Old behavior is available via StepTimingAsync.
This makes it significantly easier to use simulation timing with notifiers.
Also update tests to use simulation framework. This also speeds up the
timing-dependent tests by using simulation timing. ResourceLock is used
in the Java tests to prevent parallel execution.
While we're here, tweak HAL Notifier implementation:
- Use wait_for instead of wait_until in WaitForNotifierAlarm
- Check for triggerTime = UINT64_MAX in UpdateNotifierAlarm
Currently, these two tests take several seconds to complete and fail
intermittently in Windows CI. This is caused by relying on wall clock
time.
Sampling the trajectory with wall clock time means the simulation must
run for several seconds to reach the end of the trajectory. Also, the
controller can become unstable when Windows CI experiences process
scheduling delays of several hundred milliseconds. Feedback controllers
don't cope well with large delays on systems with fast dynamics.
This patch uses the mocking functionality of frc::Timer to advance the
clock by 5ms at every timestep instead of using the wall clock time.
This has two benefits:
1. The tests complete much faster because the simulation can step
forward faster than real time.
2. The controller is more stable because the sample period is uniform,
which should fix the occasional failures.
pose.Translation().X() and pose.Translation.Y() are common operations,
so shortening them to pose.X() and pose.Y() would be convenient.
Java uses the getX() convention so that is used instead of X() for Java.
Also move some things in HAL for consistency.
WAS:
C++:
- C APIs: #include "mockdata/AccelerometerData.h"
- User side class: #include "simulation/AccelerometerSim.h"
Java:
- JNI APIs: hal.sim.mockdata.AccelerometerData (and a few classes in hal.sim)
- User side classes: hal.sim.AccelerometerSim
IS:
C++:
- C APIs: #include "hal/simulation/AccelerometerData.h"
- C++ class: #include "frc/simulation/AccelerometerSim.h"
Java:
- JNI APIs: hal.simulation.AccelerometerData
- User side class: wpilibj.simulation.AccelerometerSim
