NonBlockingDriver.java

/*
 * This file is part of CBCJVM.
 * CBCJVM is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * CBCJVM is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with CBCJVM.  If not, see <http://www.gnu.org/licenses/>.
*/

package cbccore.motors;

import java.util.LinkedList;

/**
 * 
 * @author Braden McDorman
 *
 */

public class NonBlockingDriver extends Thread {
	private IDriver driver = null;
	LinkedList<Drive> drives = new LinkedList<Drive>();

	public NonBlockingDriver(IDriver driver) {
		this.driver = driver;
	}

	public LinkedList<Drive> getDrives() {
		return drives;
	}

	public void run() {
		synchronized (drives) {
			if (!drives.isEmpty()) {
				driver.drive(drives.removeFirst());
			}
		}
		Thread.yield();
	}
	
	public void halt() {
		drives.clear();
	}
}