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[hal, wpilib] Add OpMode support (#7744)

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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
2025-12-12 21:25:57 -07:00
committed by GitHub
parent 2a41b80e00
commit dacded37e5
163 changed files with 7454 additions and 2175 deletions
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16
hal/src/main/native/cpp/proto/ControlDataProto.cpp
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@@ -11,8 +11,7 @@ static_assert(sizeof(mrc::ControlFlags) == sizeof(uint32_t));
namespace {
constexpr uint32_t EnabledMask = 0x1;
constexpr uint32_t AutoMask = 0x2;
constexpr uint32_t TestMask = 0x4;
constexpr uint32_t RobotModeMask = 0x6;
constexpr uint32_t EStopMask = 0x8;
constexpr uint32_t FmsConnectedMask = 0x10;
constexpr uint32_t DsConnectedMask = 0x20;
@@ -20,8 +19,7 @@ constexpr uint32_t WatchdogActiveMask = 0x40;
constexpr uint32_t AllianceMask = 0x1F80;
constexpr uint32_t EnabledShift = 0;
constexpr uint32_t AutoShift = 1;
constexpr uint32_t TestShift = 2;
constexpr uint32_t RobotModeShift = 1;
constexpr uint32_t EStopShift = 3;
constexpr uint32_t FmsConnectedShift = 4;
constexpr uint32_t DsConnectedShift = 5;
@@ -33,8 +31,7 @@ constexpr uint32_t AllianceShift = 7;
constexpr uint32_t FromControlWord(mrc::ControlFlags Word) {
uint32_t Ret = 0;
WORD_TO_INT(Enabled);
WORD_TO_INT(Auto);
WORD_TO_INT(Test);
WORD_TO_INT(RobotMode);
WORD_TO_INT(EStop);
WORD_TO_INT(FmsConnected);
WORD_TO_INT(DsConnected);
@@ -50,8 +47,7 @@ constexpr uint32_t FromControlWord(mrc::ControlFlags Word) {
constexpr mrc::ControlFlags ToControlWord(uint32_t Word) {
mrc::ControlFlags Ret = {};
INT_TO_WORD(Enabled);
INT_TO_WORD(Auto);
INT_TO_WORD(Test);
INT_TO_WORD(RobotMode);
INT_TO_WORD(EStop);
INT_TO_WORD(FmsConnected);
INT_TO_WORD(DsConnected);
@@ -67,10 +63,10 @@ std::optional<mrc::ControlData> wpi::util::Protobuf<mrc::ControlData>::Unpack(
wpi::util::UnpackCallback<mrc::Joystick, MRC_MAX_NUM_JOYSTICKS> JoystickCb;
mrc_proto_ProtobufControlData Msg{
.ControlWord = 0,
.MatchTime = 0,
.Joysticks = JoystickCb.Callback(),
.CurrentOpMode = 0,
.ControlWord = 0,
};
if (!Stream.Decode(Msg)) {
@@ -99,10 +95,10 @@ bool wpi::util::Protobuf<mrc::ControlData>::Pack(
wpi::util::PackCallback Joysticks{Sticks};
mrc_proto_ProtobufControlData Msg{
.ControlWord = FromControlWord(Value.ControlWord),
.MatchTime = Value.MatchTime,
.Joysticks = Joysticks.Callback(),
.CurrentOpMode = Value.CurrentOpMode.ToValue(),
.ControlWord = FromControlWord(Value.ControlWord),
};
return Stream.Encode(Msg);