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

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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
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179
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
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@@ -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();
}