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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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208
wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
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@@ -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();