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Add ability to end startCompetition() main loop (#2032)

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This is useful for both cleanly exiting from simulation and for unit testing
at a framework level.

This change required removing move constructor/assignment from IterativeRobot.
This commit is contained in:
Peter Johnson
2019-11-05 21:33:09 -08:00
committed by GitHub
parent f5b4be16db
commit 7508aada93
14 changed files with 185 additions and 35 deletions
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56
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
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@@ -12,6 +12,7 @@ import java.io.IOException;
import java.io.OutputStream;
import java.nio.charset.StandardCharsets;
import java.nio.file.Files;
import java.util.concurrent.locks.ReentrantLock;
import java.util.function.Supplier;
import edu.wpi.cscore.CameraServerJNI;
@@ -189,6 +190,11 @@ public abstract class RobotBase implements AutoCloseable {
*/
public abstract void startCompetition();
/**
* Ends the main loop in startCompetition().
*/
public abstract void endCompetition();
@SuppressWarnings("JavadocMethod")
public static boolean getBooleanProperty(String name, boolean defaultValue) {
String propVal = System.getProperty(name);
@@ -204,6 +210,10 @@ public abstract class RobotBase implements AutoCloseable {
}
}
private static final ReentrantLock m_runMutex = new ReentrantLock();
private static RobotBase m_robotCopy;
private static boolean m_suppressExitWarning;
/**
* Run the robot main loop.
*/
@@ -232,6 +242,10 @@ public abstract class RobotBase implements AutoCloseable {
return;
}
m_runMutex.lock();
m_robotCopy = robot;
m_runMutex.unlock();
if (isReal()) {
try {
final File file = new File("/tmp/frc_versions/FRC_Lib_Version.ini");
@@ -265,18 +279,32 @@ public abstract class RobotBase implements AutoCloseable {
throwable.getStackTrace());
errorOnExit = true;
} finally {
// startCompetition never returns unless exception occurs....
DriverStation.reportWarning("Robots should not quit, but yours did!", false);
if (errorOnExit) {
DriverStation.reportError(
"The startCompetition() method (or methods called by it) should have "
+ "handled the exception above.", false);
} else {
DriverStation.reportError("Unexpected return from startCompetition() method.", false);
m_runMutex.lock();
boolean suppressExitWarning = m_suppressExitWarning;
m_runMutex.unlock();
if (!suppressExitWarning) {
// startCompetition never returns unless exception occurs....
DriverStation.reportWarning("Robots should not quit, but yours did!", false);
if (errorOnExit) {
DriverStation.reportError(
"The startCompetition() method (or methods called by it) should have "
+ "handled the exception above.", false);
} else {
DriverStation.reportError("Unexpected return from startCompetition() method.", false);
}
}
}
}
/**
* Suppress the "Robots should not quit" message.
*/
public static void suppressExitWarning(boolean value) {
m_runMutex.lock();
m_suppressExitWarning = value;
m_runMutex.unlock();
}
/**
* Starting point for the applications.
*/
@@ -299,6 +327,18 @@ public abstract class RobotBase implements AutoCloseable {
thread.setDaemon(true);
thread.start();
HAL.runMain();
suppressExitWarning(true);
m_runMutex.lock();
RobotBase robot = m_robotCopy;
m_runMutex.unlock();
if (robot != null) {
robot.endCompetition();
}
try {
thread.join(1000);
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
}
} else {
runRobot(robotSupplier);
}