mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
dacded37e5
User code: - OpModeRobot used as the robot base class - LinearOpMode and PeriodicOpMode are provided opmode base classes - In Java, annotations can be used to automatically register opmode classes Additional user code functionality: - OpMode (string) is available in addition to the overall auto/teleop/test robot mode - OpMode does not indicate enable (enable/disable is still separate) - The HAL API uses integer UIDs; these are exposed at the user API level as well for faster checks - User code creates opmodes on startup (these have name, category, description, etc). DS: - DS will present opmode selection lists for auto and teleop for match/practice. During a match, the DS will automatically activate the selected opmode in the corresponding match period. - For testing, an overall mode is selected (e.g. teleop/auto/test) and a single opmode is selected Future work: - Command framework support/integration - Python annotation support - Unit tests (needs race-free DS sim updates) - Porting of examples Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
106 lines
2.6 KiB
Java
106 lines
2.6 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
package org.wpilib.simulation;
|
|
|
|
import org.wpilib.hardware.hal.ControlWord;
|
|
import org.wpilib.hardware.hal.simulation.SimulatorJNI;
|
|
|
|
/** Simulation hooks. */
|
|
public final class SimHooks {
|
|
private SimHooks() {}
|
|
|
|
/**
|
|
* Override the HAL runtime type (simulated/real).
|
|
*
|
|
* @param type runtime type
|
|
*/
|
|
public static void setHALRuntimeType(int type) {
|
|
SimulatorJNI.setRuntimeType(type);
|
|
}
|
|
|
|
/** Waits until the user program has started. */
|
|
public static void waitForProgramStart() {
|
|
SimulatorJNI.waitForProgramStart();
|
|
}
|
|
|
|
/**
|
|
* Sets flag that indicates if the user program has started.
|
|
*
|
|
* @param started true if started
|
|
*/
|
|
public static void setProgramStarted(boolean started) {
|
|
SimulatorJNI.setProgramStarted(started);
|
|
}
|
|
|
|
/**
|
|
* Returns true if the user program has started.
|
|
*
|
|
* @return True if the user program has started.
|
|
*/
|
|
public static boolean getProgramStarted() {
|
|
return SimulatorJNI.getProgramStarted();
|
|
}
|
|
|
|
/**
|
|
* Sets the user program state (control word).
|
|
*
|
|
* @param controlWord control word
|
|
*/
|
|
public static void setProgramState(ControlWord controlWord) {
|
|
SimulatorJNI.setProgramState(controlWord.getNative());
|
|
}
|
|
|
|
/**
|
|
* Gets the user program state (control word).
|
|
*
|
|
* @param controlWord control word (output)
|
|
*/
|
|
public static void getProgramState(ControlWord controlWord) {
|
|
SimulatorJNI.getProgramState(controlWord);
|
|
}
|
|
|
|
/** Restart the simulator time. */
|
|
public static void restartTiming() {
|
|
SimulatorJNI.restartTiming();
|
|
}
|
|
|
|
/** Pause the simulator time. */
|
|
public static void pauseTiming() {
|
|
SimulatorJNI.pauseTiming();
|
|
}
|
|
|
|
/** Resume the simulator time. */
|
|
public static void resumeTiming() {
|
|
SimulatorJNI.resumeTiming();
|
|
}
|
|
|
|
/**
|
|
* Check if the simulator time is paused.
|
|
*
|
|
* @return true if paused
|
|
*/
|
|
public static boolean isTimingPaused() {
|
|
return SimulatorJNI.isTimingPaused();
|
|
}
|
|
|
|
/**
|
|
* Advance the simulator time and wait for all notifiers to run.
|
|
*
|
|
* @param delta the amount to advance in seconds
|
|
*/
|
|
public static void stepTiming(double delta) {
|
|
SimulatorJNI.stepTiming((long) (delta * 1e6));
|
|
}
|
|
|
|
/**
|
|
* Advance the simulator time and return immediately.
|
|
*
|
|
* @param delta the amount to advance in seconds
|
|
*/
|
|
public static void stepTimingAsync(double delta) {
|
|
SimulatorJNI.stepTimingAsync((long) (delta * 1e6));
|
|
}
|
|
}
|