mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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>