Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +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

23
wpilibj/src/test/java/org/wpilib/simulation/DriverStationSimTest.java
View File

@@ -14,6 +14,7 @@ import org.junit.jupiter.params.provider.EnumSource;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.AllianceStationID;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.RobotMode;
import org.wpilib.simulation.testutils.BooleanCallback;
import org.wpilib.simulation.testutils.DoubleCallback;
import org.wpilib.simulation.testutils.EnumCallback;
@@ -42,14 +43,15 @@ class DriverStationSimTest {
DriverStationSim.resetData();
assertFalse(DriverStation.isAutonomous());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = DriverStationSim.registerAutonomousCallback(callback, false)) {
DriverStationSim.setAutonomous(true);
EnumCallback callback = new EnumCallback();
try (CallbackStore cb = DriverStationSim.registerRobotModeCallback(callback, false)) {
DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS);
DriverStationSim.notifyNewData();
assertTrue(DriverStationSim.getAutonomous());
assertEquals(RobotMode.AUTONOMOUS, DriverStationSim.getRobotMode());
assertTrue(DriverStation.isAutonomous());
assertEquals(RobotMode.AUTONOMOUS, DriverStation.getRobotMode());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
assertEquals(RobotMode.AUTONOMOUS.getValue(), callback.getSetValue());
}
}
@@ -59,14 +61,15 @@ class DriverStationSimTest {
DriverStationSim.resetData();
assertFalse(DriverStation.isTest());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = DriverStationSim.registerTestCallback(callback, false)) {
DriverStationSim.setTest(true);
EnumCallback callback = new EnumCallback();
try (CallbackStore cb = DriverStationSim.registerRobotModeCallback(callback, false)) {
DriverStationSim.setRobotMode(RobotMode.TEST);
DriverStationSim.notifyNewData();
assertTrue(DriverStationSim.getTest());
assertEquals(RobotMode.TEST, DriverStationSim.getRobotMode());
assertTrue(DriverStation.isTest());
assertEquals(RobotMode.TEST, DriverStation.getRobotMode());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
assertEquals(RobotMode.TEST.getValue(), callback.getSetValue());
}
}