Notify the Driver Station that code is ready after robotInit is called

Change-Id: Id833a2a945c14bcbb4761d4fe463c6c9f7c4430c

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java

@@ -61,12 +61,6 @@ public class IterativeRobot extends RobotBase {
     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().
    *
@@ -76,10 +70,7 @@ public class IterativeRobot extends RobotBase {
 
     robotInit();
 
-    // 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.
+    // Tell the DS that the robot is ready to be enabled
     FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
 
     // loop forever, calling the appropriate mode-dependent function
@@ -171,7 +162,12 @@ public class IterativeRobot extends RobotBase {
    *
    * Users should override this method for default Robot-wide initialization
    * which will be called when the robot is first powered on. It will be called
-   * exactly 1 time.
+   * exactly one time.
+   *
+   * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
+   * indicators will be off until RobotInit() exits. Code in RobotInit() that
+   * waits for enable will cause the robot to never indicate that the code is
+   * ready, causing the robot to be bypassed in a match.
    */
   public void robotInit() {
     System.out.println("Default IterativeRobot.robotInit() method... Overload me!");

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -148,18 +148,6 @@ 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. If you
-   * do so, you will need to call FRCNetworkCommunicationsLibrary.
-   * FRCNetworkCommunicationOvserveUserProgramStarting() from your code when you
-   * are ready for the robot to be enabled.
-   */
-  protected void prestart() {
-    FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
-  }
-
   public static boolean getBooleanProperty(String name, boolean defaultValue) {
     String propVal = System.getProperty(name);
     if (propVal == null) {
@@ -213,7 +201,6 @@ 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);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java

@@ -8,6 +8,7 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.Timer;
@@ -41,9 +42,13 @@ public class SampleRobot extends RobotBase {
    * Robot-wide initialization code should go here.
    *
    * Users should override this method for default Robot-wide initialization
-   * which will be called when the robot is first powered on.
+   * which will be called when the robot is first powered on. It will be called
+   * exactly one time.
    *
-   * Called exactly 1 time when the competition starts.
+   * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
+   * indicators will be off until RobotInit() exits. Code in RobotInit() that
+   * waits for enable will cause the robot to never indicate that the code is
+   * ready, causing the robot to be bypassed in a match.
    */
   protected void robotInit() {
     System.out.println("Default robotInit() method running, consider providing your own");
@@ -116,11 +121,15 @@ public class SampleRobot extends RobotBase {
   public void startCompetition() {
     UsageReporting.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Sample);
 
+    robotInit();
+
+    // Tell the DS that the robot is ready to be enabled
+    FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
+
     robotMain();
     if (!m_robotMainOverridden) {
       // first and one-time initialization
       LiveWindow.setEnabled(false);
-      robotInit();
 
       while (true) {
         if (isDisabled()) {