Skip to content
This repository has been archived by the owner on Jan 13, 2025. It is now read-only.

Mechanism initial and idle requests #140

Merged
merged 1 commit into from
Dec 14, 2024
Merged

Conversation

rcahoon
Copy link
Member

@rcahoon rcahoon commented Oct 3, 2024

Description

Add customization points for a Mechanism to specify an Initial request and Idle request.

The Initial request will be set as the request when the Mechanism is first created. If the Mechanism also defines an Idle request, then the Initial request will only be passed to the first call to run() (after that, the Idle request may take over). Otherwise, the Initial request will be passed to run() until something calls setRequest() on the Mechanism.

The Idle request will be set as the request for the Mechanism when no Procedures are reserving the Mechanism.

Each Mechanism is required to have an Initial request; specifying an Idle request is optional. If no Idle request is specified, the Mechanism will continue to run its last request after the reservation ends.

How Has This Been Tested?

  • Unit tests: Unit tests for new functionality are included
  • Simulator testing: [Add your description here]
  • On-robot bench testing: [Add your description here]
  • On-robot field testing: [Add your description here]

@rcahoon rcahoon requested a review from dejabot October 3, 2024 05:55
@rcahoon rcahoon force-pushed the rcahoon/mf3-idle-requests branch 2 times, most recently from b945597 to 34a7f84 Compare December 13, 2024 05:24
@rcahoon rcahoon force-pushed the rcahoon/mf3-idle-requests branch from 34a7f84 to ab6b83a Compare December 14, 2024 09:59
@rcahoon rcahoon merged commit 2edf45c into mf3-dev Dec 14, 2024
2 checks passed
@rcahoon rcahoon deleted the rcahoon/mf3-idle-requests branch December 14, 2024 10:04
Sign up for free to subscribe to this conversation on GitHub. Already have an account? Sign in.
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

2 participants