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https://github.com/wpilibsuite/allwpilib
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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>
92 lines
1.7 KiB
C++
92 lines
1.7 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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#pragma once
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#include <stdint.h>
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#include "wpi/hal/DriverStationTypes.h"
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#include "wpi/hal/HALBase.h"
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#include "wpi/units/time.hpp"
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namespace wpi::sim {
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/**
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* Override the HAL runtime type (simulated/real).
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*
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* @param type runtime type
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*/
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void SetRuntimeType(HAL_RuntimeType type);
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/**
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* Waits until the user program has started.
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*/
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void WaitForProgramStart();
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/**
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* Sets flag that indicates if the user program has started.
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*
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* @param started true if started
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*/
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void SetProgramStarted(bool started);
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/**
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* Returns true if the user program has started.
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*
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* @return True if the user program has started.
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*/
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bool GetProgramStarted();
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/**
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* Sets the user program state (control word).
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*
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* @param controlWord control word
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*/
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void SetProgramState(wpi::hal::ControlWord controlWord);
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/**
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* Gets the user program state (control word).
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*
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* @return Control word
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*/
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wpi::hal::ControlWord GetProgramState();
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/**
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* Restart the simulator time.
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*/
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void RestartTiming();
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/**
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* Pause the simulator time.
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*/
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void PauseTiming();
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/**
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* Resume the simulator time.
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*/
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void ResumeTiming();
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/**
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* Check if the simulator time is paused.
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*
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* @return true if paused
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*/
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bool IsTimingPaused();
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/**
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* Advance the simulator time and wait for all notifiers to run.
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*
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* @param delta the amount to advance (in seconds)
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*/
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void StepTiming(wpi::units::second_t delta);
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/**
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* Advance the simulator time and return immediately.
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*
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* @param delta the amount to advance (in seconds)
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*/
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void StepTimingAsync(wpi::units::second_t delta);
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} // namespace wpi::sim
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