# Copyright (c) FIRST 2008-2012. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
import hal
import logging
from .robotbase import RobotBase
from .timer import Timer
from .livewindow import LiveWindow
__all__ = ["IterativeRobot"]
[docs]class IterativeRobot(RobotBase):
"""IterativeRobot implements a specific type of Robot Program framework,
extending the :class:`.RobotBase` class.
The IterativeRobot class is intended to be subclassed by a user creating a
robot program.
This class is intended to implement the "old style" default code, by
providing the following functions which are called by the main loop,
:meth:`startCompetition`, at the appropriate times:
- :meth:`robotInit` -- provide for initialization at robot power-on
init() functions -- each of the following functions is called once when the
appropriate mode is entered:
- :meth:`disabledInit` -- called only when first disabled
- :meth:`autonomousInit` -- called each and every time autonomous is entered from another mode
- :meth:`teleopInit` -- called each and every time teleop is entered from another mode
- :meth:`testInit` -- called each and every time test mode is entered from another mode
Periodic() functions -- each of these functions is called iteratively at
the appropriate periodic rate (aka the "slow loop"). The period of
the iterative robot is synced to the driver station control packets,
giving a periodic frequency of about 50Hz (50 times per second).
- :meth:`disabledPeriodic`
- :meth:`autonomousPeriodic`
- :meth:`teleopPeriodic`
- :meth:`testPeriodic`
"""
#: A python logging object that you can use to send messages to the log. It
#: is recommended to use this instead of print statements.
logger = logging.getLogger("robot")
def __init__(self):
"""Constructor for RobotIterativeBase.
The constructor initializes the instance variables for the robot to
indicate the status of initialization for disabled, autonomous, and
teleop code.
"""
super().__init__()
# set status for initialization of disabled, autonomous, and teleop code.
self.disabledInitialized = False
self.autonomousInitialized = False
self.teleopInitialized = False
self.testInitialized = False
[docs] def prestart(self):
"""Don't immediately say that the robot's ready to be enabled, see below"""
pass
[docs] def startCompetition(self):
"""Provide an alternate "main loop" via startCompetition()."""
hal.HALReport(hal.HALUsageReporting.kResourceType_Framework,
hal.HALUsageReporting.kFramework_Iterative)
self.robotInit()
#We call this now (not in prestart like default) so that the robot
#won't enable until the initialization has finished. This is useful
#because otherwise it's sometimes possible to enable the robot before
#the code is ready.
hal.HALNetworkCommunicationObserveUserProgramStarting()
# loop forever, calling the appropriate mode-dependent function
LiveWindow.setEnabled(False)
while True:
# Call the appropriate function depending upon the current robot mode
if self.isDisabled():
# call DisabledInit() if we are now just entering disabled mode from
# either a different mode or from power-on
if not self.disabledInitialized:
LiveWindow.setEnabled(False)
self.disabledInit()
self.disabledInitialized = True
# reset the initialization flags for the other modes
self.autonomousInitialized = False
self.teleopInitialized = False
self.testInitialized = False
if self.nextPeriodReady():
hal.HALNetworkCommunicationObserveUserProgramDisabled()
self.disabledPeriodic()
elif self.isTest():
# call TestInit() if we are now just entering test mode from either
# a different mode or from power-on
if not self.testInitialized:
LiveWindow.setEnabled(True)
self.testInit()
self.testInitialized = True
self.autonomousInitialized = False
self.teleopInitialized = False
self.disabledInitialized = False
if self.nextPeriodReady():
hal.HALNetworkCommunicationObserveUserProgramTest()
self.testPeriodic()
elif self.isAutonomous():
# call Autonomous_Init() if this is the first time
# we've entered autonomous_mode
if not self.autonomousInitialized:
LiveWindow.setEnabled(False)
# KBS NOTE: old code reset all PWMs and relays to "safe values"
# whenever entering autonomous mode, before calling
# "Autonomous_Init()"
self.autonomousInit()
self.autonomousInitialized = True
self.testInitialized = False
self.teleopInitialized = False
self.disabledInitialized = False
if self.nextPeriodReady():
hal.HALNetworkCommunicationObserveUserProgramAutonomous()
self.autonomousPeriodic()
else:
# call Teleop_Init() if this is the first time
# we've entered teleop_mode
if not self.teleopInitialized:
LiveWindow.setEnabled(False)
self.teleopInit()
self.teleopInitialized = True
self.testInitialized = False
self.autonomousInitialized = False
self.disabledInitialized = False
if self.nextPeriodReady():
hal.HALNetworkCommunicationObserveUserProgramTeleop()
self.teleopPeriodic()
self.ds.waitForData()
[docs] def nextPeriodReady(self):
"""Determine if the appropriate next periodic function should be
called. Call the periodic functions whenever a packet is received
from the Driver Station, or about every 20ms.
:rtype: bool
"""
return self.ds.isNewControlData()
# ----------- Overridable initialization code -----------------
[docs] def robotInit(self):
"""Robot-wide initialization code should go here.
Users should override this method for default Robot-wide initialization
which will be called when the robot is first powered on. It will be
called exactly 1 time.
.. note:: It is simpler to override this function instead of defining
a constructor for your robot class
"""
self.logger.info("Default IterativeRobot.robotInit() method... Overload me!")
[docs] def disabledInit(self):
"""Initialization code for disabled mode should go here.
Users should override this method for initialization code which will be
called each time the robot enters disabled mode.
"""
self.logger.info("Default IterativeRobot.disabledInit() method... Overload me!")
[docs] def autonomousInit(self):
"""Initialization code for autonomous mode should go here.
Users should override this method for initialization code which will be
called each time the robot enters autonomous mode.
"""
self.logger.info("Default IterativeRobot.autonomousInit() method... Overload me!")
[docs] def teleopInit(self):
"""Initialization code for teleop mode should go here.
Users should override this method for initialization code which will be
called each time the robot enters teleop mode.
"""
self.logger.info("Default IterativeRobot.teleopInit() method... Overload me!")
[docs] def testInit(self):
"""Initialization code for test mode should go here.
Users should override this method for initialization code which will be
called each time the robot enters test mode.
"""
self.logger.info("Default IterativeRobot.testInit() method... Overload me!")
# ----------- Overridable periodic code -----------------
[docs] def disabledPeriodic(self):
"""Periodic code for disabled mode should go here.
Users should override this method for code which will be called
periodically at a regular rate while the robot is in disabled mode.
"""
func = self.disabledPeriodic.__func__
if not hasattr(func, "firstRun"):
self.logger.info("Default IterativeRobot.disabledPeriodic() method... Overload me!")
func.firstRun = False
Timer.delay(0.001)
[docs] def autonomousPeriodic(self):
"""Periodic code for autonomous mode should go here.
Users should override this method for code which will be called
periodically at a regular rate while the robot is in autonomous mode.
"""
func = self.autonomousPeriodic.__func__
if not hasattr(func, "firstRun"):
self.logger.info("Default IterativeRobot.autonomousPeriodic() method... Overload me!")
func.firstRun = False
Timer.delay(0.001)
[docs] def teleopPeriodic(self):
"""Periodic code for teleop mode should go here.
Users should override this method for code which will be called
periodically at a regular rate while the robot is in teleop mode.
"""
func = self.teleopPeriodic.__func__
if not hasattr(func, "firstRun"):
self.logger.warn("Default IterativeRobot.teleopPeriodic() method... Overload me!")
func.firstRun = False
Timer.delay(0.001)
[docs] def testPeriodic(self):
"""Periodic code for test mode should go here.
Users should override this method for code which will be called
periodically at a regular rate while the robot is in test mode.
"""
func = self.testPeriodic.__func__
if not hasattr(func, "firstRun"):
self.logger.info("Default IterativeRobot.testPeriodic() method... Overload me!")
func.firstRun = False