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Add ability to run robot main loop in a separate thread (#1895)

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Default behavior is still to run the robot main loop in the main thread.

The ability to run the robot main loop in a separate thread and add a hook
for running a different function in the main thread is needed for simulation
GUI support on some platforms.
This commit is contained in:
Peter Johnson
2019-09-28 15:43:24 -07:00
committed by GitHub
parent 457f94ba26
commit b23baf611a
12 changed files with 239 additions and 18 deletions
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43
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
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@@ -204,21 +204,11 @@ public abstract class RobotBase implements AutoCloseable {
}
/**
* Starting point for the applications.
* Run the robot main loop.
*/
@SuppressWarnings({"PMD.AvoidInstantiatingObjectsInLoops", "PMD.AvoidCatchingThrowable",
"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
public static <T extends RobotBase> void startRobot(Supplier<T> robotSupplier) {
if (!HAL.initialize(500, 0)) {
throw new IllegalStateException("Failed to initialize. Terminating");
}
// Call a CameraServer JNI function to force OpenCV native library loading
// Needed because all the OpenCV JNI functions don't have built in loading
CameraServerJNI.enumerateSinks();
HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
private static <T extends RobotBase> void runRobot(Supplier<T> robotSupplier) {
System.out.println("********** Robot program starting **********");
T robot;
@@ -238,7 +228,6 @@ public abstract class RobotBase implements AutoCloseable {
+ throwable.toString(), elements);
DriverStation.reportWarning("Robots should not quit, but yours did!", false);
DriverStation.reportError("Could not instantiate robot " + robotName + "!", false);
System.exit(1);
return;
}
@@ -285,6 +274,34 @@ public abstract class RobotBase implements AutoCloseable {
DriverStation.reportError("Unexpected return from startCompetition() method.", false);
}
}
}
/**
* Starting point for the applications.
*/
public static <T extends RobotBase> void startRobot(Supplier<T> robotSupplier) {
if (!HAL.initialize(500, 0)) {
throw new IllegalStateException("Failed to initialize. Terminating");
}
// Call a CameraServer JNI function to force OpenCV native library loading
// Needed because all the OpenCV JNI functions don't have built in loading
CameraServerJNI.enumerateSinks();
HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
if (HAL.hasMain()) {
Thread thread = new Thread(() -> {
runRobot(robotSupplier);
HAL.exitMain();
}, "robot main");
thread.setDaemon(true);
thread.start();
HAL.runMain();
} else {
runRobot(robotSupplier);
}
System.exit(1);
}
}