[wpilib] Remove robotInit() (#8199)

Fixes #6622.

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/EpilogueConfiguration.java

@@ -20,7 +20,7 @@ public class EpilogueConfiguration {
   /**
    * The backend implementation for Epilogue to use. By default, this will log data directly to
    * NetworkTables. NetworkTable data can be mirrored to a log file on disk by calling {@code
-   * DataLogManager.start()} in your {@code robotInit} method.
+   * DataLogManager.start()} in your robot class constructor.
    */
   public EpilogueBackend backend = new NTEpilogueBackend(NetworkTableInstance.getDefault());
 

wpilibc/src/main/native/cpp/IterativeRobotBase.cpp

@@ -20,8 +20,6 @@ IterativeRobotBase::IterativeRobotBase(units::second_t period)
     : m_period(period),
       m_watchdog(period, [this] { PrintLoopOverrunMessage(); }) {}
 
-void IterativeRobotBase::RobotInit() {}
-
 void IterativeRobotBase::DriverStationConnected() {}
 
 void IterativeRobotBase::SimulationInit() {}

wpilibc/src/main/native/cpp/TimedRobot.cpp

@@ -18,8 +18,6 @@
 using namespace frc;
 
 void TimedRobot::StartCompetition() {
-  RobotInit();
-
   if constexpr (IsSimulation()) {
     SimulationInit();
   }

wpilibc/src/main/native/include/frc/IterativeRobotBase.h

@@ -21,8 +21,6 @@ namespace frc {
  * This class provides the following functions which are called by the main
  * loop, StartCompetition(), at the appropriate times:
  *
- * RobotInit() -- provide for initialization at robot power-on
- *
  * DriverStationConnected() -- provide for initialization the first time the DS
  * is connected
  *
@@ -56,18 +54,6 @@ namespace frc {
  */
 class IterativeRobotBase : public RobotBase {
  public:
-  /**
-   * 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. It will be called
-   * exactly one time.
-   *
-   * Note: This method is functionally identical to the class constructor so
-   * that should be used instead.
-   */
-  virtual void RobotInit();
-
   /**
    * Code that needs to know the DS state should go here.
    *
@@ -81,8 +67,8 @@ class IterativeRobotBase : public RobotBase {
    *
    * Users should override this method for default Robot-wide simulation
    * related initialization which will be called when the robot is first
-   * started. It will be called exactly one time after RobotInit is called
-   * only when the robot is in simulation.
+   * started. It will be called exactly one time after the robot class
+   * constructor is called only when the robot is in simulation.
    */
   virtual void SimulationInit();
 

wpilibc/src/test/native/cpp/TimedRobotTest.cpp

@@ -28,7 +28,6 @@ class TimedRobotTest : public ::testing::Test {
 
 class MockRobot : public TimedRobot {
  public:
-  std::atomic<uint32_t> m_robotInitCount{0};
   std::atomic<uint32_t> m_simulationInitCount{0};
   std::atomic<uint32_t> m_disabledInitCount{0};
   std::atomic<uint32_t> m_autonomousInitCount{0};
@@ -47,7 +46,7 @@ class MockRobot : public TimedRobot {
   std::atomic<uint32_t> m_teleopPeriodicCount{0};
   std::atomic<uint32_t> m_testPeriodicCount{0};
 
-  MockRobot() : TimedRobot{kPeriod} { m_robotInitCount++; }
+  MockRobot() : TimedRobot{kPeriod} {}
 
   void SimulationInit() override { m_simulationInitCount++; }
 
@@ -90,7 +89,6 @@ TEST_F(TimedRobotTest, DisabledMode) {
   frc::sim::DriverStationSim::NotifyNewData();
   frc::sim::StepTiming(0_ms);  // Wait for Notifiers
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -111,7 +109,6 @@ TEST_F(TimedRobotTest, DisabledMode) {
 
   frc::sim::StepTiming(kPeriod);
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -132,7 +129,6 @@ TEST_F(TimedRobotTest, DisabledMode) {
 
   frc::sim::StepTiming(kPeriod);
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -166,7 +162,6 @@ TEST_F(TimedRobotTest, AutonomousMode) {
   frc::sim::DriverStationSim::NotifyNewData();
   frc::sim::StepTiming(0_ms);  // Wait for Notifiers
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -187,7 +182,6 @@ TEST_F(TimedRobotTest, AutonomousMode) {
 
   frc::sim::StepTiming(kPeriod);
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(1u, robot.m_autonomousInitCount);
@@ -208,7 +202,6 @@ TEST_F(TimedRobotTest, AutonomousMode) {
 
   frc::sim::StepTiming(kPeriod);
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(1u, robot.m_autonomousInitCount);
@@ -242,7 +235,6 @@ TEST_F(TimedRobotTest, TeleopMode) {
   frc::sim::DriverStationSim::NotifyNewData();
   frc::sim::StepTiming(0_ms);  // Wait for Notifiers
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -263,7 +255,6 @@ TEST_F(TimedRobotTest, TeleopMode) {
 
   frc::sim::StepTiming(kPeriod);
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -284,7 +275,6 @@ TEST_F(TimedRobotTest, TeleopMode) {
 
   frc::sim::StepTiming(kPeriod);
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -317,7 +307,6 @@ TEST_F(TimedRobotTest, TestMode) {
   frc::sim::DriverStationSim::NotifyNewData();
   frc::sim::StepTiming(0_ms);  // Wait for Notifiers
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -338,7 +327,6 @@ TEST_F(TimedRobotTest, TestMode) {
 
   frc::sim::StepTiming(kPeriod);
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -359,7 +347,6 @@ TEST_F(TimedRobotTest, TestMode) {
 
   frc::sim::StepTiming(kPeriod);
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -384,7 +371,6 @@ TEST_F(TimedRobotTest, TestMode) {
   frc::sim::DriverStationSim::NotifyNewData();
   frc::sim::StepTiming(20_ms);  // Wait for Notifiers
 
-  EXPECT_EQ(1u, robot.m_robotInitCount);
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(1u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);

wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java

@@ -19,8 +19,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  * <p>This class provides the following functions which are called by the main loop,
  * startCompetition(), at the appropriate times:
  *
- * <p>robotInit() -- provide for initialization at robot power-on
- *
  * <p>driverStationConnected() -- provide for initialization the first time the DS is connected
  *
  * <p>init() functions -- each of the following functions is called once when the appropriate mode
@@ -85,17 +83,6 @@ public abstract class IterativeRobotBase extends RobotBase {
 
   /* ----------- Overridable initialization code ----------------- */
 
-  /**
-   * Robot-wide initialization code should go here.
-   *
-   * <p>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 one time.
-   *
-   * <p>Note: This method is functionally identical to the class constructor so that should be used
-   * instead.
-   */
-  public void robotInit() {}
-
   /**
    * Code that needs to know the DS state should go here.
    *
@@ -109,7 +96,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    *
    * <p>Users should override this method for default Robot-wide simulation related initialization
    * which will be called when the robot is first started. It will be called exactly one time after
-   * RobotInit is called only when the robot is in simulation.
+   * the robot class constructor is called only when the robot is in simulation.
    */
   public void simulationInit() {}
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

@@ -102,8 +102,6 @@ public class TimedRobot extends IterativeRobotBase {
   /** Provide an alternate "main loop" via startCompetition(). */
   @Override
   public void startCompetition() {
-    robotInit();
-
     if (isSimulation()) {
       simulationInit();
     }

wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java

@@ -18,7 +18,6 @@ class TimedRobotTest {
   static final double kPeriod = 0.02;
 
   static class MockRobot extends TimedRobot {
-    public final AtomicInteger m_robotInitCount = new AtomicInteger(0);
     public final AtomicInteger m_simulationInitCount = new AtomicInteger(0);
     public final AtomicInteger m_disabledInitCount = new AtomicInteger(0);
     public final AtomicInteger m_autonomousInitCount = new AtomicInteger(0);
@@ -39,8 +38,6 @@ class TimedRobotTest {
 
     MockRobot() {
       super(kPeriod);
-
-      m_robotInitCount.addAndGet(1);
     }
 
     @Override
@@ -142,7 +139,6 @@ class TimedRobotTest {
     DriverStationSim.notifyNewData();
     SimHooks.stepTiming(0.0); // Wait for Notifiers
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -163,7 +159,6 @@ class TimedRobotTest {
 
     SimHooks.stepTiming(kPeriod);
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -184,7 +179,6 @@ class TimedRobotTest {
 
     SimHooks.stepTiming(kPeriod);
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -227,7 +221,6 @@ class TimedRobotTest {
     DriverStationSim.notifyNewData();
     SimHooks.stepTiming(0.0); // Wait for Notifiers
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -248,7 +241,6 @@ class TimedRobotTest {
 
     SimHooks.stepTiming(kPeriod);
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(1, robot.m_autonomousInitCount.get());
@@ -269,7 +261,6 @@ class TimedRobotTest {
 
     SimHooks.stepTiming(kPeriod);
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(1, robot.m_autonomousInitCount.get());
@@ -312,7 +303,6 @@ class TimedRobotTest {
     DriverStationSim.notifyNewData();
     SimHooks.stepTiming(0.0); // Wait for Notifiers
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -333,7 +323,6 @@ class TimedRobotTest {
 
     SimHooks.stepTiming(kPeriod);
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -354,7 +343,6 @@ class TimedRobotTest {
 
     SimHooks.stepTiming(kPeriod);
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -397,7 +385,6 @@ class TimedRobotTest {
     DriverStationSim.notifyNewData();
     SimHooks.stepTiming(0.0); // Wait for Notifiers
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -418,7 +405,6 @@ class TimedRobotTest {
 
     SimHooks.stepTiming(kPeriod);
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -439,7 +425,6 @@ class TimedRobotTest {
 
     SimHooks.stepTiming(kPeriod);
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -465,7 +450,6 @@ class TimedRobotTest {
 
     SimHooks.stepTiming(0.02);
 
-    assertEquals(1, robot.m_robotInitCount.get());
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(1, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());