> For the complete documentation index, see [llms.txt](https://marrow.skeletonarmyftc.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://marrow.skeletonarmyftc.com/dev-tools/auto-bulk-caching.md).

# Auto Bulk Caching

package com.skeletonarmy.marrow

### Overview

Marrow can configure [bulk reads](https://gm0.org/en/latest/docs/software/tutorials/bulk-reads.html) for every `OpMode` automatically. You declare the mode once, and Marrow handles setup and cleanup for you.

Bulk caching is **opt-in**. By default, Marrow leaves the hubs untouched (`OFF`).

{% hint style="info" %}
**Tip:** If you're unfamiliar with bulk reads, refer to the [GM0 Bulk Reads](https://gm0.org/en/latest/docs/software/tutorials/bulk-reads.html) explanation for details.
{% endhint %}

{% hint style="danger" %}
This feature is **NOT** compatible with the [PsiKit](https://psilynx.github.io/PsiKit/#/) auto-logger, which provides its own equivalent functionality. If your OpMode uses the auto-logger, refer to [PsiKit's documentation](https://psilynx.github.io/PsiKit/#/ftc-autolog-examples) instead.
{% endhint %}

***

### Usage

#### Enable Globally

To apply a mode to every `OpMode`, set `BulkCachingSettings.defaultMode` when the event loop is created. Create a class like this anywhere:

```java
public final class AutoBulkConfig {
    @OnCreateEventLoop
    public static void configure(Context context, FtcEventLoop ftcEventLoop) {
        BulkCachingSettings.defaultMode = LynxModule.BulkCachingMode.AUTO;
    }
}
```

This enables automatic bulk reads for all OpModes that don't declare their own annotation. Because the global default is `OFF`, any `OpMode` without the annotation stays uncached until you change this value.

#### Enable for a Single OpMode

Annotate the `OpMode` class with `@BulkCaching`. With no arguments the annotation enables `AUTO` mode.

```java
@BulkCaching
@TeleOp(name = "My OpMode")
public class MyOpMode extends OpMode {
    @Override
    public void loop() {
        // Sensor values are read in bulk automatically each cycle.
    }
}
```

Explicitly choose a mode by passing it to the annotation:

```java
// Automatic bulk reads
@BulkCaching(LynxModule.BulkCachingMode.AUTO)

// Manual bulk reads
@BulkCaching(LynxModule.BulkCachingMode.MANUAL)

// Disable bulk caching for this OpMode only
@BulkCaching(LynxModule.BulkCachingMode.OFF)
```

{% hint style="info" %}
**Tip:** Setting a mode on a specific `OpMode` overrides the global config for that `OpMode` only. This is not needed if you enable bulk caching globally.
{% endhint %}

{% hint style="danger" %}
In `MANUAL` mode the cache is not refreshed on its own. Call `LynxUtil.clearBulkCache(hardwareMap)` once per loop, otherwise sensor readings will be stale.
{% endhint %}

***

### Manual Control

The annotation and global setting cover most use cases. `LynxUtil` is available when you need direct control at runtime.

#### Set Bulk Caching Mode

Set the mode for all Lynx modules in a given `HardwareMap`.

```java
LynxUtil.setBulkCachingMode(hardwareMap, LynxModule.BulkCachingMode.AUTO);
```

#### Clear Bulk Cache

Clear the bulk data cache for all Lynx modules. In `MANUAL` mode this is required each loop so subsequent sensor readings are up-to-date.

```java
LynxUtil.clearBulkCache(hardwareMap);
```

{% hint style="info" %}
**Tip:** Clearing the cache is unnecessary in `AUTO` mode, as it automatically updates data each cycle. If you're unfamiliar with bulk reads, refer to the [GM0 Bulk Reads](https://gm0.org/en/latest/docs/software/tutorials/bulk-reads.html) explanation for details.
{% endhint %}


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