Package com.cdarobotics.cdalib.tasks

Class DeferredTask

java.lang.Object

com.cdarobotics.cdalib.tasks.Task

com.cdarobotics.cdalib.tasks.DeferredTask

public class DeferredTask
extends Task

A task that defers building its inner task until init() is called at runtime. Use this when the task depends on state that isn't known at construction time (e.g., obelisk pattern from AprilTag detection).

Constructor Summary

Constructors

Constructor	Description
DeferredTask(Supplier<Task> taskSupplier)

Method Summary

Modifier and Type	Method	Description
void	init()	Called once before the first Task.run().
boolean	run()	Called every loop after Task.init().
String	toString()

Methods inherited from class com.cdarobotics.cdalib.tasks.Task

alongWith, andThen, raceWith, withDeadline

Methods inherited from class java.lang.Object

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

Constructor Details

DeferredTask

public DeferredTask(Supplier<Task> taskSupplier)

Parameters:

taskSupplier - builds the inner task lazily, when init() is first called.

Method Details

init

public void init()

Description copied from class: Task

Called once before the first Task.run(). Set up state and issue starting commands here.

Specified by:

init in class Task

run

public boolean run()

Description copied from class: Task

Called every loop after Task.init().

Specified by:

run in class Task

Returns:

true when the task is finished, false to keep running.

toString

@NonNull
public String toString()

Specified by:

toString in class Task