Package com.lightningrobotics.common.fault

Class AbstractFaultMonitor

java.lang.Object

com.lightningrobotics.common.fault.AbstractFaultMonitor

Direct Known Subclasses:

FaultMonitor, TimedFaultMonitor, UnchangingFaultMonitor

public abstract class AbstractFaultMonitor
extends java.lang.Object

Base LightningFaultCodes.Code checking functionality

Field Summary

Fields

Modifier and Type	Field	Description
protected LightningFaultCodes.Code	code
protected boolean	fatal
protected java.lang.String	msg

Constructor Summary

Constructors

Constructor	Description
AbstractFaultMonitor(LightningFaultCodes.Code code)	Creates a new non-fatal abstract fault monitor
AbstractFaultMonitor(LightningFaultCodes.Code code, java.lang.String msg)	Creates a new non-fatal abstract fault monitor
AbstractFaultMonitor(LightningFaultCodes.Code code, java.lang.String msg, boolean fatal)	Creates a new abstract fault monitor

Method Summary

Modifier and Type	Method	Description
boolean	check()	Checks if the fault should be written, and writes the fault if it should
abstract boolean	checkFault()	To be overridden, determines if fault should be written
void	trigger()	Writes the fault.

Methods inherited from class java.lang.Object

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

Field Detail

code

protected LightningFaultCodes.Code code

msg

protected java.lang.String msg

fatal

protected boolean fatal

Constructor Detail

AbstractFaultMonitor

public AbstractFaultMonitor(LightningFaultCodes.Code code,
                            java.lang.String msg,
                            boolean fatal)

Creates a new abstract fault monitor

Parameters:

code - The LightningFaultCodes.Code to be monitored

msg - The message to use should the fault be written

fatal - If the fault is fatal and should stop the robot

AbstractFaultMonitor

public AbstractFaultMonitor(LightningFaultCodes.Code code,
                            java.lang.String msg)

Creates a new non-fatal abstract fault monitor

Parameters:

code - The LightningFaultCodes.Code to be monitored

msg - The message to use should the fault be written

AbstractFaultMonitor

public AbstractFaultMonitor(LightningFaultCodes.Code code)

Creates a new non-fatal abstract fault monitor

Parameters:

code - The LightningFaultCodes.Code to be monitored

Method Detail

checkFault

public abstract boolean checkFault()

To be overridden, determines if fault should be written

Returns:

True if the fault should be written, false otherwise

check

public boolean check()

Checks if the fault should be written, and writes the fault if it should

Returns:

True if the fault should be written, false otherwise

trigger

public void trigger()

Writes the fault. If the fault is fatal, cancles and disables the CommandScheduler