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https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
Refactors the RobotBase Setup into a method.
This allows the robot base setup to be used for the robot base as well as the setup for the test system. Change-Id: I2f8e37d42c84001f4b4eff2afd7c3e1d73785d7c
This commit is contained in:
Jonathan Leitschuh
@@ -1,25 +1,21 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import java.io.IOException;
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import java.net.URL;
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import java.nio.ByteBuffer;
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import java.nio.ByteOrder;
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import java.nio.IntBuffer;
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import java.util.Enumeration;
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import java.util.jar.Manifest;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
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import edu.wpi.first.wpilibj.communication.UsageReporting;
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import edu.wpi.first.wpilibj.Timer;
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import edu.wpi.first.wpilibj.internal.HardwareHLUsageReporting;
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import edu.wpi.first.wpilibj.internal.HardwareTimer;
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import edu.wpi.first.wpilibj.networktables.NetworkTable;
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@@ -33,144 +29,149 @@ import edu.wpi.first.wpilibj.networktables.NetworkTable;
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* might be spawned as a task, then killed at the end of the Autonomous period.
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*/
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public abstract class RobotBase {
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/**
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* The VxWorks priority that robot code should work at (so Java code should run at)
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*/
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public static final int ROBOT_TASK_PRIORITY = 101;
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/**
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* The VxWorks priority that robot code should work at (so Java code should run at)
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*/
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public static final int ROBOT_TASK_PRIORITY = 101;
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/**
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* Boolean System property. If true (default), send System.err messages to the driver station.
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*/
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public final static String ERRORS_TO_DRIVERSTATION_PROP = "first.driverstation.senderrors";
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/**
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* Boolean System property. If true (default), send System.err messages to the driver station.
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*/
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public final static String ERRORS_TO_DRIVERSTATION_PROP = "first.driverstation.senderrors";
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protected final DriverStation m_ds;
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protected final DriverStation m_ds;
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/**
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* Constructor for a generic robot program.
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* User code should be placed in the constructor that runs before the Autonomous or Operator
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* Control period starts. The constructor will run to completion before Autonomous is entered.
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*
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* This must be used to ensure that the communications code starts. In the future it would be
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* nice to put this code into it's own task that loads on boot so ensure that it runs.
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*/
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protected RobotBase() {
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// TODO: StartCAPI();
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// TODO: See if the next line is necessary
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// Resource.RestartProgram();
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/**
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* Constructor for a generic robot program.
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* User code should be placed in the constructor that runs before the Autonomous or Operator
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* Control period starts. The constructor will run to completion before Autonomous is entered.
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*
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* This must be used to ensure that the communications code starts. In the future it would be
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* nice to put this code into it's own task that loads on boot so ensure that it runs.
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*/
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protected RobotBase() {
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// TODO: StartCAPI();
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// TODO: See if the next line is necessary
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// Resource.RestartProgram();
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// if (getBooleanProperty(ERRORS_TO_DRIVERSTATION_PROP, true)) {
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// Utility.sendErrorStreamToDriverStation(true);
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// }
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NetworkTable.setServerMode();//must be before b
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m_ds = DriverStation.getInstance();
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NetworkTable.getTable(""); // forces network tables to initialize
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NetworkTable.getTable("LiveWindow").getSubTable("~STATUS~").putBoolean("LW Enabled", false);
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}
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// if (getBooleanProperty(ERRORS_TO_DRIVERSTATION_PROP, true)) {
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// Utility.sendErrorStreamToDriverStation(true);
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// }
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NetworkTable.setServerMode();//must be before b
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m_ds = DriverStation.getInstance();
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NetworkTable.getTable(""); // forces network tables to initialize
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NetworkTable.getTable("LiveWindow").getSubTable("~STATUS~").putBoolean("LW Enabled", false);
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}
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/**
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* Free the resources for a RobotBase class.
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*/
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public void free() {
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}
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/**
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* Free the resources for a RobotBase class.
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*/
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public void free() {
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}
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/**
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* @return If the robot is running in simulation.
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*/
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public static boolean isSimulation() {
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return false;
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}
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/**
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* @return If the robot is running in simulation.
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*/
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public static boolean isSimulation() {
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return false;
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}
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/**
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* @return If the robot is running in the real world.
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*/
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public static boolean isReal() {
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return true;
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}
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/**
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* @return If the robot is running in the real world.
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*/
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public static boolean isReal() {
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return true;
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}
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/**
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* Determine if the Robot is currently disabled.
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* @return True if the Robot is currently disabled by the field controls.
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*/
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public boolean isDisabled() {
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return m_ds.isDisabled();
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}
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/**
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* Determine if the Robot is currently disabled.
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* @return True if the Robot is currently disabled by the field controls.
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*/
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public boolean isDisabled() {
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return m_ds.isDisabled();
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}
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/**
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* Determine if the Robot is currently enabled.
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* @return True if the Robot is currently enabled by the field controls.
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*/
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public boolean isEnabled() {
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return m_ds.isEnabled();
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}
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/**
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* Determine if the Robot is currently enabled.
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* @return True if the Robot is currently enabled by the field controls.
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*/
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public boolean isEnabled() {
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return m_ds.isEnabled();
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}
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/**
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* Determine if the robot is currently in Autonomous mode.
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* @return True if the robot is currently operating Autonomously as determined by the field controls.
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*/
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public boolean isAutonomous() {
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return m_ds.isAutonomous();
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}
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/**
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* Determine if the robot is currently in Autonomous mode.
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* @return True if the robot is currently operating Autonomously as determined by the field controls.
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*/
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public boolean isAutonomous() {
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return m_ds.isAutonomous();
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}
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/**
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* Determine if the robot is currently in Test mode
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* @return True if the robot is currently operating in Test mode as determined by the driver station.
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*/
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public boolean isTest() {
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return m_ds.isTest();
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}
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/**
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* Determine if the robot is currently in Test mode
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* @return True if the robot is currently operating in Test mode as determined by the driver station.
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*/
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public boolean isTest() {
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return m_ds.isTest();
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}
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/**
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* Determine if the robot is currently in Operator Control mode.
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* @return True if the robot is currently operating in Tele-Op mode as determined by the field controls.
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*/
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public boolean isOperatorControl() {
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return m_ds.isOperatorControl();
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}
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/**
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* Determine if the robot is currently in Operator Control mode.
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* @return True if the robot is currently operating in Tele-Op mode as determined by the field controls.
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*/
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public boolean isOperatorControl() {
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return m_ds.isOperatorControl();
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}
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/**
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* Indicates if new data is available from the driver station.
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* @return Has new data arrived over the network since the last time this function was called?
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*/
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public boolean isNewDataAvailable() {
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return m_ds.isNewControlData();
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}
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/**
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* Indicates if new data is available from the driver station.
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* @return Has new data arrived over the network since the last time this function was called?
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*/
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public boolean isNewDataAvailable() {
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return m_ds.isNewControlData();
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}
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/**
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* Provide an alternate "main loop" via startCompetition().
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*/
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public abstract void startCompetition();
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/**
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* Provide an alternate "main loop" via startCompetition().
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*/
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public abstract void startCompetition();
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public static boolean getBooleanProperty(String name, boolean defaultValue) {
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String propVal = System.getProperty(name);
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if (propVal == null) {
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return defaultValue;
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}
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if (propVal.equalsIgnoreCase("false")) {
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return false;
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} else if (propVal.equalsIgnoreCase("true")) {
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return true;
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} else {
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throw new IllegalStateException(propVal);
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}
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}
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public static boolean getBooleanProperty(String name, boolean defaultValue) {
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String propVal = System.getProperty(name);
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if (propVal == null) {
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return defaultValue;
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}
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if (propVal.equalsIgnoreCase("false")) {
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return false;
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} else if (propVal.equalsIgnoreCase("true")) {
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return true;
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} else {
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throw new IllegalStateException(propVal);
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}
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}
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/**
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* Starting point for the applications. Starts the OtaServer and then runs
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* the robot.
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* @throws javax.microedition.midlet.MIDletStateChangeException
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*/
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public static void main(String args[]) {
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boolean errorOnExit = false;
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/**
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* Common initialization for all robot programs.
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*/
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public static void initializeHardwareConfiguration(){
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FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationReserve();
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FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
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FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationReserve();
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FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
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// Set some implementations so that the static methods work properly
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Timer.SetImplementation(new HardwareTimer());
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HLUsageReporting.SetImplementation(new HardwareHLUsageReporting());
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RobotState.SetImplementation(DriverStation.getInstance());
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}
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// Set some implementations so that the static methods work properly
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Timer.SetImplementation(new HardwareTimer());
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HLUsageReporting.SetImplementation(new HardwareHLUsageReporting());
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RobotState.SetImplementation(DriverStation.getInstance());
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/**
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* Starting point for the applications.
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*/
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public static void main(String args[]) {
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boolean errorOnExit = false;
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UsageReporting.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
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initializeHardwareConfiguration();
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UsageReporting.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
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String robotName = "";
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Enumeration<URL> resources = null;
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@@ -178,13 +179,13 @@ public abstract class RobotBase {
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resources = RobotBase.class.getClassLoader().getResources("META-INF/MANIFEST.MF");
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} catch (IOException e) {e.printStackTrace();}
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while (resources != null && resources.hasMoreElements()) {
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try {
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Manifest manifest = new Manifest(resources.nextElement().openStream());
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robotName = manifest.getMainAttributes().getValue("Robot-Class");
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} catch (IOException e) {e.printStackTrace();}
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try {
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Manifest manifest = new Manifest(resources.nextElement().openStream());
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robotName = manifest.getMainAttributes().getValue("Robot-Class");
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} catch (IOException e) {e.printStackTrace();}
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}
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RobotBase robot;
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RobotBase robot;
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try {
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robot = (RobotBase) Class.forName(robotName).newInstance();
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} catch (InstantiationException|IllegalAccessException|ClassNotFoundException e) {
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@@ -193,19 +194,19 @@ public abstract class RobotBase {
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return;
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}
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try {
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robot.startCompetition();
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} catch (Throwable t) {
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t.printStackTrace();
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errorOnExit = true;
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} finally {
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// startCompetition never returns unless exception occurs....
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System.err.println("WARNING: Robots don't quit!");
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if (errorOnExit) {
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System.err.println("---> The startCompetition() method (or methods called by it) should have handled the exception above.");
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} else {
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System.err.println("---> Unexpected return from startCompetition() method.");
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}
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}
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}
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try {
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robot.startCompetition();
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} catch (Throwable t) {
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t.printStackTrace();
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errorOnExit = true;
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} finally {
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// startCompetition never returns unless exception occurs....
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System.err.println("WARNING: Robots don't quit!");
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if (errorOnExit) {
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System.err.println("---> The startCompetition() method (or methods called by it) should have handled the exception above.");
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} else {
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System.err.println("---> Unexpected return from startCompetition() method.");
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}
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}
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}
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}
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