnded(Consumer<AutoEnd.Ended> listener)

Sets the one listener told when an auto ends, on the main thread, after it is logged.

Parameters:

listener - told the reason, the interrupting command and the elapsed time

start

public void start(Command command,
 double timeLimitSeconds)

Schedules an auto and watches how it ends.

Parameters:

command - the auto

timeLimitSeconds - cancel it after this long, or Double.POSITIVE_INFINITY