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Add SimulationInit and SimulationPeriodic functions (#2377)

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Fixes #2375
This commit is contained in:
Dustin Spicuzza
2020-02-19 02:05:16 -05:00
committed by GitHub
parent 554bda3332
commit 761f79385a
7 changed files with 90 additions and 6 deletions
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6
wpilibc/src/main/native/cpp/IterativeRobot.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,6 +24,10 @@ IterativeRobot::IterativeRobot() : IterativeRobotBase(kPacketPeriod) {
void IterativeRobot::StartCompetition() {
RobotInit();
if (IsSimulation()) {
SimulationInit();
}
// Tell the DS that the robot is ready to be enabled
HAL_ObserveUserProgramStarting();

20
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -34,6 +34,10 @@ void IterativeRobotBase::RobotInit() {
wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
}
void IterativeRobotBase::SimulationInit() {
wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
}
void IterativeRobotBase::DisabledInit() {
wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
}
@@ -58,6 +62,14 @@ void IterativeRobotBase::RobotPeriodic() {
}
}
void IterativeRobotBase::SimulationPeriodic() {
static bool firstRun = true;
if (firstRun) {
wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
firstRun = false;
}
}
void IterativeRobotBase::DisabledPeriodic() {
static bool firstRun = true;
if (firstRun) {
@@ -161,6 +173,12 @@ void IterativeRobotBase::LoopFunc() {
m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
Shuffleboard::Update();
m_watchdog.AddEpoch("Shuffleboard::Update()");
if (IsSimulation()) {
SimulationPeriodic();
m_watchdog.AddEpoch("SimulationPeriodic()");
}
m_watchdog.Disable();
// Warn on loop time overruns

6
wpilibc/src/main/native/cpp/TimedRobot.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,6 +24,10 @@ using namespace frc;
void TimedRobot::StartCompetition() {
RobotInit();
if (IsSimulation()) {
SimulationInit();
}
// Tell the DS that the robot is ready to be enabled
HAL_ObserveUserProgramStarting();

17
wpilibc/src/main/native/include/frc/IterativeRobotBase.h
View File

@@ -61,6 +61,16 @@ class IterativeRobotBase : public RobotBase {
*/
virtual void RobotInit();
/**
* Robot-wide simulation initialization code should go here.
*
* Users should override this method for default Robot-wide simulation
* related initialization which will be called when the robot is first
* started. It will be called exactly one time after RobotInit is called
* only when the robot is in simulation.
*/
virtual void SimulationInit();
/**
* Initialization code for disabled mode should go here.
*
@@ -102,6 +112,13 @@ class IterativeRobotBase : public RobotBase {
*/
virtual void RobotPeriodic();
/**
* Periodic simulation code should go here.
*
* This function is called in a simulated robot after user code executes.
*/
virtual void SimulationPeriodic();
/**
* Periodic code for disabled mode should go here.
*

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -43,6 +43,10 @@ public class IterativeRobot extends IterativeRobotBase {
public void startCompetition() {
robotInit();
if (isSimulation()) {
simulationInit();
}
// Tell the DS that the robot is ready to be enabled
HAL.observeUserProgramStarting();

35
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -89,6 +89,18 @@ public abstract class IterativeRobotBase extends RobotBase {
System.out.println("Default robotInit() method... Override me!");
}
/**
* Robot-wide simulation initialization code should go here.
*
* <p>Users should override this method for default Robot-wide simulation
* related initialization which will be called when the robot is first
* started. It will be called exactly one time after RobotInit is called
* only when the robot is in simulation.
*/
public void simulationInit() {
System.out.println("Default simulationInit() method... Override me!");
}
/**
* Initialization code for disabled mode should go here.
*
@@ -144,6 +156,20 @@ public abstract class IterativeRobotBase extends RobotBase {
}
}
private boolean m_spFirstRun = true;
/**
* Periodic simulation code should go here.
*
* <p>This function is called in a simulated robot after user code executes.
*/
public void simulationPeriodic() {
if (m_spFirstRun) {
System.out.println("Default simulationPeriodic() method... Override me!");
m_spFirstRun = false;
}
}
private boolean m_dpFirstRun = true;
/**
@@ -193,6 +219,7 @@ public abstract class IterativeRobotBase extends RobotBase {
}
}
@SuppressWarnings("PMD.CyclomaticComplexity")
protected void loopFunc() {
m_watchdog.reset();
@@ -264,6 +291,12 @@ public abstract class IterativeRobotBase extends RobotBase {
m_watchdog.addEpoch("LiveWindow.updateValues()");
Shuffleboard.update();
m_watchdog.addEpoch("Shuffleboard.update()");
if (isSimulation()) {
simulationPeriodic();
m_watchdog.addEpoch("simulationPeriodic()");
}
m_watchdog.disable();
// Warn on loop time overruns

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -63,6 +63,10 @@ public class TimedRobot extends IterativeRobotBase {
public void startCompetition() {
robotInit();
if (isSimulation()) {
simulationInit();
}
// Tell the DS that the robot is ready to be enabled
HAL.observeUserProgramStarting();