[Libuv docs](https://docs.libuv.org/en/v1.x/tcp.html) states:
> Enable / disable TCP keep-alive. delay is the initial delay in
seconds, ignored when enable is zero.
But we used std::milli, leading to being off by a factor of 1000.
Linear OpModes have several major downsides with no obvious solutions:
- Some things stop working automatically--e.g. in a linear opmode,
simulation will not work out-of-the-box; the user must explicitly call
sim themselves. there's a few other things we do periodically, but this
is the big one (it also forces some decisions on other parts of the
library—eg if we want Tunable to work in linear without the user
manually calling refresh, we have to run it on a background thread,
which means it must be thread safe throughout). We can help in some
areas (e.g. have sleep functions call background things), but if the
user is writing a loop that waits to drive a certain distance with no
sleep, it's an easy footgun
- Writing code with no sleeps is easy to do, and can hog an entire
processing core easily--yes, there's more than one core, but it could
still easily impact e.g. vision processing
- Many people I've talked to want robot-level periodic and periodic sim
functions. Given linear opmodes, we have two options, neither of which
is great: (1) don't provide robot-level periodic functions, and the
users who want those must set those up themselves and remember to call
them explicitly from every periodic opmode, or (2) provide them, but
only call them automatically from periodic opmodes, which could be
confusing for linear opmode users (they'd have to call them manually if
they wanted them). Currently we do (1) but someone in the community
already opened a change to do (2).
- Restarting the robot program fixes the "stuck in auto for the rest of
the match" problem but still feels like an ugly hack because the startup
time is not unlikely to make the robot not immediately ready for teleop
Removing LinearOpMode resolves these issues by moving to a periodic-only
structure. We can address the few notable use cases of LinearOpMode
(e.g. very basic autonomous sequences) in other ways such as Blocks
generated code, better state machine tutorials/documentation, etc.
The Listener installed by Preferences was referencing m_typePublisher which could be modified by a future call to setNetworkTableInstance(). Instead, reference a local.
Also made Topic.m_handle final, to guarantee that Topic.equals() is thread-safe, and still work after the publisher has been closed.
In NetworkServer::SavePersistent, if the save is interrupted (by robot
power loss, etc), the networktables.json file may be left in an
unhandled state where the file consumed by
NetworkServer::LoadPersistent is not found, but the backup file exists.
In this case, we should attempt to recover the backup file to avoid
losing all persistent data.
Fixes#8631
Documents that it will return immediately if FMS isn't attached or DS
isn't in practice mode.
Related to change in DS match time behavior that was documented in #8606
#8626 needs to switch to using reflection to load the robot class. Do
that with this PR so it's separate.
Also, remove the duplicated main files from the template, and instead
fixup vscode to handle this properly.
Also fixes the google compile-testing library to 0.23.0 (the latest
available at time of writing) instead of a wildcard
Jackson versions were inconsistent across projects; most were on 2.19.2,
but the fields subproject was on 2.15.2. All projects are now on 2.19.2
for consistency
This PR fixes the magnitude units in `MutableMeasure#mut_acc` and
`MutableMeasure#mut_plus`.
Previously, both `mut_acc` and `mut_plus` were setting the base
magnitude using the unit-ed magnitude value. While this would work fine
for base units where `magnitude == baseUnitMagnitude`, this was creating
issues with derived units.
This PR also adds missing tests for the `MutableMeasure` class.
Text frames were being queued while binary frames were sent immediately.
Change NetworkOutgoingQueue to send text frames immediately on local
connections. Add asserts since local connections should now not be
queueing at all.
In C++, we use a diagonal matrix to avoid an expensive matrix
multiplication. EJML doesn't have a diagonal matrix type, so in Java, we
use a double array and implement the multiplication manually.
Currently the only name for this unit is `RPM`. This caused a bit of
confusion for a couple of my team members when we failed to find an RPM
unit, assuming it would be named `RotationsPerMinute` as is the standard
for almost all other units, such as `RotationsPerSecond`.
No corresponding changes have been made to wpilibc as it seems to
already work this way, with `rpm` being the abbreviation for
`revolutions_per_minute`.
Robotpy dropped support for 3.10 recently, so this updates to the next
lowest version. This will be helpful when the examples get merged into
`mostrobotpy`
There's not really a specific reason why I just jumped to 3.11 instead
of a newer version. If anybody suggests otherwise I will gladly bump it
higher.
The existing code takes 750ms to start per resolver. This is too long,
especially in mrccomm where we start 4 on initialize, and 3 any time the
team number changes.
Solve this by handling the async setup more correctly. Assuming it
returns pending, we're assuming the announcer is good. Then on stop(),
we cancel the register in case its still pending, wait for the callback,
and then deregister.
Easier then the last one that put everything in a sub namespace. By
prefixing the name less things break, and intellisense will be less
confusing to new users during the transition.
Fixes local clients receiving inconsistent data updates. Data was only
flushed to local clients on incoming websocket data (or when explicitly
flushed), so local clients on a quiet server would stop receiving
updates.
Revert some changes from #7997.
Instead of relying on periodic sends, always immediately send local data
updates to the wire for lower latency. This means that on local clients,
the periodic update rate and sendAll settings will be ignored, as all
data updates will be sent immediately.
Fixed a typo in the description of the getLoopStartTime function in both
C++ and Java TimedRobot class.
---------
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Add a simple tap counting filter for boolean streams.
The filter activates when the input has risen (transitioned from false
to true, like when a button is tapped) the required number of times
within the time window after the first rising edge. Once activated, the
output remains true as long as the input is true. The tap count resets
when the time window expires or when the input goes false after
activation.
Example usage:
```java
xbox.a()
.multiPress(2, 0.2) // Detect a double tap within 0.2 seconds
.onTrue(Commands.print("Double tapped A button"));
xbox.y()
.multiPress(2, 0.5) // Detect a double tap within 0.5 seconds
.whileTrue(Commands.print("Y held after tap").repeatedly());
```
This is not a noise reduction and/or input smoothing filter, but it is
similar in usage to debounce, so I believe it could be considered a
filter, but am open to a better location.
I believe this would be a useful addition, as double/triple tapping a
button is a common control option in games, yet is not often utilized by
newer FRC teams. I believe adding it to WPILib in a standard way will
allow more teams to make the most out of their controls.
