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[wpilib] Fix OpModeRobot initialization (#8834)

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There were 3 cases failing before.

1. An OpModeRobot with no annotation.
2. An OpModeRobot with an annotation but a parameterless constructor.
3. An OpMode with a UserControls constructor

This PR solves both of these issues. The first one is solved by adding
the null check before setting the user controls instance. That one will
never have an opmode instance.

The second one is solved by falling back to a parameterless constructor
if one with a parameter is not found.

The 3rd one is solved by using the annotation type rather than the
instance for constructor lookup.

Also fixes ExpansionHubSample's missing annotations.
This commit is contained in:
Thad House
2026-04-28 09:54:10 -10:00
committed by GitHub
parent 3bf67edc34
commit 94443c8e84
6 changed files with 28 additions and 12 deletions
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9
wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java
View File

@@ -115,9 +115,8 @@ public abstract class OpModeRobot extends RobotBase {
Optional<ConstructorMatch<T>> ctor;
// try 2-parameter constructor
if (m_userControlsInstance != null) {
ctor =
ConstructorMatch.findBestConstructor(cls, getClass(), m_userControlsInstance.getClass());
if (m_userControlsBaseClass.isPresent()) {
ctor = ConstructorMatch.findBestConstructor(cls, getClass(), m_userControlsBaseClass.get());
if (ctor.isPresent()) {
return ctor;
}
@@ -130,8 +129,8 @@ public abstract class OpModeRobot extends RobotBase {
}
// try 1-parameter constructor with UserControls parameter
if (m_userControlsInstance != null) {
ctor = ConstructorMatch.findBestConstructor(cls, m_userControlsInstance.getClass());
if (m_userControlsBaseClass.isPresent()) {
ctor = ConstructorMatch.findBestConstructor(cls, m_userControlsBaseClass.get());
if (ctor.isPresent()) {
return ctor;
}

9
wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
View File

@@ -294,12 +294,15 @@ public abstract class RobotBase implements AutoCloseable {
UserControlsInstance userControlsAttribute =
robotClass.getDeclaredAnnotation(UserControlsInstance.class);
UserControls userControlsInstance = null;
Optional<ConstructorMatch<T>> constructorMatch;
Optional<ConstructorMatch<T>> constructorMatch = Optional.empty();
if (userControlsAttribute != null) {
var userControlsClass = userControlsAttribute.value();
userControlsInstance = userControlsClass.getDeclaredConstructor().newInstance();
constructorMatch = ConstructorMatch.findBestConstructor(robotClass, userControlsClass);
} else {
}
if (constructorMatch.isEmpty()) {
// Try to find a constructor with no parameters if there is no UserControls constructor
constructorMatch = ConstructorMatch.findBestConstructor(robotClass);
}
@@ -310,7 +313,7 @@ public abstract class RobotBase implements AutoCloseable {
T robot = constructorMatch.get().newInstance(userControlsInstance);
if (robot instanceof OpModeRobot opModeRobot) {
if (userControlsInstance != null && robot instanceof OpModeRobot opModeRobot) {
// Insert the UserControls instance into the opModeRobot for use when constructing opmodes
opModeRobot.setUserControlsInstance(userControlsInstance);
}