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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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15
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
View File

@@ -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() {}

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
View File

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

16
wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
View File

@@ -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());