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https://github.com/wpilibsuite/allwpilib
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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
@@ -4,7 +4,10 @@
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#include <jni.h>
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#include "../HALUtil.h"
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#include "CallbackStore.h"
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#include "OpModeOptionsCallbackStore.h"
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#include "SimulatorJNI.h"
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#include "org_wpilib_hardware_hal_simulation_DriverStationDataJNI.h"
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#include "wpi/hal/simulation/DriverStationData.h"
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#include "wpi/hal/simulation/MockHooks.h"
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@@ -69,103 +72,53 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setEnabled
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: registerAutonomousCallback
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* Method: registerRobotModeCallback
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* Signature: (Ljava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_registerAutonomousCallback
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_registerRobotModeCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallbackNoIndex(
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env, callback, initialNotify,
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&HALSIM_RegisterDriverStationAutonomousCallback);
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&HALSIM_RegisterDriverStationRobotModeCallback);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: cancelAutonomousCallback
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* Method: cancelRobotModeCallback
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_cancelAutonomousCallback
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(JNIEnv* env, jclass, jint handle)
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{
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return sim::FreeCallbackNoIndex(
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env, handle, &HALSIM_CancelDriverStationAutonomousCallback);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: getAutonomous
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_getAutonomous
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(JNIEnv*, jclass)
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{
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return HALSIM_GetDriverStationAutonomous();
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: setAutonomous
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* Signature: (Z)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setAutonomous
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(JNIEnv*, jclass, jboolean value)
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{
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HALSIM_SetDriverStationAutonomous(value);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: registerTestCallback
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* Signature: (Ljava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_registerTestCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallbackNoIndex(
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env, callback, initialNotify, &HALSIM_RegisterDriverStationTestCallback);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: cancelTestCallback
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_cancelTestCallback
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_cancelRobotModeCallback
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(JNIEnv* env, jclass, jint handle)
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{
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return sim::FreeCallbackNoIndex(env, handle,
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&HALSIM_CancelDriverStationTestCallback);
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&HALSIM_CancelDriverStationRobotModeCallback);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: getTest
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* Signature: ()Z
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* Method: nativeGetRobotMode
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* Signature: ()I
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*/
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JNIEXPORT jboolean JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_getTest
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JNIEXPORT jint JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_nativeGetRobotMode
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(JNIEnv*, jclass)
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{
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return HALSIM_GetDriverStationTest();
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return HALSIM_GetDriverStationRobotMode();
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: setTest
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* Signature: (Z)V
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* Method: nativeSetRobotMode
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setTest
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(JNIEnv*, jclass, jboolean value)
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_nativeSetRobotMode
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(JNIEnv*, jclass, jint value)
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{
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HALSIM_SetDriverStationTest(value);
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HALSIM_SetDriverStationRobotMode(static_cast<HAL_RobotMode>(value));
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}
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/*
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@@ -423,6 +376,99 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setMatchTime
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HALSIM_SetDriverStationMatchTime(value);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: registerOpModeCallback
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* Signature: (Ljava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_registerOpModeCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallbackNoIndex(
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env, callback, initialNotify,
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&HALSIM_RegisterDriverStationOpModeCallback);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: cancelOpModeCallback
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_cancelOpModeCallback
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(JNIEnv* env, jclass, jint handle)
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{
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return sim::FreeCallbackNoIndex(env, handle,
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&HALSIM_CancelDriverStationOpModeCallback);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: getOpMode
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* Signature: ()J
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*/
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JNIEXPORT jlong JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_getOpMode
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(JNIEnv* env, jclass)
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{
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return HALSIM_GetDriverStationOpMode();
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: setOpMode
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setOpMode
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(JNIEnv* env, jclass, jlong value)
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{
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HALSIM_SetDriverStationOpMode(value);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: registerOpModeOptionsCallback
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* Signature: (Ljava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_registerOpModeOptionsCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateOpModeOptionsCallback(
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env, callback, initialNotify, &HALSIM_RegisterOpModeOptionsCallback);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: cancelOpModeOptionsCallback
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_cancelOpModeOptionsCallback
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(JNIEnv* env, jclass, jint handle)
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{
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sim::FreeOpModeOptionsCallback(env, handle,
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&HALSIM_CancelOpModeOptionsCallback);
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: getOpModeOptions
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* Signature: ()[Ljava/lang/Object;
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*/
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JNIEXPORT jobjectArray JNICALL
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Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_getOpModeOptions
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(JNIEnv* env, jclass)
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{
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int32_t count;
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HAL_OpModeOption* options = HALSIM_GetOpModeOptions(&count);
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auto rv = CreateOpModeOptionArray(env, {options, options + count});
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HALSIM_FreeOpModeOptionsArray(options, count);
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return rv;
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}
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/*
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* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
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* Method: setJoystickAxes
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