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a8c7f3e3c6
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>
69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpi/framework/TimedRobot.hpp"
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#include <stdint.h>
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#include <cstdio>
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#include <utility>
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#include "wpi/driverstation/DriverStation.hpp"
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#include "wpi/hal/DriverStation.hpp"
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#include "wpi/hal/UsageReporting.hpp"
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#include "wpi/system/Errors.hpp"
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#include "wpi/system/RobotController.hpp"
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using namespace wpi;
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void TimedRobot::StartCompetition() {
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if constexpr (IsSimulation()) {
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SimulationInit();
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}
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// Tell the DS that the robot is ready to be enabled
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std::puts("\n********** Robot program startup complete **********");
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DriverStation::ObserveUserProgramStarting();
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// Loop forever, calling the appropriate mode-dependent function
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while (true) {
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if (!m_callbacks.RunCallbacks(m_notifier)) {
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break;
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}
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}
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}
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void TimedRobot::EndCompetition() {
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HAL_DestroyNotifier(m_notifier);
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m_notifier = HAL_INVALID_HANDLE;
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}
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TimedRobot::TimedRobot(wpi::units::second_t period)
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: IterativeRobotBase(period) {
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m_startTime = std::chrono::microseconds{RobotController::GetMonotonicTime()};
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AddPeriodic([=, this] { LoopFunc(); }, period);
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int32_t status = 0;
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m_notifier = HAL_CreateNotifier(&status);
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WPILIB_CheckErrorStatus(status, "InitializeNotifier");
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HAL_SetNotifierName(m_notifier, "TimedRobot", &status);
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HAL_ReportUsage("Framework", "TimedRobot");
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}
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TimedRobot::TimedRobot(wpi::units::hertz_t frequency)
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: TimedRobot{1 / frequency} {}
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TimedRobot::~TimedRobot() {
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if (m_notifier != HAL_INVALID_HANDLE) {
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HAL_DestroyNotifier(m_notifier);
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}
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}
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void TimedRobot::AddPeriodic(std::function<void()> callback,
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wpi::units::second_t period,
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wpi::units::second_t offset) {
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m_callbacks.Add(std::move(callback), m_startTime, period, offset);
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}
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