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[wpilib] Add method to enable/disable LiveWindow in test mode (#4678)

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This commit is contained in:
Starlight220
2022-12-01 23:28:06 +02:00
committed by GitHub
parent eae68fc165
commit 1f1461e254
5 changed files with 146 additions and 12 deletions
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24
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
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@@ -94,6 +94,18 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
m_ntFlushEnabled = enabled;
}
void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
if (IsTest()) {
throw FRC_MakeError(err::IncompatibleMode,
"Can't configure test mode while in test mode!");
}
m_lwEnabledInTest = testLW;
}
bool IterativeRobotBase::IsLiveWindowEnabledInTest() {
return m_lwEnabledInTest;
}
units::second_t IterativeRobotBase::GetPeriod() const {
return m_period;
}
@@ -125,8 +137,10 @@ void IterativeRobotBase::LoopFunc() {
} else if (m_lastMode == Mode::kTeleop) {
TeleopExit();
} else if (m_lastMode == Mode::kTest) {
LiveWindow::SetEnabled(false);
Shuffleboard::DisableActuatorWidgets();
if (m_lwEnabledInTest) {
LiveWindow::SetEnabled(false);
Shuffleboard::DisableActuatorWidgets();
}
TestExit();
}
@@ -141,8 +155,10 @@ void IterativeRobotBase::LoopFunc() {
TeleopInit();
m_watchdog.AddEpoch("TeleopInit()");
} else if (mode == Mode::kTest) {
LiveWindow::SetEnabled(true);
Shuffleboard::EnableActuatorWidgets();
if (m_lwEnabledInTest) {
LiveWindow::SetEnabled(true);
Shuffleboard::EnableActuatorWidgets();
}
TestInit();
m_watchdog.AddEpoch("TestInit()");
}

14
wpilibc/src/main/native/include/frc/IterativeRobotBase.h
View File

@@ -201,6 +201,19 @@ class IterativeRobotBase : public RobotBase {
*/
void SetNetworkTablesFlushEnabled(bool enabled);
/**
* Sets whether LiveWindow operation is enabled during test mode.
*
* @param testLW True to enable, false to disable. Defaults to true.
* @throws if called in test mode.
*/
void EnableLiveWindowInTest(bool testLW);
/**
* Whether LiveWindow operation is enabled during test mode.
*/
bool IsLiveWindowEnabledInTest();
/**
* Gets time period between calls to Periodic() functions.
*/
@@ -228,6 +241,7 @@ class IterativeRobotBase : public RobotBase {
units::second_t m_period;
Watchdog m_watchdog;
bool m_ntFlushEnabled = true;
bool m_lwEnabledInTest = true;
void PrintLoopOverrunMessage();
};