"cycle()" is called by the scheduler thread to perform
MinPlugin activity.
The first "cycle()" is requested by "start()". Later cycles
can be requested by using "tm.trigger()", from either within
"cycle()" itself or from another class (e.g. a blackboard
watcher).
Typically the first "cycle()" is used as an initialization
step, so a "boolean didPrecycle" is kept in the subclass.
This method should not be synchronized, since it is only
called by the scheduler's (synchronized) trigger model.
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