This fixes simulation WaitForProgramStart(true) potentially advancing
due to a stale or pre-start notifier created before SetProgramStarted()
was called.
Using MrcLib on the robot is going to be the plan for the future, to
make things easier.
MrcLib is how sim is supported going forward. The desktop version of
mrclib can act as a robot server.
This is set up where the mrclib interface is in shared code. On robot,
that is the only backend used. On desktop, a default sim backend is
used. However, the sim plugin can switch that to the real robot backend,
so the robot code will exactly look like a real robot.
This is increasingly difficult to maintain, and has very limited
benefit. Modern coprocessors with enough horsepower to run Java
applications can use the Gradle or Bazel build systems instead.
This addresses a race condition caused by TimedRobot and other
frameworks not creating their first notifier alarm until after signaling
program start.
Default this to true because it's the most common desired use case when
combined with TimedRobot.
The initial build file generation for robotpy projects was relatively
naive and purpose built to get `allwpilib` compiling, without supporting
all the available features.
This modifies the generation scripts to be able to support multiple
embedded libraries, which will be necessary for #8858, since `mrclib.so`
will need to be bundled along with the hal libraries. In addition some
cleanup was done to get the wheels looking more like what is in pypi.
This provides the ability to simulate parts of the Onboard IMU at the
HAL level. This allows team to use and simulate the IMU in code, and a
follow up PR could be made to the halsim_gui to add a new widget to view
and modify the data graphically.
Since the C++ IMU uses radians for angles that is what I did for the
simulator.
Partially deals with #8845
People generally have expressed a dislike for the Hungarian notation
used in member variables, especially in examples/templates, and our
styleguide shouldn't be forced on downstream consumers, so this removes
all Hungarian notation from the examples/templates.
There are _some_ benefits to Hungarian for private member variables
(like knowing what's a member vs. local in a PR review) so we'll keep
private member variables the same for now, but public variables should
no longer use Hungarian notation, since it looks much worse. A new PMD
XPath rule has been added to accomplish this goal. Some other
non-compliant variables were fixed for the new rule.
There were complaints about no patch files being created from CI when
the examples pre-gen fails for people who don't build with bazel. This
adds a new action step to run just the non-robotpy pregen.
I also added an argument to the diff tests to make it a unified diff,
which might make it easier to hand fix.
The "Utility" name better matches its intended generic use case and
avoids overloaded terminology with unit testing (e.g. the need to name
the opmode annotation `@TestOpMode`).
The driver station will also be updated to reflect this change.
Also revamp SetLastError et al; Instead of taking status by pointer,
take by value and return new status instead. Rename from SetLast to Make
to make this new usage obvious.
Also move declarations for the error functions from duplicated in the
per-target HALInternal.hpp to a common ErrorHandling.hpp.
We will want a better API for higher level devices that expect to be on
motioncore, but for ones that are not expected to be, it'll be really
nice to have an API that can let us map the motioncore can bus to its
HAL index.
1. Make the OpMode interface itself periodic; this means the only
differences between `OpMode` and `PeriodicOpMode` are the latter's
methods to add sideloaded periodic callbacks
2. Make OpModeRobot process callbacks in a similar fashion to TimedRobot
and
3. Add some lifecycle functions (discussed below)
4. Pull the callback priority queue from TimedRobot to a new class
called `PeriodicPriorityQueue` so that `TimedRobot` and `OpModeRobot`
have less duplication
5. Fix a typo in the DriverStationJNI class that causes a memory leak
when certain driver station sim calls
6. Port the C++ OpModeRobot tests to Java
`OpModeRobot` now possesses some `IterativeRobotBase`-stye lifecycle
functions; these functions
1. `robotPeriodic`
2. `simulationInit` and `simulationPeriodic`
3. `disabledInit`, `disabledPeriodic`, and `disabledExit`
(note that `simulationInit` and `disabledInit` may be renamed to match
wpilibsuite#8719)
`OpModeRobot` also now processes `OpMode` changes (by the Driver
Station) in its `loopFunc` method, similar to
`IterativeRobotBase.loopFunc` processing game mode changes; `loopFunc`
is, similarly to `TimedRobot`, provided as a default `Callback`
---------
Signed-off-by: Zach Harel <zach@zharel.me>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
Since sched_setscheduler() requires non-RT priorities to be 0, we can
use that as a sentinel value for disabling RT and condense the Java API
to just two functions with fewer parameters. The thread priority setter
is deprecated since only experts should use it.
The HAL Notifier thread priority setter was replaced with setting the
priority in the thread itself.
The C++ Notifier non-RT and RT constructors were deduplicated.
The real-time scheduler was changed from SCHED_FIFO to SCHED_RR, which
is SCHED_FIFO with threads allowed to run for a maximum time quantum
before yielding (100 ms by default).
#7695, #7696, #7697, #7701, #7724, #7753, #7861 removed various features
from the HAL, but forgot to clean up the handles, the WS API, or both.
Additionally, since AnalogInput is the only remaining analog I/O,
AnalogJNI was renamed to the more specific AnalogInputJNI.
The epoch() function, zero() function, and min_time member are all not
part of the std::chrono clock interface.
The default constructor of time_point is
[documented](https://en.cppreference.com/w/cpp/chrono/time_point/time_point.html)
to initialize to the clock's epoch.
I ran the following locally:
```bash
gradle generateCompileCommands
./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64release/compile_commands.json
wpiformat -default-branch 2027 -no-format -tidy-all -compile-commands=build/TargetedCompileCommands/linuxx86-64release
```
The `HeaderFilterRegex` option is used to filter out warnings from
thirdparty headers.
- Remove status return from HAL level (clock getting should never fail)
- Remove 32-bit timestamp expand function
- Make monotonic_clock.hpp (formerly fpga_clock.hpp) header-only and
move to root hal include directory
