Resolved artf3579: robot can no longer be enabled until robotInit() finishes in IterativeRobot; similar options available by overriding prestart() for other base classes.

Change-Id: I07fde4b1bd2fae0c2e2a04336639b44ec715628a

wpilibc/wpilibC++Devices/include/IterativeRobot.h

@@ -60,6 +60,8 @@ public:
 	virtual void TestPeriodic();
 
 protected:
+	virtual void Prestart();
+
 	virtual ~IterativeRobot();
 	IterativeRobot();
 

wpilibc/wpilibC++Devices/include/RobotBase.h

@@ -14,9 +14,10 @@ class DriverStation;
 	int main() \
 	{ \
 		if (!HALInitialize()){std::cerr<<"FATAL ERROR: HAL could not be initialized"<<std::endl;return -1;}	\
-		HALNetworkCommunicationObserveUserProgramStarting(); \
 		HALReport(HALUsageReporting::kResourceType_Language, HALUsageReporting::kLanguage_CPlusPlus); \
-		(new _ClassName_())->StartCompetition(); \
+		_ClassName_ *robot = new _ClassName_(); \
+		robot->Prestart();\
+		robot->StartCompetition(); \
 		return 0; \
 	}
 
@@ -49,6 +50,8 @@ protected:
 	virtual ~RobotBase();
 	RobotBase();
 
+	virtual void Prestart();
+
 	Task *m_task;
 	DriverStation *m_ds;
 

wpilibc/wpilibC++Devices/src/IterativeRobot.cpp

@@ -36,6 +36,11 @@ IterativeRobot::~IterativeRobot()
 {
 }
 
+void IterativeRobot::Prestart() {
+	// Don't immediately say that the robot's ready to be enabled.
+	// See below.
+}
+
 /**
  * Provide an alternate "main loop" via StartCompetition().
  * 
@@ -54,6 +59,12 @@ void IterativeRobot::StartCompetition()
 	NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
 	RobotInit();
 
+    // We call this now (not in Prestart like default) so that the robot
+    // won't enable until the initialization has finished. This is useful
+    // because otherwise it's sometimes possible to enable the robot
+    // before the code is ready.
+	HALNetworkCommunicationObserveUserProgramStarting();
+
 	// loop forever, calling the appropriate mode-dependent function
 	lw->SetEnabled(false);
 	while (true)

wpilibc/wpilibC++Devices/src/RobotBase.cpp

@@ -39,7 +39,7 @@ RobotBase &RobotBase::getInstance()
 
 /**
  * Constructor for a generic robot program.
- * User code should be placed in the constuctor that runs before the Autonomous or Operator
+ * User code should be placed in the constructor that runs before the Autonomous or Operator
  * Control period starts. The constructor will run to completion before Autonomous is entered.
  *
  * This must be used to ensure that the communications code starts. In the future it would be
@@ -88,7 +88,7 @@ bool RobotBase::IsDisabled()
 }
 
 /**
- * Determine if the robot is currently in Autnomous mode.
+ * Determine if the robot is currently in Autonomous mode.
  * @return True if the robot is currently operating Autonomously as determined by the field controls.
  */
 bool RobotBase::IsAutonomous()
@@ -114,6 +114,15 @@ bool RobotBase::IsTest()
     return m_ds->IsTest();
 }
 
+/**
+ * This hook is called right before startCompetition(). By default, tell the DS that the robot is now ready to
+ * be enabled. If you don't want for the robot to be enabled yet, you can override this method to do nothing.
+ */
+void RobotBase::Prestart()
+{
+	HALNetworkCommunicationObserveUserProgramStarting();
+}
+
 /**
  * Indicates if new data is available from the driver station.
  * @return Has new data arrived over the network since the last time this function was called?

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java

@@ -59,6 +59,12 @@ public class IterativeRobot extends RobotBase {
         m_teleopInitialized = false;
         m_testInitialized = false;
     }
+    
+    @Override
+    protected void prestart() {
+    	// Don't immediately say that the robot's ready to be enabled.
+    	// See below.
+    }
 
     /**
      * Provide an alternate "main loop" via startCompetition().
@@ -68,15 +74,12 @@ public class IterativeRobot extends RobotBase {
         UsageReporting.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Iterative);
 
         robotInit();
-
-        // tracing support:
-        final int TRACE_LOOP_MAX = 100;
-        int loopCount = TRACE_LOOP_MAX;
-        Object marker = null;
-        boolean didDisabledPeriodic = false;
-        boolean didAutonomousPeriodic = false;
-        boolean didTeleopPeriodic = false;
-        boolean didTestPeriodic = false;
+        
+        // We call this now (not in prestart like default) so that the robot
+        // won't enable until the initialization has finished. This is useful
+        // because otherwise it's sometimes possible to enable the robot
+        // before the code is ready. 
+        FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
 
         // loop forever, calling the appropriate mode-dependent function
         LiveWindow.setEnabled(false);
@@ -97,7 +100,6 @@ public class IterativeRobot extends RobotBase {
                 if (nextPeriodReady()) {
                 	FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramDisabled();
                     disabledPeriodic();
-                    didDisabledPeriodic = true;
                 }
             } else if (isTest()) {
                 // call TestInit() if we are now just entering test mode from either
@@ -113,7 +115,6 @@ public class IterativeRobot extends RobotBase {
                 if (nextPeriodReady()) {
                 	FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTest();
                     testPeriodic();
-                    didTestPeriodic = true;
                 }
             } else if (isAutonomous()) {
                 // call Autonomous_Init() if this is the first time
@@ -132,7 +133,6 @@ public class IterativeRobot extends RobotBase {
                 if (nextPeriodReady()) {
                     FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramAutonomous();
                     autonomousPeriodic();
-                    didAutonomousPeriodic = true;
                 }
             } else {
                 // call Teleop_Init() if this is the first time
@@ -148,7 +148,6 @@ public class IterativeRobot extends RobotBase {
                 if (nextPeriodReady()) {
                     FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTeleop();
                     teleopPeriodic();
-                    didTeleopPeriodic = true;
                 }
             }
             m_ds.waitForData();

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -130,6 +130,15 @@ public abstract class RobotBase {
 	 */
 	public abstract void startCompetition();
 
+	/**
+	 * This hook is called right before startCompetition(). By default, tell the
+	 * DS that the robot is now ready to be enabled. If you don't want for the
+	 * robot to be enabled yet, you can override this method to do nothing.
+	 */
+	protected void prestart() {
+		FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
+	}
+
 	public static boolean getBooleanProperty(String name, boolean defaultValue) {
 		String propVal = System.getProperty(name);
 		if (propVal == null) {
@@ -149,7 +158,6 @@ public abstract class RobotBase {
 	 */
 	public static void initializeHardwareConfiguration(){
 		FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationReserve();
-		FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
 
 		// Set some implementations so that the static methods work properly
 		Timer.SetImplementation(new HardwareTimer());
@@ -161,8 +169,6 @@ public abstract class RobotBase {
 	 * Starting point for the applications.
 	 */
 	public static void main(String args[]) {
-		boolean errorOnExit = false;
-
 		initializeHardwareConfiguration();
 
 		UsageReporting.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
@@ -182,14 +188,16 @@ public abstract class RobotBase {
 		RobotBase robot;
 		try {
 			robot = (RobotBase) Class.forName(robotName).newInstance();
+			robot.prestart();
 		} catch (Throwable t) {
 			DriverStation.reportError("ERROR Unhandled exception instantiating robot " + robotName + " " + t.toString() + " at " + Arrays.toString(t.getStackTrace()), false);
 			System.err.println("WARNING: Robots don't quit!");
-			System.err.println("ERROR: Could not instantiate robot "+robotName+"!");
+			System.err.println("ERROR: Could not instantiate robot " + robotName + "!");
 			System.exit(1);
 			return;
 		}
 
+		boolean errorOnExit = false;
 		try {
 			robot.startCompetition();
 		} catch (Throwable t) {

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java

@@ -18,6 +18,7 @@ import org.junit.runners.model.MultipleFailureException;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -44,6 +45,7 @@ public abstract class AbstractComsSetup {
 		if (!initialized) {
 			// Set some implementations so that the static methods work properly
 			RobotBase.initializeHardwareConfiguration();
+			FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
 			
 			LiveWindow.setEnabled(false);
 			TestBench.out().println("Started coms");