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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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36
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
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@@ -10,6 +10,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.ConcurrentModificationException;
/**
* IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase
@@ -67,6 +68,7 @@ public abstract class IterativeRobotBase extends RobotBase {
private final double m_period;
private final Watchdog m_watchdog;
private boolean m_ntFlushEnabled = true;
private boolean m_lwEnabledInTest = true;
/**
* Constructor for IterativeRobotBase.
@@ -244,6 +246,28 @@ public abstract class IterativeRobotBase extends RobotBase {
m_ntFlushEnabled = enabled;
}
/**
* Sets whether LiveWindow operation is enabled during test mode. Calling
*
* @param testLW True to enable, false to disable. Defaults to true.
* @throws ConcurrentModificationException if this is called during test mode.
*/
public void enableLiveWindowInTest(boolean testLW) {
if (isTest()) {
throw new ConcurrentModificationException("Can't configure test mode while in test mode!");
}
m_lwEnabledInTest = testLW;
}
/**
* Whether LiveWindow operation is enabled during test mode.
*
* @return whether LiveWindow should be enabled in test mode.
*/
public boolean isLiveWindowEnabledInTest() {
return m_lwEnabledInTest;
}
/**
* Gets time period between calls to Periodic() functions.
*
@@ -281,8 +305,10 @@ public abstract class IterativeRobotBase extends RobotBase {
} 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();
}
@@ -297,8 +323,10 @@ public abstract class IterativeRobotBase extends RobotBase {
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()");
}