Threads

Async utilities for running user code on different threads while having control/logging over them.

WARNING: Multithreading is a highly advanced topic where issues such as race conditions can arise. You must be fully aware of the consequences of threading and whether it is necessary for your program. For 99% of use cases, threading is not required for normal robot operation. Also note that there exists a global hardware lock for the SDK, so attempting to multi-thread hardware for loop times will drastically hinder robot performance. Threads are best used for blocking operations that do not access hardware reads and writes.

Tasks are scheduled through the SDK's default cached ThreadPool. Do note that by executing tasks on this pool, exceptions will not be rethrown to the OpMode thread when required (such as when an EmergencyStop is requested). Exceptions are still logged to the DS and Logcat in standard Exceptions fashion, and BunyipsOpMode tries to look for these exceptions manually to terminate the OpMode, but do note the reduced exception safety in a thread.

Threads started via this class are automatically shut down at the end of OpModes, via the stopAll method and a BunyipsLib Hook.