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

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Change-Id: I07fde4b1bd2fae0c2e2a04336639b44ec715628a
This commit is contained in:
Colby Skeggs
2014-12-09 02:30:34 +00:00
parent ac60198842
commit 1c24096cc9
7 changed files with 55 additions and 21 deletions
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25
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
View File

@@ -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();

16
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
View File

@@ -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) {