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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
Download Patch File Download Diff File Expand all files Collapse all files

40
simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
View File

@@ -5,12 +5,11 @@
#include "wpi/halsim/ds_socket/DSCommPacket.hpp"
#include <algorithm>
#include <chrono>
#include <cstring>
#include <span>
#include <thread>
#include <vector>
#include "wpi/hal/DashboardOpMode.hpp"
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/hal/simulation/DriverStationData.h"
#include "wpi/hal/simulation/MockHooks.h"
@@ -54,13 +53,18 @@ DSCommPacket::DSCommPacket() {
**--------------------------------------------------------------------------*/
void DSCommPacket::SetControl(uint8_t control, uint8_t request) {
std::memset(&m_control_word, 0, sizeof(m_control_word));
m_control_word.enabled = (control & kEnabled) != 0;
m_control_word.autonomous = (control & kAutonomous) != 0;
m_control_word.test = (control & kTest) != 0;
m_control_word.eStop = (control & kEmergencyStop) != 0;
m_control_word.fmsAttached = (control & kFMS_Attached) != 0;
m_control_word.dsAttached = (request & kRequestNormalMask) != 0;
HAL_RobotMode robotMode;
if ((control & kAutonomous) != 0) {
robotMode = HAL_ROBOTMODE_AUTONOMOUS;
} else if ((control & kTest) != 0) {
robotMode = HAL_ROBOTMODE_TEST;
} else {
robotMode = HAL_ROBOTMODE_TELEOPERATED;
}
m_control_word = HAL_MakeControlWord(
wpi::hal::GetDashboardSelectedOpMode(robotMode), robotMode,
(control & kEnabled) != 0, (control & kEmergencyStop) != 0,
(control & kFMS_Attached) != 0, (request & kRequestNormalMask) != 0);
m_control_sent = control;
}
@@ -305,17 +309,19 @@ void DSCommPacket::SetupSendHeader(wpi::net::raw_uv_ostream& buf) {
void DSCommPacket::SendUDPToHALSim(void) {
SendJoysticks();
if (!m_control_word.enabled) {
if (!HAL_ControlWord_IsEnabled(m_control_word)) {
m_match_time = -1;
}
HALSIM_SetDriverStationMatchTime(m_match_time);
HALSIM_SetDriverStationEnabled(m_control_word.enabled);
HALSIM_SetDriverStationAutonomous(m_control_word.autonomous);
HALSIM_SetDriverStationTest(m_control_word.test);
HALSIM_SetDriverStationEStop(m_control_word.eStop);
HALSIM_SetDriverStationFmsAttached(m_control_word.fmsAttached);
HALSIM_SetDriverStationDsAttached(m_control_word.dsAttached);
HALSIM_SetDriverStationEnabled(HAL_ControlWord_IsEnabled(m_control_word));
HALSIM_SetDriverStationRobotMode(
HAL_ControlWord_GetRobotMode(m_control_word));
HALSIM_SetDriverStationEStop(HAL_ControlWord_IsEStopped(m_control_word));
HALSIM_SetDriverStationFmsAttached(
HAL_ControlWord_IsFMSAttached(m_control_word));
HALSIM_SetDriverStationDsAttached(
HAL_ControlWord_IsDSAttached(m_control_word));
HALSIM_SetDriverStationAllianceStationId(m_alliance_station);
HALSIM_NotifyDriverStationNewData();

2
simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
View File

@@ -20,6 +20,7 @@
#include <memory>
#include <string_view>
#include "wpi/hal/DashboardOpMode.hpp"
#include "wpi/hal/Extensions.h"
#include "wpi/halsim/ds_socket/DSCommPacket.hpp"
#include "wpi/net/EventLoopRunner.hpp"
@@ -97,6 +98,7 @@ static void SetupTcp(wpi::net::uv::Loop& loop) {
tcp->Listen([t = tcp.get()] {
auto client = t->Accept();
gDSConnected = true;
wpi::hal::EnableDashboardOpMode();
client->data.connect([t](Buffer& buf, size_t len) {
HandleTcpDataStream(buf, len, *t->GetData<DataStore>());