Don't call preRun when stop is pressed during init phase

[monkbroc]

Pull Requests

Small fix for #34 to only call preRun() if the start button was pressed. When stop is pressed during init, neither preRun() nor run() should be called.

What kind of change does this PR introduce?

• Fix

Did this PR introduce a breaking change?

• No

[Copilot]

Pull request overview

Fixes CommandOpMode’s lifecycle so preRun() (and therefore run()) is only entered when the OpMode actually transitions into the active/running state (i.e., the Start button was pressed), avoiding an unintended preRun() call when Stop is pressed during init.

Changes:

• Guarded the preRun() + run-loop block with opModeIsActive() so it only executes after Start.
• Preserved existing init-loop behavior and ensured end()/reset() still run via the existing finally block.

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[ArushYadlapati]

Ah, that makes sense. However, why does the while loop need to be in the if loop?
From my understanding, because the if statement condition and the while loop condition is active:

if (opModeIsActive()) {
    preRun();
    while (opModeIsActive()) {
        run();
    }
}

should be the same as:

if (opModeIsActive()) {
    preRun();
}    
while (opModeIsActive()) {
    run();
}

[monkbroc]

Yes, both are equivalent. I just picked the first pattern because it's what the FTC SDK uses in the samples.

See ConceptAprilTag.java

        if (opModeIsActive()) {
            // put prerun things here
            while (opModeIsActive()) {
                telemetryAprilTag();
                telemetry.update();
                // ...
            }
        }

[ArushYadlapati]

Ah, I see - that makes sense, I will merge this in. Do note that end() will still run if stop is pressed during init.