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[wpilib] Remove robotInit() (#8199)

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Fixes #6622.
This commit is contained in:
Tyler Veness
2025-09-08 21:17:37 -07:00
committed by GitHub
parent f8ed2a4d92
commit be72d543ad
8 changed files with 5 additions and 68 deletions
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2
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
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@@ -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() {}

2
wpilibc/src/main/native/cpp/TimedRobot.cpp
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@@ -18,8 +18,6 @@
using namespace frc;
void TimedRobot::StartCompetition() {
RobotInit();
if constexpr (IsSimulation()) {
SimulationInit();
}

18
wpilibc/src/main/native/include/frc/IterativeRobotBase.h
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@@ -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();

16
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
View File

@@ -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);