RoboLib (RoboLibJ - Javadocs)

java.lang.Object
- io.github.robolib.RoboLib

```
public class RoboLib
extends java.lang.Object
```
This Class handles switching of Game Modes better than the default IterativeRobot. It has a more complex program flow, however it runs faster and uses less memory. You must make your own class and have it extend this class to use it. The constructor must call the Super class with either no arguments, or two strings representing the Name of the robot and the version of the code. Handles the Switching of the Game mode and the Execution of the mode. This controls what GameMode the robot should run.

Since:

0.1.0

Author:

noriah

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`RoboLib.Alliance` Enum representation of Alliance
`static class`	`RoboLib.StationID` Enum representation of alliance station location

Field Summary

Fields
Modifier and Type	Field and Description
`static java.lang.String`	`FRC_JAVA_VERSION`
`private static GameMode`	`m_currentMode` The m_current mode.
`private static RobotMode`	`m_currentRobotMode` The m_current robot mode.
`protected static ILogger`	`m_log` The m_log.
`private static java.lang.String`	`m_name` The m_name.
`private static ITable`	`m_table` The m_table.
`private static boolean`	`m_thread_keepAlive`
`private static java.lang.String`	`m_version` The m_version.
`static int`	`MAJOR_VERSION` RoboLibJ Major Version
`static int`	`MINOR_VERSION` RoboLibJ Minor Version
`private static java.util.EnumMap<GameMode,RobotMode>`	`MODES_MAP` The m_modes.
`static int`	`PATCH_VERSION` RoboLibJ Patch Version

Constructor Summary

Constructors
Modifier	Constructor and Description
`protected`	`RoboLib()` Robot Class Method.
`protected`	`RoboLib(java.lang.String name)` Robot Class Method.
`protected`	`RoboLib(java.lang.String name, java.lang.String version)` Robot Class Method.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`private static void`	`checkVersionFile(java.io.File file)` Check version file.
`protected void`	`debug(java.lang.String msg)` Send a message to the Console, and to the Dashboard.
`static void`	`die()` Kill the robot.
`protected void`	`enableDebug(boolean debug)` Enable or Disable Debug Messages.
`protected void`	`enableDebugStatements()` Enable Debug Messages.
`protected void`	`error(java.lang.String msg)` Send out an error to the console.
`protected void`	`error(java.lang.String msg, java.lang.Throwable e)` Send out an error to the console.
`protected void`	`fatal(java.lang.String msg)` Send out fatal message to the console.
`protected void`	`fatal(java.lang.String msg, java.lang.Throwable e)` Send out a fatal message to the console.
`void`	`free()` Free the resources for a RoboLibBot class.
`static RoboLib.Alliance`	`getAlliance()`
`static RobotMode`	`getCurrentRobotMode()` Gets the current `RobotMode`.
`static GameMode`	`getGameMode()` Gets the current `GameMode`.
`static double`	`getMatchTime()` An approxamation of the time left in the current period
`static RobotMode`	`getRobotMode(GameMode mode)` Get the `RobotMode` for the given `GameMode`.
`static ITable`	`getRobotTable()` Get the main NetworkTable table for the robot.
`static RoboLib.StationID`	`getStation()`
`static boolean`	`hasMode(GameMode mode)` Do we have a `RobotMode` for this `GameMode`.
`static boolean`	`isAutonomous()` Determine if the robot is currently in Autonomous mode.
`static boolean`	`isBrownedOut()` Check if the system is browned out.
`static boolean`	`isDisabled()` Determine if the Robot is currently disabled.
`static boolean`	`isEnabled()` Determine if the Robot is currently enabled.
`static boolean`	`isEStopped()` Determine if the robot is currently Emergency stopped.
`static boolean`	`isOperatorControl()` Determine if the robot is currently in Operator Control mode.
`static boolean`	`isSysActive()` Check on the overall status of the system.
`static boolean`	`isTest()` Determine if the robot is currently in Test mode.
`static void`	`main(java.lang.String[] args)` The Main method for the robot.
`protected void`	`msg(java.lang.String msg)` Send a message to the Console, and to the Dashboard.
`static void`	`registerAutonomous(AutonMode aMode, java.lang.String name)`
`void`	`robotInit()` User Initialization code.
`protected static void`	`set(GameMode gMode, RobotMode rMode)` Add the a `RobotMode` to the ModeSwitcher this will overwrite any previous mode that has the same `GameMode`.
`private static void`	`writeVersionFile(java.io.File file)` Write version file.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - MAJOR_VERSION
```
public static final int MAJOR_VERSION
```
    RoboLibJ Major Version
    
    See Also:
    
    Constant Field Values
  - MINOR_VERSION
```
public static final int MINOR_VERSION
```
    RoboLibJ Minor Version
    
    See Also:
    
    Constant Field Values
  - PATCH_VERSION
```
public static final int PATCH_VERSION
```
    RoboLibJ Patch Version
    
    See Also:
    
    Constant Field Values
  - FRC_JAVA_VERSION
```
public static final java.lang.String FRC_JAVA_VERSION
```
    See Also:
    
    Constant Field Values
  - m_currentMode
```
private static GameMode m_currentMode
```
    The m_current mode.
  - m_currentRobotMode
```
private static RobotMode m_currentRobotMode
```
    The m_current robot mode.
  - MODES_MAP
```
private static final java.util.EnumMap<GameMode,RobotMode> MODES_MAP
```
    The m_modes.
  - m_thread_keepAlive
```
private static volatile boolean m_thread_keepAlive
```
  - m_name
```
private static java.lang.String m_name
```
    The m_name.
  - m_version
```
private static java.lang.String m_version
```
    The m_version.
  - m_log
```
protected static ILogger m_log
```
    The m_log.
  - m_table
```
private static ITable m_table
```
    The m_table.
- Constructor Detail
  - RoboLib
```
protected RoboLib()
```
    Robot Class Method.
  - RoboLib
```
protected RoboLib(java.lang.String name)
```
    Robot Class Method.
    
    Parameters:
    
    name - Name of the Robot
  - RoboLib
```
protected RoboLib(java.lang.String name,
                  java.lang.String version)
```
    Robot Class Method.
    
    Parameters:
    
    name - Name of the Robot
    
    version - Version number of the robot code
- Method Detail
  - msg
```
protected void msg(java.lang.String msg)
```
    Send a message to the Console, and to the Dashboard.
    
    Parameters:
    
    msg - The message to be sent.
  - debug
```
protected void debug(java.lang.String msg)
```
    Send a message to the Console, and to the Dashboard.
    
    Parameters:
    
    msg - The message to be sent.
  - enableDebugStatements
```
protected final void enableDebugStatements()
```
    Enable Debug Messages.
  - enableDebug
```
protected final void enableDebug(boolean debug)
```
    Enable or Disable Debug Messages.
    
    Parameters:
    
    debug - Enable or Disable
  - error
```
protected void error(java.lang.String msg)
```
    Send out an error to the console. Crash the Robot. Lets hope we don't get too many of these
    
    Parameters:
    
    msg - The message to be sent with the RuntimeException
  - error
```
protected void error(java.lang.String msg,
                     java.lang.Throwable e)
```
    Send out an error to the console. Crash the Robot. Lets hope we don't get too many of these
    
    Parameters:
    
    msg - The message to be sent with the RuntimeException
    
    e - The throwable object to send with this message
  - fatal
```
protected void fatal(java.lang.String msg)
```
    Send out fatal message to the console. Crash the Robot. Lets hope we don't get too many of these
    
    Parameters:
    
    msg - The message to be sent with the RuntimeException
  - fatal
```
protected void fatal(java.lang.String msg,
                     java.lang.Throwable e)
```
    Send out a fatal message to the console. Crash the Robot. Lets hope we don't get too many of these
    
    Parameters:
    
    msg - The message to be sent with the RuntimeException
    
    e - The throwable object to send with this message
  - die
```
public static void die()
```
    Kill the robot.
  - getRobotTable
```
public static final ITable getRobotTable()
```
    Get the main NetworkTable table for the robot.
    
    Returns:
    
    a networktable ITable
  - robotInit
```
public void robotInit()
```
    User Initialization code. This is run before the robot runs through its modes.
  - main
```
public static final void main(java.lang.String[] args)
```
    The Main method for the robot. Starting point for the applications. Starts the OtaServer and then runs the robot. This is called to start the robot. It should never exit. If it does exit, it will first throw several exceptions to kill the robot. We don't want an out of control robot. Initializes the Game Mode Switcher. This method must be called when ready to start the robot. Checks each Mode to see if there is code to run, if not, a Default class will be added. Main task for the Game Manager
    This method does three main things.
    
    Checks to see whether we need to switch RobotMode or not
    
    If needed, switch the current game mode. This will first call the end() Method of the current RobotMode, then set the current GameMode, call the System Garbace Collector, and then call the new RobotMode init() method.
    
    Finally, Runs the Current RobotMode. Catches any Throwable objects that may be thrown. Any caught Throwable Object is treated as fatal and will kill the RoboLibBot. They are treated as fatal because any uncaught Throwables can only be RuntimeExceptions or Errors, which are Fatal
    
    Parameters:
    
    args - the arguments
    
    See Also:
    
    DisabledMode, TestMode, AutonMode, TeleopMode
  - checkVersionFile
```
private static final void checkVersionFile(java.io.File file)
```
    Check version file.
    
    Parameters:
    
    file - the file
  - writeVersionFile
```
private static final void writeVersionFile(java.io.File file)
```
    Write version file.
    
    Parameters:
    
    file - the file
  - free
```
public void free()
```
    Free the resources for a RoboLibBot class.
  - registerAutonomous
```
public static final void registerAutonomous(AutonMode aMode,
                                            java.lang.String name)
```
  - set
```
protected static final void set(GameMode gMode,
                                RobotMode rMode)
```
    Add the a RobotMode to the ModeSwitcher this will overwrite any previous mode that has the same GameMode.
    
    Parameters:
    
    gMode - the GameMode that this RobotMode will be run at
    
    rMode - the RobotMode to add
    
    See Also:
    
    GameMode, RobotMode
  - getCurrentRobotMode
```
public static final RobotMode getCurrentRobotMode()
```
    Gets the current RobotMode. If there is no current Mode, then something went wrong, and an error mode is returned that will cause the robot to quit.
    
    Returns:
    
    the current RobotMode
  - getGameMode
```
public static final GameMode getGameMode()
```
    Gets the current GameMode.
    
    Returns:
    
    the current GameMode
  - getRobotMode
```
public static final RobotMode getRobotMode(GameMode mode)
```
    Get the RobotMode for the given GameMode.
    
    Parameters:
    
    mode - the mode
    
    Returns:
    
    RobotMode
  - hasMode
```
public static final boolean hasMode(GameMode mode)
```
    Do we have a RobotMode for this GameMode.
    
    Parameters:
    
    mode - the mode
    
    Returns:
    
    boolean do we have it?
  - getMatchTime
```
public static final double getMatchTime()
```
    An approxamation of the time left in the current period
    
    Returns:
    
    Time remaining in current match period (auto or teleop) in seconds
  - getAlliance
```
public static final RoboLib.Alliance getAlliance()
```
  - getStation
```
public static final RoboLib.StationID getStation()
```
  - isDisabled
```
public static final boolean isDisabled()
```
    Determine if the Robot is currently disabled.
    
    Returns:
    
    True if the Robot is currently disabled by the field controls.
  - isEnabled
```
public static final boolean isEnabled()
```
    Determine if the Robot is currently enabled.
    
    Returns:
    
    True if the Robot is currently enabled by the field controls.
  - isAutonomous
```
public static final boolean isAutonomous()
```
    Determine if the robot is currently in Autonomous mode.
    
    Returns:
    
    True if the robot is currently operating Autonomously as determined by the field controls.
  - isTest
```
public static final boolean isTest()
```
    Determine if the robot is currently in Test mode.
    
    Returns:
    
    True if the robot is currently operating in Test mode as determined by the driver station.
  - isEStopped
```
public static final boolean isEStopped()
```
    Determine if the robot is currently Emergency stopped.
    
    Returns:
    
    True if the robot is currently emergency stopped.
  - isOperatorControl
```
public static final boolean isOperatorControl()
```
    Determine if the robot is currently in Operator Control mode.
    
    Returns:
    
    True if the robot is currently operating in Tele-Op mode as determined by the field controls.
  - isSysActive
```
public static final boolean isSysActive()
```
    Check on the overall status of the system.
    
    Returns:
    
    Is the system active (i.e. PWM motor outputs, etc. enabled)?
  - isBrownedOut
```
public static final boolean isBrownedOut()
```
    Check if the system is browned out.
    
    Returns:
    
    True if the system is browned out

Class RoboLib

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

MAJOR_VERSION

MINOR_VERSION

PATCH_VERSION

FRC_JAVA_VERSION

m_currentMode

m_currentRobotMode

MODES_MAP

m_thread_keepAlive

m_name

m_version

m_log

m_table

Constructor Detail

RoboLib

RoboLib

RoboLib

Method Detail

msg

debug

enableDebugStatements

enableDebug

error

error

fatal

fatal

die

getRobotTable

robotInit

main

checkVersionFile

writeVersionFile

free

registerAutonomous

set

getCurrentRobotMode

getGameMode

getRobotMode

hasMode

getMatchTime

getAlliance

getStation

isDisabled

isEnabled

isAutonomous

isTest

isEStopped

isOperatorControl

isSysActive

isBrownedOut