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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
273
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
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273
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import java.io.File;
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import java.io.FileOutputStream;
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import java.io.IOException;
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import java.net.URL;
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import java.util.Arrays;
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import java.util.Enumeration;
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import java.util.jar.Manifest;
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//import org.opencv.core.Core;
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import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
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import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
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import edu.wpi.first.wpilibj.hal.HAL;
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import edu.wpi.first.wpilibj.internal.HardwareHLUsageReporting;
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import edu.wpi.first.wpilibj.internal.HardwareTimer;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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import edu.wpi.first.wpilibj.networktables.NetworkTable;
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import edu.wpi.first.wpilibj.util.WPILibVersion;
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/**
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* Implement a Robot Program framework. The RobotBase class is intended to be subclassed by a user
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* creating a robot program. Overridden autonomous() and operatorControl() methods are called at the
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* appropriate time as the match proceeds. In the current implementation, the Autonomous code will
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* run to completion before the OperatorControl code could start. In the future the Autonomous code
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* might be spawned as a task, then killed at the end of the Autonomous period.
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*/
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public abstract class RobotBase {
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/**
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* The VxWorks priority that robot code should work at (so Java code should run at).
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*/
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public static final int ROBOT_TASK_PRIORITY = 101;
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/**
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* The ID of the main Java thread.
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*/
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// This is usually 1, but it is best to make sure
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public static final long MAIN_THREAD_ID = Thread.currentThread().getId();
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protected final DriverStation m_ds;
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/**
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* Constructor for a generic robot program. User code should be placed in the constructor that
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* runs before the Autonomous or Operator Control period starts. The constructor will run to
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* completion before Autonomous is entered.
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*
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* <p>This must be used to ensure that the communications code starts. In the future it would be
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* nice
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* to put this code into it's own task that loads on boot so ensure that it runs.
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*/
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protected RobotBase() {
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NetworkTable.setNetworkIdentity("Robot");
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NetworkTable.setPersistentFilename("/home/lvuser/networktables.ini");
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NetworkTable.setServerMode(); // must be before b
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m_ds = DriverStation.getInstance();
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NetworkTable.getTable(""); // forces network tables to initialize
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NetworkTable.getTable("LiveWindow").getSubTable("~STATUS~").putBoolean("LW Enabled", false);
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LiveWindow.setEnabled(false);
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}
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/**
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* Free the resources for a RobotBase class.
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*/
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public void free() {
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}
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/**
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* Get if the robot is a simulation.
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*
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* @return If the robot is running in simulation.
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*/
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public static boolean isSimulation() {
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return false;
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}
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/**
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* Get if the robot is real.
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*
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* @return If the robot is running in the real world.
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*/
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public static boolean isReal() {
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return true;
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}
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/**
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* Determine if the Robot is currently disabled.
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*
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* @return True if the Robot is currently disabled by the field controls.
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*/
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public boolean isDisabled() {
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return m_ds.isDisabled();
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}
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/**
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* Determine if the Robot is currently enabled.
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*
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* @return True if the Robot is currently enabled by the field controls.
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*/
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public boolean isEnabled() {
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return m_ds.isEnabled();
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}
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/**
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* Determine if the robot is currently in Autonomous mode as determined by the field
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* controls.
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*
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* @return True if the robot is currently operating Autonomously.
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*/
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public boolean isAutonomous() {
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return m_ds.isAutonomous();
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}
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/**
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* Determine if the robot is currently in Test mode as determined by the driver
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* station.
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*
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* @return True if the robot is currently operating in Test mode.
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*/
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public boolean isTest() {
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return m_ds.isTest();
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}
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/**
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* Determine if the robot is currently in Operator Control mode as determined by the field
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* controls.
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*
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* @return True if the robot is currently operating in Tele-Op mode.
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*/
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public boolean isOperatorControl() {
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return m_ds.isOperatorControl();
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}
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/**
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* Indicates if new data is available from the driver station.
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*
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* @return Has new data arrived over the network since the last time this function was called?
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*/
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public boolean isNewDataAvailable() {
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return m_ds.isNewControlData();
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}
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/**
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* Provide an alternate "main loop" via startCompetition().
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*/
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public abstract void startCompetition();
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@SuppressWarnings("JavadocMethod")
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public static boolean getBooleanProperty(String name, boolean defaultValue) {
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String propVal = System.getProperty(name);
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if (propVal == null) {
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return defaultValue;
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}
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if (propVal.equalsIgnoreCase("false")) {
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return false;
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} else if (propVal.equalsIgnoreCase("true")) {
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return true;
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} else {
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throw new IllegalStateException(propVal);
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}
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}
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/**
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* Common initialization for all robot programs.
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*/
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public static void initializeHardwareConfiguration() {
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if (!HAL.initialize(500, 0)) {
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throw new IllegalStateException("Failed to initialize. Terminating");
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}
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// Set some implementations so that the static methods work properly
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Timer.SetImplementation(new HardwareTimer());
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HLUsageReporting.SetImplementation(new HardwareHLUsageReporting());
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RobotState.SetImplementation(DriverStation.getInstance());
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// Load opencv
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/* TODO (after opencv is added again)
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try {
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System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
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} catch (UnsatisfiedLinkError ex) {
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System.out.println("OpenCV Native Libraries could not be loaded.");
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System.out.println("Please try redeploying, or reimage your roboRIO and try again.");
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ex.printStackTrace();
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}
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*/
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}
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/**
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* Starting point for the applications.
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*/
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@SuppressWarnings("PMD.UnusedFormalParameter")
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public static void main(String... args) {
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initializeHardwareConfiguration();
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HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
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String robotName = "";
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Enumeration<URL> resources = null;
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try {
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resources = RobotBase.class.getClassLoader().getResources("META-INF/MANIFEST.MF");
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} catch (IOException ex) {
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ex.printStackTrace();
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}
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while (resources != null && resources.hasMoreElements()) {
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try {
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Manifest manifest = new Manifest(resources.nextElement().openStream());
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robotName = manifest.getMainAttributes().getValue("Robot-Class");
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} catch (IOException ex) {
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ex.printStackTrace();
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}
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}
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System.out.println("********** Robot program starting **********");
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RobotBase robot;
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try {
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robot = (RobotBase) Class.forName(robotName).newInstance();
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} catch (Throwable throwable) {
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DriverStation.reportError("ERROR Unhandled exception instantiating robot " + robotName + " "
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+ throwable.toString() + " at " + Arrays.toString(throwable.getStackTrace()), false);
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System.err.println("WARNING: Robots don't quit!");
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System.err.println("ERROR: Could not instantiate robot " + robotName + "!");
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System.exit(1);
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return;
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}
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try {
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final File file = new File("/tmp/frc_versions/FRC_Lib_Version.ini");
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if (file.exists()) {
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file.delete();
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}
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file.createNewFile();
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try (FileOutputStream output = new FileOutputStream(file)) {
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output.write("Java ".getBytes());
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output.write(WPILibVersion.Version.getBytes());
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}
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} catch (IOException ex) {
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ex.printStackTrace();
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}
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boolean errorOnExit = false;
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try {
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robot.startCompetition();
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} catch (Throwable throwable) {
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DriverStation.reportError(
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"ERROR Unhandled exception: " + throwable.toString() + " at "
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+ Arrays.toString(throwable.getStackTrace()), false);
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errorOnExit = true;
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} finally {
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// startCompetition never returns unless exception occurs....
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System.err.println("WARNING: Robots don't quit!");
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if (errorOnExit) {
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System.err
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.println("---> The startCompetition() method (or methods called by it) should have "
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+ "handled the exception above.");
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} else {
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System.err.println("---> Unexpected return from startCompetition() method.");
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}
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}
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System.exit(1);
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}
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}
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