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[hal, wpilib] Add OpMode support (#7744)
User code: - OpModeRobot used as the robot base class - LinearOpMode and PeriodicOpMode are provided opmode base classes - In Java, annotations can be used to automatically register opmode classes Additional user code functionality: - OpMode (string) is available in addition to the overall auto/teleop/test robot mode - OpMode does not indicate enable (enable/disable is still separate) - The HAL API uses integer UIDs; these are exposed at the user API level as well for faster checks - User code creates opmodes on startup (these have name, category, description, etc). DS: - DS will present opmode selection lists for auto and teleop for match/practice. During a match, the DS will automatically activate the selected opmode in the corresponding match period. - For testing, an overall mode is selected (e.g. teleop/auto/test) and a single opmode is selected Future work: - Command framework support/integration - Python annotation support - Unit tests (needs race-free DS sim updates) - Porting of examples Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
This commit is contained in:
Peter Johnson
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|
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|
||||
};
|
||||
static const char file_name[] = "MrcComm.proto";
|
||||
static const char mrc_proto_ProtobufFingerData_name[] = "mrc.proto.ProtobufFingerData";
|
||||
|
||||
@@ -54,10 +54,10 @@ typedef struct _mrc_proto_ProtobufControlData {
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
static pb_filedesc_t file_descriptor(void) noexcept;
|
||||
|
||||
uint32_t ControlWord;
|
||||
int32_t MatchTime;
|
||||
pb_callback_t Joysticks;
|
||||
uint64_t CurrentOpMode;
|
||||
uint32_t ControlWord;
|
||||
} mrc_proto_ProtobufControlData;
|
||||
|
||||
typedef struct _mrc_proto_ProtobufJoystickDescriptor {
|
||||
@@ -127,6 +127,10 @@ typedef struct _mrc_proto_ProtobufOpMode {
|
||||
|
||||
uint64_t Hash;
|
||||
pb_callback_t Name;
|
||||
pb_callback_t Group;
|
||||
pb_callback_t Description;
|
||||
int32_t TextColor;
|
||||
int32_t BackgroundColor;
|
||||
} mrc_proto_ProtobufOpMode;
|
||||
|
||||
typedef struct _mrc_proto_ProtobufAvailableOpModes {
|
||||
@@ -163,28 +167,28 @@ typedef struct _mrc_proto_ProtobufConsoleLineTimestamp {
|
||||
#define mrc_proto_ProtobufFingerData_init_default {0, 0, 0}
|
||||
#define mrc_proto_ProtobufTouchpadData_init_default {{{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufJoystickData_init_default {0, 0, 0, {{NULL}, NULL}, 0, 0, {{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufControlData_init_default {0, 0, {{NULL}, NULL}, 0}
|
||||
#define mrc_proto_ProtobufControlData_init_default {0, {{NULL}, NULL}, 0, 0}
|
||||
#define mrc_proto_ProtobufJoystickDescriptor_init_default {{{NULL}, NULL}, 0, 0, 0}
|
||||
#define mrc_proto_ProtobufJoystickDescriptors_init_default {{{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufJoystickOutput_init_default {0, 0, 0}
|
||||
#define mrc_proto_ProtobufJoystickOutputs_init_default {{{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufMatchInfo_init_default {{{NULL}, NULL}, 0, 0, 0}
|
||||
#define mrc_proto_ProtobufErrorInfo_init_default {0, 0, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufOpMode_init_default {0, {{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufOpMode_init_default {0, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, 0, 0}
|
||||
#define mrc_proto_ProtobufAvailableOpModes_init_default {{{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufErrorInfoTimestamp_init_default {{{NULL}, NULL}, 0, 0, 0}
|
||||
#define mrc_proto_ProtobufConsoleLineTimestamp_init_default {{{NULL}, NULL}, 0, 0}
|
||||
#define mrc_proto_ProtobufFingerData_init_zero {0, 0, 0}
|
||||
#define mrc_proto_ProtobufTouchpadData_init_zero {{{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufJoystickData_init_zero {0, 0, 0, {{NULL}, NULL}, 0, 0, {{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufControlData_init_zero {0, 0, {{NULL}, NULL}, 0}
|
||||
#define mrc_proto_ProtobufControlData_init_zero {0, {{NULL}, NULL}, 0, 0}
|
||||
#define mrc_proto_ProtobufJoystickDescriptor_init_zero {{{NULL}, NULL}, 0, 0, 0}
|
||||
#define mrc_proto_ProtobufJoystickDescriptors_init_zero {{{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufJoystickOutput_init_zero {0, 0, 0}
|
||||
#define mrc_proto_ProtobufJoystickOutputs_init_zero {{{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufMatchInfo_init_zero {{{NULL}, NULL}, 0, 0, 0}
|
||||
#define mrc_proto_ProtobufErrorInfo_init_zero {0, 0, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufOpMode_init_zero {0, {{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufOpMode_init_zero {0, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, 0, 0}
|
||||
#define mrc_proto_ProtobufAvailableOpModes_init_zero {{{NULL}, NULL}}
|
||||
#define mrc_proto_ProtobufErrorInfoTimestamp_init_zero {{{NULL}, NULL}, 0, 0, 0}
|
||||
#define mrc_proto_ProtobufConsoleLineTimestamp_init_zero {{{NULL}, NULL}, 0, 0}
|
||||
@@ -201,10 +205,10 @@ typedef struct _mrc_proto_ProtobufConsoleLineTimestamp {
|
||||
#define mrc_proto_ProtobufJoystickData_POVCount_tag 5
|
||||
#define mrc_proto_ProtobufJoystickData_POVs_tag 6
|
||||
#define mrc_proto_ProtobufJoystickData_Touchpads_tag 7
|
||||
#define mrc_proto_ProtobufControlData_ControlWord_tag 1
|
||||
#define mrc_proto_ProtobufControlData_MatchTime_tag 2
|
||||
#define mrc_proto_ProtobufControlData_Joysticks_tag 3
|
||||
#define mrc_proto_ProtobufControlData_CurrentOpMode_tag 4
|
||||
#define mrc_proto_ProtobufControlData_ControlWord_tag 5
|
||||
#define mrc_proto_ProtobufJoystickDescriptor_JoystickName_tag 1
|
||||
#define mrc_proto_ProtobufJoystickDescriptor_IsGamepad_tag 2
|
||||
#define mrc_proto_ProtobufJoystickDescriptor_GamepadType_tag 3
|
||||
@@ -225,6 +229,10 @@ typedef struct _mrc_proto_ProtobufConsoleLineTimestamp {
|
||||
#define mrc_proto_ProtobufErrorInfo_CallStack_tag 5
|
||||
#define mrc_proto_ProtobufOpMode_Hash_tag 1
|
||||
#define mrc_proto_ProtobufOpMode_Name_tag 2
|
||||
#define mrc_proto_ProtobufOpMode_Group_tag 3
|
||||
#define mrc_proto_ProtobufOpMode_Description_tag 4
|
||||
#define mrc_proto_ProtobufOpMode_TextColor_tag 5
|
||||
#define mrc_proto_ProtobufOpMode_BackgroundColor_tag 6
|
||||
#define mrc_proto_ProtobufAvailableOpModes_Modes_tag 1
|
||||
#define mrc_proto_ProtobufErrorInfoTimestamp_ErrorInfo_tag 1
|
||||
#define mrc_proto_ProtobufErrorInfoTimestamp_Timestamp_tag 2
|
||||
@@ -261,10 +269,10 @@ X(a, CALLBACK, REPEATED, MESSAGE, Touchpads, 7)
|
||||
#define mrc_proto_ProtobufJoystickData_Touchpads_MSGTYPE mrc_proto_ProtobufTouchpadData
|
||||
|
||||
#define mrc_proto_ProtobufControlData_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, UINT32, ControlWord, 1) \
|
||||
X(a, STATIC, SINGULAR, INT32, MatchTime, 2) \
|
||||
X(a, CALLBACK, REPEATED, MESSAGE, Joysticks, 3) \
|
||||
X(a, STATIC, SINGULAR, FIXED64, CurrentOpMode, 4)
|
||||
X(a, STATIC, SINGULAR, FIXED64, CurrentOpMode, 4) \
|
||||
X(a, STATIC, SINGULAR, UINT32, ControlWord, 5)
|
||||
#define mrc_proto_ProtobufControlData_CALLBACK pb_default_field_callback
|
||||
#define mrc_proto_ProtobufControlData_DEFAULT NULL
|
||||
#define mrc_proto_ProtobufControlData_Joysticks_MSGTYPE mrc_proto_ProtobufJoystickData
|
||||
@@ -315,7 +323,11 @@ X(a, CALLBACK, SINGULAR, STRING, CallStack, 5)
|
||||
|
||||
#define mrc_proto_ProtobufOpMode_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, FIXED64, Hash, 1) \
|
||||
X(a, CALLBACK, SINGULAR, STRING, Name, 2)
|
||||
X(a, CALLBACK, SINGULAR, STRING, Name, 2) \
|
||||
X(a, CALLBACK, SINGULAR, STRING, Group, 3) \
|
||||
X(a, CALLBACK, SINGULAR, STRING, Description, 4) \
|
||||
X(a, STATIC, SINGULAR, INT32, TextColor, 5) \
|
||||
X(a, STATIC, SINGULAR, INT32, BackgroundColor, 6)
|
||||
#define mrc_proto_ProtobufOpMode_CALLBACK pb_default_field_callback
|
||||
#define mrc_proto_ProtobufOpMode_DEFAULT NULL
|
||||
|
||||
|
||||
Reference in New Issue
Block a user