mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
[wpilib] Change opmodes to purely periodic (#8652)
1. Make the OpMode interface itself periodic; this means the only differences between `OpMode` and `PeriodicOpMode` are the latter's methods to add sideloaded periodic callbacks 2. Make OpModeRobot process callbacks in a similar fashion to TimedRobot and 3. Add some lifecycle functions (discussed below) 4. Pull the callback priority queue from TimedRobot to a new class called `PeriodicPriorityQueue` so that `TimedRobot` and `OpModeRobot` have less duplication 5. Fix a typo in the DriverStationJNI class that causes a memory leak when certain driver station sim calls 6. Port the C++ OpModeRobot tests to Java `OpModeRobot` now possesses some `IterativeRobotBase`-stye lifecycle functions; these functions 1. `robotPeriodic` 2. `simulationInit` and `simulationPeriodic` 3. `disabledInit`, `disabledPeriodic`, and `disabledExit` (note that `simulationInit` and `disabledInit` may be renamed to match wpilibsuite#8719) `OpModeRobot` also now processes `OpMode` changes (by the Driver Station) in its `loopFunc` method, similar to `IterativeRobotBase.loopFunc` processing game mode changes; `loopFunc` is, similarly to `TimedRobot`, provided as a default `Callback` --------- Signed-off-by: Zach Harel <zach@zharel.me> Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
This commit is contained in:
Zach Harel
283
wpilibj/src/test/java/org/wpilib/framework/OpModeRobotTest.java
Normal file
283
wpilibj/src/test/java/org/wpilib/framework/OpModeRobotTest.java
Normal file
@@ -0,0 +1,283 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package org.wpilib.framework;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
import static org.junit.jupiter.api.Assertions.assertNotEquals;
|
||||
import static org.junit.jupiter.api.Assertions.fail;
|
||||
|
||||
import java.util.Arrays;
|
||||
import java.util.concurrent.atomic.AtomicInteger;
|
||||
import org.junit.jupiter.api.AfterEach;
|
||||
import org.junit.jupiter.api.BeforeEach;
|
||||
import org.junit.jupiter.api.Test;
|
||||
import org.junit.jupiter.api.parallel.ResourceLock;
|
||||
import org.wpilib.driverstation.DriverStation;
|
||||
import org.wpilib.hardware.hal.RobotMode;
|
||||
import org.wpilib.opmode.OpMode;
|
||||
import org.wpilib.simulation.DriverStationSim;
|
||||
import org.wpilib.simulation.SimHooks;
|
||||
import org.wpilib.util.Color;
|
||||
|
||||
@ResourceLock("timing")
|
||||
class OpModeRobotTest {
|
||||
static final double kPeriod = 0.02;
|
||||
|
||||
public static class MockOpMode implements OpMode {
|
||||
public final AtomicInteger m_disabledPeriodicCount = new AtomicInteger(0);
|
||||
public final AtomicInteger m_startCount = new AtomicInteger(0);
|
||||
public final AtomicInteger m_periodicCount = new AtomicInteger(0);
|
||||
public final AtomicInteger m_endCount = new AtomicInteger(0);
|
||||
public final AtomicInteger m_closeCount = new AtomicInteger(0);
|
||||
|
||||
MockOpMode() {}
|
||||
|
||||
@Override
|
||||
public void close() {
|
||||
m_closeCount.incrementAndGet();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void disabledPeriodic() {
|
||||
m_disabledPeriodicCount.incrementAndGet();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void start() {
|
||||
m_startCount.incrementAndGet();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
m_periodicCount.incrementAndGet();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end() {
|
||||
m_endCount.incrementAndGet();
|
||||
}
|
||||
}
|
||||
|
||||
public static class OneArgOpMode implements OpMode {
|
||||
@SuppressWarnings("unused")
|
||||
OneArgOpMode(MockRobot robot) {}
|
||||
}
|
||||
|
||||
static class MockRobot extends OpModeRobot {
|
||||
public final AtomicInteger m_driverStationConnectedCount = new AtomicInteger(0);
|
||||
public final AtomicInteger m_nonePeriodicCount = new AtomicInteger(0);
|
||||
public final AtomicInteger m_robotPeriodicCount = new AtomicInteger(0);
|
||||
|
||||
MockRobot() {
|
||||
super();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void driverStationConnected() {
|
||||
m_driverStationConnectedCount.incrementAndGet();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void nonePeriodic() {
|
||||
m_nonePeriodicCount.incrementAndGet();
|
||||
}
|
||||
|
||||
@Override
|
||||
public void robotPeriodic() {
|
||||
m_robotPeriodicCount.incrementAndGet();
|
||||
}
|
||||
}
|
||||
|
||||
@BeforeEach
|
||||
void setUp() {
|
||||
SimHooks.pauseTiming();
|
||||
SimHooks.setProgramStarted(false);
|
||||
DriverStationSim.resetData();
|
||||
}
|
||||
|
||||
@AfterEach
|
||||
void tearDown() {
|
||||
DriverStation.clearOpModes();
|
||||
SimHooks.resumeTiming();
|
||||
}
|
||||
|
||||
@AfterEach
|
||||
@SuppressWarnings("PMD.AvoidAccessibilityAlteration")
|
||||
void resetUserProgramFlag() throws ReflectiveOperationException {
|
||||
var field = DriverStation.class.getDeclaredField("m_userProgramStarted");
|
||||
field.setAccessible(true);
|
||||
field.set(null, false);
|
||||
}
|
||||
|
||||
@Test
|
||||
void addOpMode() {
|
||||
class MyMockRobot extends MockRobot {
|
||||
MyMockRobot() {
|
||||
addOpModeFactory(
|
||||
() -> new MockOpMode(),
|
||||
RobotMode.AUTONOMOUS,
|
||||
"NoArgOpMode-Auto",
|
||||
"Group",
|
||||
"Description",
|
||||
Color.WHITE,
|
||||
Color.BLACK);
|
||||
addOpModeFactory(
|
||||
() -> new OneArgOpMode(this),
|
||||
RobotMode.TEST,
|
||||
"OneArgOpMode-Test",
|
||||
"Group",
|
||||
"Description",
|
||||
Color.WHITE,
|
||||
Color.BLACK);
|
||||
addOpModeFactory(() -> new MockOpMode(), RobotMode.TELEOPERATED, "NoArgOpMode");
|
||||
addOpModeFactory(() -> new OneArgOpMode(this), RobotMode.TELEOPERATED, "OneArgOpMode");
|
||||
publishOpModes();
|
||||
}
|
||||
}
|
||||
|
||||
final MyMockRobot robot = new MyMockRobot();
|
||||
|
||||
var options = Arrays.asList(DriverStationSim.getOpModeOptions());
|
||||
assertEquals(4, options.size());
|
||||
|
||||
int[] indexes = {-1, -1, -1, -1};
|
||||
for (int i = 0; i < options.size(); i++) {
|
||||
String name = options.get(i).name;
|
||||
switch (name) {
|
||||
case "NoArgOpMode-Auto" -> indexes[0] = i;
|
||||
case "OneArgOpMode-Test" -> indexes[1] = i;
|
||||
case "NoArgOpMode" -> indexes[2] = i;
|
||||
case "OneArgOpMode" -> indexes[3] = i;
|
||||
default -> fail("Unexpected op mode: " + name + " at index " + i);
|
||||
}
|
||||
}
|
||||
|
||||
int i = indexes[0];
|
||||
assertNotEquals(-1, i);
|
||||
assertEquals("Group", options.get(i).group);
|
||||
assertEquals("Description", options.get(i).description);
|
||||
assertEquals(0xffffff, options.get(i).textColor);
|
||||
assertEquals(0x000000, options.get(i).backgroundColor);
|
||||
|
||||
i = indexes[1];
|
||||
assertNotEquals(-1, i);
|
||||
assertEquals("Group", options.get(i).group);
|
||||
assertEquals("Description", options.get(i).description);
|
||||
assertEquals(0xffffff, options.get(i).textColor);
|
||||
assertEquals(0x000000, options.get(i).backgroundColor);
|
||||
|
||||
i = indexes[2];
|
||||
assertNotEquals(-1, i);
|
||||
assertEquals("", options.get(i).group);
|
||||
assertEquals("", options.get(i).description);
|
||||
assertEquals(-1, options.get(i).textColor);
|
||||
assertEquals(-1, options.get(i).backgroundColor);
|
||||
|
||||
i = indexes[3];
|
||||
assertNotEquals(-1, i);
|
||||
assertEquals("", options.get(i).group);
|
||||
assertEquals("", options.get(i).description);
|
||||
assertEquals(-1, options.get(i).textColor);
|
||||
assertEquals(-1, options.get(i).backgroundColor);
|
||||
|
||||
robot.close();
|
||||
}
|
||||
|
||||
@Test
|
||||
void clearOpModes() {
|
||||
class MyMockRobot extends MockRobot {
|
||||
MyMockRobot() {
|
||||
addOpModeFactory(() -> new MockOpMode(), RobotMode.TELEOPERATED, "NoArgOpMode");
|
||||
addOpModeFactory(() -> new OneArgOpMode(this), RobotMode.TELEOPERATED, "OneArgOpMode");
|
||||
publishOpModes();
|
||||
}
|
||||
}
|
||||
|
||||
MyMockRobot robot = new MyMockRobot();
|
||||
|
||||
robot.clearOpModes();
|
||||
var options = DriverStationSim.getOpModeOptions();
|
||||
assertEquals(0, options.length);
|
||||
|
||||
robot.close();
|
||||
}
|
||||
|
||||
@Test
|
||||
void removeOpMode() {
|
||||
class MyMockRobot extends MockRobot {
|
||||
MyMockRobot() {
|
||||
addOpModeFactory(() -> new MockOpMode(), RobotMode.TELEOPERATED, "NoArgOpMode");
|
||||
addOpModeFactory(() -> new OneArgOpMode(this), RobotMode.TELEOPERATED, "OneArgOpMode");
|
||||
publishOpModes();
|
||||
}
|
||||
}
|
||||
|
||||
MyMockRobot robot = new MyMockRobot();
|
||||
|
||||
robot.removeOpMode(RobotMode.TELEOPERATED, "NoArgOpMode");
|
||||
robot.publishOpModes();
|
||||
var options = DriverStationSim.getOpModeOptions();
|
||||
assertEquals(1, options.length);
|
||||
assertEquals("OneArgOpMode", options[0].name);
|
||||
|
||||
robot.close();
|
||||
}
|
||||
|
||||
@Test
|
||||
void nonePeriodic() throws InterruptedException {
|
||||
class MyMockRobot extends MockRobot {
|
||||
MyMockRobot() {
|
||||
addOpModeFactory(() -> new MockOpMode(), RobotMode.TELEOPERATED, "NoArgOpMode");
|
||||
addOpModeFactory(() -> new OneArgOpMode(this), RobotMode.TELEOPERATED, "OneArgOpMode");
|
||||
publishOpModes();
|
||||
}
|
||||
}
|
||||
|
||||
MyMockRobot robot = new MyMockRobot();
|
||||
|
||||
Thread robotThread = new Thread(robot::startCompetition);
|
||||
robotThread.start();
|
||||
SimHooks.waitForProgramStart();
|
||||
|
||||
// Time step to get periodic calls on 20 ms robot loop
|
||||
SimHooks.stepTiming(0.11); // 110ms
|
||||
assertEquals(5, robot.m_nonePeriodicCount.get());
|
||||
|
||||
robot.endCompetition();
|
||||
robotThread.join();
|
||||
robot.close();
|
||||
}
|
||||
|
||||
@Test
|
||||
void robotPeriodic() throws InterruptedException {
|
||||
class MyMockRobot extends MockRobot {
|
||||
MyMockRobot() {
|
||||
addOpModeFactory(() -> new MockOpMode(), RobotMode.TELEOPERATED, "TestOpMode");
|
||||
publishOpModes();
|
||||
}
|
||||
}
|
||||
|
||||
MyMockRobot robot = new MyMockRobot();
|
||||
|
||||
Thread robotThread = new Thread(robot::startCompetition);
|
||||
robotThread.start();
|
||||
SimHooks.waitForProgramStart();
|
||||
|
||||
// RobotPeriodic should be called regardless of state
|
||||
assertEquals(0, robot.m_robotPeriodicCount.get());
|
||||
|
||||
// Step timing to allow callbacks to execute
|
||||
SimHooks.stepTiming(kPeriod);
|
||||
assertEquals(1, robot.m_robotPeriodicCount.get());
|
||||
|
||||
// Additional time steps should continue calling robotPeriodic
|
||||
SimHooks.stepTiming(kPeriod);
|
||||
assertEquals(2, robot.m_robotPeriodicCount.get());
|
||||
|
||||
robot.endCompetition();
|
||||
robotThread.join();
|
||||
robot.close();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user