Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add TimedRobot functions for running code on mode exit (#3499)

Browse Source 
Currently, we have functions like TeleopInit() for running code on mode
entry, but no such functions for running code on mode exit, and it's
cumbersome to add those in user code without making a custom robot
class. This PR adds exit functions to TimedRobot.

Some example use cases include DisabledExit() for operations when the
robot enables (whether that be into teleop, autonomous, or test) and
AutonomousExit() for disabling feedback controllers.
This commit is contained in:
Tyler Veness
2021-08-05 19:08:29 -07:00
committed by GitHub
parent 94e0db7963
commit fb2ee8ec34
5 changed files with 603 additions and 98 deletions
Download Patch File Download Diff File Expand all files Collapse all files

93
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
View File

@@ -94,6 +94,14 @@ void IterativeRobotBase::TestPeriodic() {
}
}
void IterativeRobotBase::DisabledExit() {}
void IterativeRobotBase::AutonomousExit() {}
void IterativeRobotBase::TeleopExit() {}
void IterativeRobotBase::TestExit() {}
void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
m_ntFlushEnabled = enabled;
}
@@ -105,60 +113,67 @@ units::second_t IterativeRobotBase::GetPeriod() const {
void IterativeRobotBase::LoopFunc() {
m_watchdog.Reset();
// Call the appropriate function depending upon the current robot mode
// Get current mode
Mode mode = Mode::kNone;
if (IsDisabled()) {
// Call DisabledInit() if we are now just entering disabled mode from
// either a different mode or from power-on.
if (m_lastMode != Mode::kDisabled) {
mode = Mode::kDisabled;
} else if (IsAutonomous()) {
mode = Mode::kAutonomous;
} else if (IsOperatorControl()) {
mode = Mode::kTeleop;
} else if (IsTest()) {
mode = Mode::kTest;
}
// If mode changed, call mode exit and entry functions
if (m_lastMode != mode) {
// Call last mode's exit function
if (m_lastMode == Mode::kDisabled) {
DisabledExit();
} else if (m_lastMode == Mode::kAutonomous) {
AutonomousExit();
} else if (m_lastMode == Mode::kTeleop) {
TeleopExit();
} else if (m_lastMode == Mode::kTest) {
LiveWindow::SetEnabled(false);
Shuffleboard::DisableActuatorWidgets();
TestExit();
}
// Call current mode's entry function
if (mode == Mode::kDisabled) {
DisabledInit();
m_watchdog.AddEpoch("DisabledInit()");
m_lastMode = Mode::kDisabled;
}
HAL_ObserveUserProgramDisabled();
DisabledPeriodic();
m_watchdog.AddEpoch("DisabledPeriodic()");
} else if (IsAutonomous()) {
// Call AutonomousInit() if we are now just entering autonomous mode from
// either a different mode or from power-on.
if (m_lastMode != Mode::kAutonomous) {
LiveWindow::SetEnabled(false);
Shuffleboard::DisableActuatorWidgets();
} else if (mode == Mode::kAutonomous) {
AutonomousInit();
m_watchdog.AddEpoch("AutonomousInit()");
m_lastMode = Mode::kAutonomous;
}
HAL_ObserveUserProgramAutonomous();
AutonomousPeriodic();
m_watchdog.AddEpoch("AutonomousPeriodic()");
} else if (IsOperatorControl()) {
// Call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on.
if (m_lastMode != Mode::kTeleop) {
LiveWindow::SetEnabled(false);
Shuffleboard::DisableActuatorWidgets();
} else if (mode == Mode::kTeleop) {
TeleopInit();
m_watchdog.AddEpoch("TeleopInit()");
m_lastMode = Mode::kTeleop;
}
HAL_ObserveUserProgramTeleop();
TeleopPeriodic();
m_watchdog.AddEpoch("TeleopPeriodic()");
} else {
// Call TestInit() if we are now just entering test mode from
// either a different mode or from power-on.
if (m_lastMode != Mode::kTest) {
} else if (mode == Mode::kTest) {
LiveWindow::SetEnabled(true);
Shuffleboard::EnableActuatorWidgets();
TestInit();
m_watchdog.AddEpoch("TestInit()");
m_lastMode = Mode::kTest;
}
m_lastMode = mode;
}
// Call the appropriate function depending upon the current robot mode
if (mode == Mode::kDisabled) {
HAL_ObserveUserProgramDisabled();
DisabledPeriodic();
m_watchdog.AddEpoch("DisabledPeriodic()");
} else if (mode == Mode::kAutonomous) {
HAL_ObserveUserProgramAutonomous();
AutonomousPeriodic();
m_watchdog.AddEpoch("AutonomousPeriodic()");
} else if (mode == Mode::kTeleop) {
HAL_ObserveUserProgramTeleop();
TeleopPeriodic();
m_watchdog.AddEpoch("TeleopPeriodic()");
} else if (mode == Mode::kTest) {
HAL_ObserveUserProgramTest();
TestPeriodic();
m_watchdog.AddEpoch("TestPeriodic()");

70
wpilibc/src/main/native/include/frc/IterativeRobotBase.h
View File

@@ -25,22 +25,32 @@ namespace frc {
* RobotInit() -- provide for initialization at robot power-on
*
* Init() functions -- each of the following functions is called once when the
* appropriate mode is entered:
* - DisabledInit() -- called each and every time disabled is entered from
* another mode
* - AutonomousInit() -- called each and every time autonomous is entered from
* another mode
* - TeleopInit() -- called each and every time teleop is entered from
* another mode
* - TestInit() -- called each and every time test is entered from
* another mode
* appropriate mode is entered:
*
* \li DisabledInit() -- called each and every time disabled is entered from
* another mode
* \li AutonomousInit() -- called each and every time autonomous is entered from
* another mode
* \li TeleopInit() -- called each and every time teleop is entered from another
* mode
* \li TestInit() -- called each and every time test is entered from another
* mode
*
* Periodic() functions -- each of these functions is called on an interval:
* - RobotPeriodic()
* - DisabledPeriodic()
* - AutonomousPeriodic()
* - TeleopPeriodic()
* - TestPeriodic()
*
* \li RobotPeriodic()
* \li DisabledPeriodic()
* \li AutonomousPeriodic()
* \li TeleopPeriodic()
* \li TestPeriodic()
*
* Exit() functions -- each of the following functions is called once when the
* appropriate mode is exited:
*
* \li DisabledExit() -- called each and every time disabled is exited
* \li AutonomousExit() -- called each and every time autonomous is exited
* \li TeleopExit() -- called each and every time teleop is exited
* \li TestExit() -- called each and every time test is exited
*/
class IterativeRobotBase : public RobotBase {
public:
@@ -152,6 +162,38 @@ class IterativeRobotBase : public RobotBase {
*/
virtual void TestPeriodic();
/**
* Exit code for disabled mode should go here.
*
* Users should override this method for code which will be called each time
* the robot exits disabled mode.
*/
virtual void DisabledExit();
/**
* Exit code for autonomous mode should go here.
*
* Users should override this method for code which will be called each time
* the robot exits autonomous mode.
*/
virtual void AutonomousExit();
/**
* Exit code for teleop mode should go here.
*
* Users should override this method for code which will be called each time
* the robot exits teleop mode.
*/
virtual void TeleopExit();
/**
* Exit code for test mode should go here.
*
* Users should override this method for code which will be called each time
* the robot exits test mode.
*/
virtual void TestExit();
/**
* Enables or disables flushing NetworkTables every loop iteration.
* By default, this is disabled.

179
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
View File

@@ -32,6 +32,11 @@ class MockRobot : public TimedRobot {
std::atomic<uint32_t> m_teleopInitCount{0};
std::atomic<uint32_t> m_testInitCount{0};
std::atomic<uint32_t> m_disabledExitCount{0};
std::atomic<uint32_t> m_autonomousExitCount{0};
std::atomic<uint32_t> m_teleopExitCount{0};
std::atomic<uint32_t> m_testExitCount{0};
std::atomic<uint32_t> m_robotPeriodicCount{0};
std::atomic<uint32_t> m_simulationPeriodicCount{0};
std::atomic<uint32_t> m_disabledPeriodicCount{0};
@@ -62,6 +67,14 @@ class MockRobot : public TimedRobot {
void TeleopPeriodic() override { m_teleopPeriodicCount++; }
void TestPeriodic() override { m_testPeriodicCount++; }
void DisabledExit() override { m_disabledExitCount++; }
void AutonomousExit() override { m_autonomousExitCount++; }
void TeleopExit() override { m_teleopExitCount++; }
void TestExit() override { m_testExitCount++; }
};
} // namespace
@@ -88,6 +101,11 @@ TEST_F(TimedRobotTest, Disabled) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_robotInitCount);
@@ -104,6 +122,11 @@ TEST_F(TimedRobotTest, Disabled) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_robotInitCount);
@@ -120,6 +143,11 @@ TEST_F(TimedRobotTest, Disabled) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
robot.EndCompetition();
robotThread.join();
}
@@ -149,6 +177,11 @@ TEST_F(TimedRobotTest, Autonomous) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_robotInitCount);
@@ -165,6 +198,11 @@ TEST_F(TimedRobotTest, Autonomous) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_robotInitCount);
@@ -181,6 +219,11 @@ TEST_F(TimedRobotTest, Autonomous) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
robot.EndCompetition();
robotThread.join();
}
@@ -210,6 +253,11 @@ TEST_F(TimedRobotTest, Teleop) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_robotInitCount);
@@ -226,6 +274,11 @@ TEST_F(TimedRobotTest, Teleop) {
EXPECT_EQ(1u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_robotInitCount);
@@ -242,6 +295,11 @@ TEST_F(TimedRobotTest, Teleop) {
EXPECT_EQ(2u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
robot.EndCompetition();
robotThread.join();
}
@@ -271,6 +329,11 @@ TEST_F(TimedRobotTest, Test) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(0u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_robotInitCount);
@@ -287,6 +350,11 @@ TEST_F(TimedRobotTest, Test) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(1u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_robotInitCount);
@@ -303,6 +371,117 @@ TEST_F(TimedRobotTest, Test) {
EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
EXPECT_EQ(2u, robot.m_testPeriodicCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
robot.EndCompetition();
robotThread.join();
}
TEST_F(TimedRobotTest, ModeChange) {
MockRobot robot;
std::thread robotThread{[&] { robot.StartCompetition(); }};
// Start in disabled
frc::sim::DriverStationSim::SetEnabled(false);
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetTest(false);
frc::sim::DriverStationSim::NotifyNewData();
frc::sim::StepTiming(0_ms); // Wait for Notifiers
EXPECT_EQ(0u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(0u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(0u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
// Transition to autonomous
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::SetAutonomous(true);
frc::sim::DriverStationSim::SetTest(false);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(0u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(1u, robot.m_disabledExitCount);
EXPECT_EQ(0u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
// Transition to teleop
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetTest(false);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(1u, robot.m_teleopInitCount);
EXPECT_EQ(0u, robot.m_testInitCount);
EXPECT_EQ(1u, robot.m_disabledExitCount);
EXPECT_EQ(1u, robot.m_autonomousExitCount);
EXPECT_EQ(0u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
// Transition to test
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetTest(true);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(1u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(1u, robot.m_teleopInitCount);
EXPECT_EQ(1u, robot.m_testInitCount);
EXPECT_EQ(1u, robot.m_disabledExitCount);
EXPECT_EQ(1u, robot.m_autonomousExitCount);
EXPECT_EQ(1u, robot.m_teleopExitCount);
EXPECT_EQ(0u, robot.m_testExitCount);
// Transition to disabled
frc::sim::DriverStationSim::SetEnabled(false);
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetTest(false);
frc::sim::StepTiming(20_ms);
EXPECT_EQ(2u, robot.m_disabledInitCount);
EXPECT_EQ(1u, robot.m_autonomousInitCount);
EXPECT_EQ(1u, robot.m_teleopInitCount);
EXPECT_EQ(1u, robot.m_testInitCount);
EXPECT_EQ(1u, robot.m_disabledExitCount);
EXPECT_EQ(1u, robot.m_autonomousExitCount);
EXPECT_EQ(1u, robot.m_teleopExitCount);
EXPECT_EQ(1u, robot.m_testExitCount);
robot.EndCompetition();
robotThread.join();
}

151
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
View File

@@ -23,13 +23,34 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
* <p>robotInit() -- provide for initialization at robot power-on
*
* <p>init() functions -- each of the following functions is called once when the appropriate mode
* is entered: - disabledInit() -- called each and every time disabled is entered from another mode
* - autonomousInit() -- called each and every time autonomous is entered from another mode -
* teleopInit() -- called each and every time teleop is entered from another mode - testInit() --
* called each and every time test is entered from another mode
* is entered:
*
* <p>periodic() functions -- each of these functions is called on an interval: - robotPeriodic() -
* disabledPeriodic() - autonomousPeriodic() - teleopPeriodic() - testPeriodic()
* <ul>
* <li>disabledInit() -- called each and every time disabled is entered from another mode
* <li>autonomousInit() -- called each and every time autonomous is entered from another mode
* <li>teleopInit() -- called each and every time teleop is entered from another mode
* <li>testInit() -- called each and every time test is entered from another mode
* </ul>
*
* <p>periodic() functions -- each of these functions is called on an interval:
*
* <ul>
* <li>robotPeriodic()
* <li>disabledPeriodic()
* <li>autonomousPeriodic()
* <li>teleopPeriodic()
* <li>testPeriodic()
* </ul>
*
* <p>final() functions -- each of the following functions is called once when the appropriate mode
* is exited:
*
* <ul>
* <li>disabledExit() -- called each and every time disabled is exited
* <li>autonomousExit() -- called each and every time autonomous is exited
* <li>teleopExit() -- called each and every time teleop is exited
* <li>testExit() -- called each and every time test is exited
* </ul>
*/
public abstract class IterativeRobotBase extends RobotBase {
private enum Mode {
@@ -194,6 +215,39 @@ public abstract class IterativeRobotBase extends RobotBase {
}
}
/**
* Exit code for disabled mode should go here.
*
* <p>Users should override this method for code which will be called each time the robot exits
* disabled mode.
*/
public void disabledExit() {}
/**
* Exit code for autonomous mode should go here.
*
* <p>Users should override this method for code which will be called each time the robot exits
* autonomous mode.
*/
public void autonomousExit() {}
/**
* Exit code for teleop mode should go here.
*
* <p>Users should override this method for code which will be called each time the robot exits
* teleop mode.
*/
public void teleopExit() {}
/**
* Exit code for test mode should go here.
*
* <p>Users should override this method for code which will be called each time the robot exits
* test mode.
*/
@SuppressWarnings("PMD.JUnit4TestShouldUseTestAnnotation")
public void testExit() {}
/**
* Enables or disables flushing NetworkTables every loop iteration. By default, this is disabled.
*
@@ -215,60 +269,67 @@ public abstract class IterativeRobotBase extends RobotBase {
protected void loopFunc() {
m_watchdog.reset();
// Call the appropriate function depending upon the current robot mode
// Get current mode
Mode mode = Mode.kNone;
if (isDisabled()) {
// Call DisabledInit() if we are now just entering disabled mode from either a different mode
// or from power-on.
if (m_lastMode != Mode.kDisabled) {
mode = Mode.kDisabled;
} else if (isAutonomous()) {
mode = Mode.kAutonomous;
} else if (isOperatorControl()) {
mode = Mode.kTeleop;
} else if (isTest()) {
mode = Mode.kTest;
}
// If mode changed, call mode exit and entry functions
if (m_lastMode != mode) {
// Call last mode's exit function
if (m_lastMode == Mode.kDisabled) {
disabledExit();
} else if (m_lastMode == Mode.kAutonomous) {
autonomousExit();
} else if (m_lastMode == Mode.kTeleop) {
teleopExit();
} else if (m_lastMode == Mode.kTest) {
LiveWindow.setEnabled(false);
Shuffleboard.disableActuatorWidgets();
testExit();
}
// Call current mode's entry function
if (mode == Mode.kDisabled) {
disabledInit();
m_watchdog.addEpoch("disabledInit()");
m_lastMode = Mode.kDisabled;
}
HAL.observeUserProgramDisabled();
disabledPeriodic();
m_watchdog.addEpoch("disablePeriodic()");
} else if (isAutonomous()) {
// Call AutonomousInit() if we are now just entering autonomous mode from either a different
// mode or from power-on.
if (m_lastMode != Mode.kAutonomous) {
LiveWindow.setEnabled(false);
Shuffleboard.disableActuatorWidgets();
} else if (mode == Mode.kAutonomous) {
autonomousInit();
m_watchdog.addEpoch("autonomousInit()");
m_lastMode = Mode.kAutonomous;
}
HAL.observeUserProgramAutonomous();
autonomousPeriodic();
m_watchdog.addEpoch("autonomousPeriodic()");
} else if (isOperatorControl()) {
// Call TeleopInit() if we are now just entering teleop mode from either a different mode or
// from power-on.
if (m_lastMode != Mode.kTeleop) {
LiveWindow.setEnabled(false);
Shuffleboard.disableActuatorWidgets();
} else if (mode == Mode.kTeleop) {
teleopInit();
m_watchdog.addEpoch("teleopInit()");
m_lastMode = Mode.kTeleop;
}
HAL.observeUserProgramTeleop();
teleopPeriodic();
m_watchdog.addEpoch("teleopPeriodic()");
} else {
// Call TestInit() if we are now just entering test mode from either a different mode or from
// power-on.
if (m_lastMode != Mode.kTest) {
} else if (mode == Mode.kTest) {
LiveWindow.setEnabled(true);
Shuffleboard.enableActuatorWidgets();
testInit();
m_watchdog.addEpoch("testInit()");
m_lastMode = Mode.kTest;
}
m_lastMode = mode;
}
// Call the appropriate function depending upon the current robot mode
if (mode == Mode.kDisabled) {
HAL.observeUserProgramDisabled();
disabledPeriodic();
m_watchdog.addEpoch("disabledPeriodic()");
} else if (mode == Mode.kAutonomous) {
HAL.observeUserProgramAutonomous();
autonomousPeriodic();
m_watchdog.addEpoch("autonomousPeriodic()");
} else if (mode == Mode.kTeleop) {
HAL.observeUserProgramTeleop();
teleopPeriodic();
m_watchdog.addEpoch("teleopPeriodic()");
} else {
HAL.observeUserProgramTest();
testPeriodic();
m_watchdog.addEpoch("testPeriodic()");

208
wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
View File

@@ -30,6 +30,11 @@ class TimedRobotTest {
public final AtomicInteger m_teleopPeriodicCount = new AtomicInteger(0);
public final AtomicInteger m_testPeriodicCount = new AtomicInteger(0);
public final AtomicInteger m_disabledExitCount = new AtomicInteger(0);
public final AtomicInteger m_autonomousExitCount = new AtomicInteger(0);
public final AtomicInteger m_teleopExitCount = new AtomicInteger(0);
public final AtomicInteger m_testExitCount = new AtomicInteger(0);
@Override
public void robotInit() {
m_robotInitCount.addAndGet(1);
@@ -89,6 +94,26 @@ class TimedRobotTest {
public void testPeriodic() {
m_testPeriodicCount.addAndGet(1);
}
@Override
public void disabledExit() {
m_disabledExitCount.addAndGet(1);
}
@Override
public void autonomousExit() {
m_autonomousExitCount.addAndGet(1);
}
@Override
public void teleopExit() {
m_teleopExitCount.addAndGet(1);
}
@Override
public void testExit() {
m_testExitCount.addAndGet(1);
}
}
@BeforeEach
@@ -131,6 +156,11 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_robotInitCount.get());
@@ -147,6 +177,11 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_robotInitCount.get());
@@ -163,6 +198,11 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
robot.endCompetition();
try {
robotThread.interrupt();
@@ -205,6 +245,11 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_robotInitCount.get());
@@ -221,6 +266,11 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_robotInitCount.get());
@@ -237,6 +287,11 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
robot.endCompetition();
try {
robotThread.interrupt();
@@ -279,6 +334,11 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_robotInitCount.get());
@@ -295,6 +355,11 @@ class TimedRobotTest {
assertEquals(1, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_robotInitCount.get());
@@ -311,6 +376,11 @@ class TimedRobotTest {
assertEquals(2, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
robot.endCompetition();
try {
robotThread.interrupt();
@@ -353,6 +423,11 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_robotInitCount.get());
@@ -369,6 +444,11 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(1, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_robotInitCount.get());
@@ -385,6 +465,134 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(2, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
robot.endCompetition();
try {
robotThread.interrupt();
robotThread.join();
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
}
robot.close();
}
@Test
@ResourceLock("timing")
void modeChangeTest() {
MockRobot robot = new MockRobot();
Thread robotThread =
new Thread(
() -> {
robot.startCompetition();
});
robotThread.start();
// Start in disabled
DriverStationSim.setEnabled(false);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(0.0); // Wait for Notifiers
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
// Transition to autonomous
DriverStationSim.setEnabled(true);
DriverStationSim.setAutonomous(true);
DriverStationSim.setTest(false);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(1, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
// Transition to teleop
DriverStationSim.setEnabled(true);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(1, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(1, robot.m_disabledExitCount.get());
assertEquals(1, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
// Transition to test
DriverStationSim.setEnabled(true);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(true);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(1, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertEquals(1, robot.m_disabledExitCount.get());
assertEquals(1, robot.m_autonomousExitCount.get());
assertEquals(1, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
// Transition to disabled
DriverStationSim.setEnabled(false);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(0.02);
assertEquals(2, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(1, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertEquals(1, robot.m_disabledExitCount.get());
assertEquals(1, robot.m_autonomousExitCount.get());
assertEquals(1, robot.m_teleopExitCount.get());
assertEquals(1, robot.m_testExitCount.get());
robot.endCompetition();
try {
robotThread.interrupt();