Package io.github.frc5024.libkontrol.statemachines

Class StateMachine<T>

java.lang.Object

io.github.frc5024.libkontrol.statemachines.StateMachine<T>

public class StateMachine<T>
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field	Description
java.util.HashMap<T,StateHandler<T>>	allStates
T	defaultStateKey
T	desiredStateKey
T	lastStateKey

Constructor Summary

Constructors

Constructor	Description
StateMachine(java.lang.String name)	Create a StateMachine

Method Summary

Modifier and Type	Method	Description
void	addState(T key, java.util.function.Consumer<StateMetadata<T>> action)	Add a state to the StateMachine
T	getCurrentState()	Get the system's current state
void	removeState(T key)	Remove a state from the StateMachine
void	setConsoleHook(java.util.function.Consumer<java.lang.String> hook)	Deprecated, for removal: This API element is subject to removal in a future version.
void	setDefaultState(T key, java.util.function.Consumer<StateMetadata<T>> action)	Add a state to the StateMachine, and set it as the default.
void	setState(T key)	Set the StateMachine's state
void	update()	Update the machine.

Methods inherited from class java.lang.Object

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

Field Detail

defaultStateKey

public T defaultStateKey

allStates

public java.util.HashMap<T,StateHandler<T>> allStates

lastStateKey

public T lastStateKey

desiredStateKey

public T desiredStateKey

Constructor Detail

StateMachine

public StateMachine(java.lang.String name)

Create a StateMachine

Parameters:

name - Name of the machine (for logging)

Method Detail

setConsoleHook

@Deprecated(since="July 2020",
            forRemoval=true)
public void setConsoleHook(@Nullable
                           java.util.function.Consumer<java.lang.String> hook)

Deprecated, for removal: This API element is subject to removal in a future version.

Deprecated Method

Parameters:

hook - hook

addState

public void addState(T key,
                     java.util.function.Consumer<StateMetadata<T>> action)

Add a state to the StateMachine

Parameters:

key - State key

action - Action to be run

setDefaultState

public void setDefaultState(T key,
                            java.util.function.Consumer<StateMetadata<T>> action)

Add a state to the StateMachine, and set it as the default. This state will be called upon any error in state handling, or when no state is set.

Parameters:

key - State key

action - Action to be run

removeState

public void removeState(T key)

Remove a state from the StateMachine

Parameters:

key - State key

update

public void update()

Update the machine. This MUST be called periodically

setState

public void setState(T key)

Set the StateMachine's state

Parameters:

key - State key

getCurrentState

@Nullable
public T getCurrentState()

Get the system's current state

Returns:

current state