This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
This is a breaking change to the WebSockets layer to align it with
recent specification documentation work.
To support this, HAL SimValue changed readonly to a direction enum.
This allows specifying bidirectional in addition to input and output.
The SimValue change is specifically designed to avoid API and ABI breakage.
This is completely transparent in C++; in Java a new callback class was added,
and the old readonly functions have been marked deprecated.
A new SimValue creation function for enums allows specifying double values
for each enum value, not just strings. This allows mapping enum values to
doubles in the WebSockets layer.
A ":" in the SimDevice name now maps it to different WebSocket types (e.g.
"Accel:Name" becomes type "Accel", device "Name"). The type is hidden
in the GUI.
Other WebSockets changes:
* Implemented match_time and game_data
* Added joystick rumble data
* Added builtin accelerometer support
* SimValue enums are mapped to string and double value on WS interface
* Added WebSockets protocol specification
* Added READMEs
The change to SendableBuilder to add GetTable() added a virtual function
early in the class definition. This is an ABI break for vendor libraries.
Attempt to workaround this breakage by moving GetTable() to the end of the
class definition.
This makes AtSetpoint() return false after the setpoint is changed with
SetSetpoint().
Closes#2821.
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
If a Sendable like SendableChooser is destroyed and recreated, it leaves
a stale object in the Sendable registry. Using this object results in a
crash. This patch avoids using the stale object.
We should remove stale objects from the global registry upon object
destruction, but this fixes the crashing issue for now.
Closes#2818.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Previously this sent just the raw analog value; the scaled value is likely what users expect.
Co-authored-by: Corey Applegate <coreya@centralmcgowan.com>
Currently, teams have to make a Notifier to run feedback controllers
more often than the TimedRobot loop period of 20ms (running TimedRobot
more often than this is not advised). This lets users add callbacks to
the main robot loop that run at a user-defined period. This allows
running feedback controllers more often, but does so synchronously with
TimedRobot so there aren't any thread safety issues.
To make the tests reliable, the synchronization in simulation Notifiers
had to be reworked. StepTiming() now waits for all Notifiers to reach
HAL_WaitForNotifierAlarm(), then steps the time, then lets any expired
Notifiers run.
While there, we made some variable names more descriptive and added more
comments.
There were three bugs:
1. The input range variables used in ProfiledPIDController::Calculate()
weren't being updated
2. The modulus error calculation was incorrect.
3. The setpoint wasn't being wrapped like the goal, so the invariant
that the error remains less than half the input range was violated.
(Thanks to @CptJJ for pointing this out and suggesting a fix.)
Based on run of include-what-you-use.org to identify unused include files in various .h and .cpp files.
The changes mostly fall into 3 categories:
- Actually unused includes - copy-paste errors, not removing includes after cleaning up code, etc
- A too-broad include used where a more specific (and hopefully smaller) header will do
- Interface .h files including headers only needed by the .cpp implementation - moving from .h to .cpp
will mean that code which uses the .h doesn't pay the price of processing the header file they don't need
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
If the model is unstable, it will almost always diverge within 10
seconds, and the results are rather dramatic. We're also reducing the
threshold to 100 meters because the drivetrain is moving in a small
circle. The translation norm is also used for this reason; the X
component alone regularly crosses zero since the drivetrain moves in a
circle.
Some vestigial functions were never removed, and C++ single-jointed arm
sim was missing a flag for disabling gravity simulation. This is useful
for mechanisms like turrets.
Fixes#2738.
In the second constructor, a new LinearSystem is created and set to
m_plant. This takes a const ref though, so it's storing a reference to a
temporary object. After the constructor finishes, m_plant points to an
invalid object. When Update() is called, it will crash with a
segmentation fault.
This patch fixes the use-after-free by making m_plant a LinearSystem
value type. The first constructor will generate a copy, but that only
happens once.
