Package frc.alotobots.library.subsystems.vision.oculus.util

Class QuestCommandRetryHandler

java.lang.Object

frc.alotobots.library.subsystems.vision.oculus.util.QuestCommandRetryHandler

public class QuestCommandRetryHandler
extends Object

Handler for retrying Quest commands with proper delays between attempts.

Constructor Summary

Constructors

Constructor	Description
QuestCommandRetryHandler(IntegerPublisher questMosi)	Creates a new command retry handler with default timing values
QuestCommandRetryHandler(IntegerPublisher questMosi, double commandDelaySeconds, double retryDelaySeconds)	Creates a new command retry handler with custom timing values

Method Summary

Modifier and Type	Method	Description
boolean	isCommandActive()	Returns whether a command is currently being executed
void	startRetry(int maxAttempts, int command, int expectedResponse, int clearCommand)	Simplified method that allows skipping callbacks
void	startRetry(int maxAttempts, int command, int expectedResponse, int clearCommand, Runnable onSuccess, Runnable onFailure)	Start a new command retry sequence
void	update(int currentResponse)	Update method to be called in updateInputs

Methods inherited from class java.lang.Object

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

Constructor Details

QuestCommandRetryHandler

public QuestCommandRetryHandler(IntegerPublisher questMosi)

Creates a new command retry handler with default timing values

Parameters:

questMosi - MOSI publisher for sending commands

QuestCommandRetryHandler

public QuestCommandRetryHandler(IntegerPublisher questMosi,
 double commandDelaySeconds,
 double retryDelaySeconds)

Creates a new command retry handler with custom timing values

Parameters:

questMosi - MOSI publisher for sending commands

commandDelaySeconds - Delay between clear and command (seconds)

retryDelaySeconds - Delay between retry attempts (seconds)

Method Details

startRetry

public void startRetry(int maxAttempts,
 int command,
 int expectedResponse,
 int clearCommand,
 Runnable onSuccess,
 Runnable onFailure)

Start a new command retry sequence

startRetry

public void startRetry(int maxAttempts,
 int command,
 int expectedResponse,
 int clearCommand)

Simplified method that allows skipping callbacks

update

public void update(int currentResponse)

Update method to be called in updateInputs

Parameters:

currentResponse - Current response value

isCommandActive

public boolean isCommandActive()

Returns whether a command is currently being executed