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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>
39 lines
1.2 KiB
Java
39 lines
1.2 KiB
Java
// 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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package org.wpilib;
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import org.junit.jupiter.api.extension.BeforeAllCallback;
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import org.junit.jupiter.api.extension.ExtensionContext;
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import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
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import org.wpilib.hardware.hal.HAL;
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import org.wpilib.hardware.hal.RobotMode;
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import org.wpilib.simulation.DriverStationSim;
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public final class MockHardwareExtension implements BeforeAllCallback {
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private static ExtensionContext getRoot(ExtensionContext context) {
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return context.getParent().map(MockHardwareExtension::getRoot).orElse(context);
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}
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@Override
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public void beforeAll(ExtensionContext context) {
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getRoot(context)
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.getStore(Namespace.GLOBAL)
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.getOrComputeIfAbsent(
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"HAL Initialized",
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key -> {
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initializeHardware();
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return true;
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},
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Boolean.class);
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}
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private void initializeHardware() {
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HAL.initialize(500, 0);
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DriverStationSim.setDsAttached(true);
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DriverStationSim.setEnabled(true);
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DriverStationSim.setRobotMode(RobotMode.TEST);
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}
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}
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