Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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

25
wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
View File

@@ -11,6 +11,7 @@ import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.parallel.ResourceLock;
import org.wpilib.hardware.hal.RobotMode;
import org.wpilib.simulation.DriverStationSim;
import org.wpilib.simulation.SimHooks;
@@ -218,8 +219,7 @@ class TimedRobotTest {
SimHooks.waitForProgramStart();
DriverStationSim.setEnabled(true);
DriverStationSim.setAutonomous(true);
DriverStationSim.setTest(false);
DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS);
DriverStationSim.notifyNewData();
assertEquals(1, robot.m_simulationInitCount.get());
@@ -300,8 +300,7 @@ class TimedRobotTest {
SimHooks.waitForProgramStart();
DriverStationSim.setEnabled(true);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.setRobotMode(RobotMode.TELEOPERATED);
DriverStationSim.notifyNewData();
assertEquals(1, robot.m_simulationInitCount.get());
@@ -382,8 +381,7 @@ class TimedRobotTest {
SimHooks.waitForProgramStart();
DriverStationSim.setEnabled(true);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(true);
DriverStationSim.setRobotMode(RobotMode.TEST);
DriverStationSim.notifyNewData();
assertEquals(1, robot.m_simulationInitCount.get());
@@ -445,8 +443,6 @@ class TimedRobotTest {
assertEquals(0, robot.m_testExitCount.get());
DriverStationSim.setEnabled(false);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(0.02);
@@ -490,8 +486,6 @@ class TimedRobotTest {
// Start in disabled
DriverStationSim.setEnabled(false);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.notifyNewData();
assertEquals(0, robot.m_disabledInitCount.get());
@@ -518,8 +512,7 @@ class TimedRobotTest {
// Transition to autonomous
DriverStationSim.setEnabled(true);
DriverStationSim.setAutonomous(true);
DriverStationSim.setTest(false);
DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(kPeriod);
@@ -536,8 +529,7 @@ class TimedRobotTest {
// Transition to teleop
DriverStationSim.setEnabled(true);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.setRobotMode(RobotMode.TELEOPERATED);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(kPeriod);
@@ -554,8 +546,7 @@ class TimedRobotTest {
// Transition to test
DriverStationSim.setEnabled(true);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(true);
DriverStationSim.setRobotMode(RobotMode.TEST);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(kPeriod);
@@ -572,8 +563,6 @@ class TimedRobotTest {
// Transition to disabled
DriverStationSim.setEnabled(false);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(kPeriod);