[wpilib] Make robot base class functions protected

Users should be inheriting from these classes instead of directly
instantiating them.

wpilibc/src/main/native/cpp/TimedRobot.cpp

@@ -18,6 +18,15 @@
 
 using namespace frc;
 
+TimedRobot::~TimedRobot() {
+  int32_t status = 0;
+
+  HAL_StopNotifier(m_notifier, &status);
+  FRC_ReportError(status, "StopNotifier");
+
+  HAL_CleanNotifier(m_notifier, &status);
+}
+
 void TimedRobot::StartCompetition() {
   RobotInit();
 
@@ -83,15 +92,6 @@ TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
              HALUsageReporting::kFramework_Timed);
 }
 
-TimedRobot::~TimedRobot() {
-  int32_t status = 0;
-
-  HAL_StopNotifier(m_notifier, &status);
-  FRC_ReportError(status, "StopNotifier");
-
-  HAL_CleanNotifier(m_notifier, &status);
-}
-
 void TimedRobot::AddPeriodic(std::function<void()> callback,
                              units::second_t period, units::second_t offset) {
   m_callbacks.emplace(callback, m_startTime, period, offset);

wpilibc/src/main/native/include/frc/TimedRobot.h

@@ -32,6 +32,11 @@ class TimedRobot : public IterativeRobotBase {
   /// Default loop period.
   static constexpr auto kDefaultPeriod = 20_ms;
 
+  ~TimedRobot() override;
+
+  TimedRobot(TimedRobot&&) = default;
+  TimedRobot& operator=(TimedRobot&&) = default;
+
   /**
    * Provide an alternate "main loop" via StartCompetition().
    */
@@ -42,18 +47,14 @@ class TimedRobot : public IterativeRobotBase {
    */
   void EndCompetition() override;
 
+ protected:
   /**
    * Constructor for TimedRobot.
    *
    * @param period Period.
    */
   explicit TimedRobot(units::second_t period = kDefaultPeriod);
 
-  ~TimedRobot() override;
-
-  TimedRobot(TimedRobot&&) = default;
-  TimedRobot& operator=(TimedRobot&&) = default;
-
   /**
    * Add a callback to run at a specific period with a starting time offset.
    *

wpilibc/src/main/native/include/frc/TimesliceRobot.h

@@ -83,7 +83,7 @@ namespace frc {
  * boot the roboRIO into safe mode and delete the robot program to recover.
  */
 class TimesliceRobot : public TimedRobot {
- public:
+ protected:
   /**
    * Constructor for TimesliceRobot.
    *

wpilibc/src/test/native/cpp/TimedRobotTest.cpp

@@ -50,6 +50,11 @@ class MockRobot : public TimedRobot {
 
   MockRobot() : TimedRobot{kPeriod} { m_robotInitCount++; }
 
+  void AddPeriodic(std::function<void()> callback, units::second_t period,
+                   units::second_t offset = 0_s) {
+    TimedRobot::AddPeriodic(std::move(callback), period, offset);
+  }
+
   void SimulationInit() override { m_simulationInitCount++; }
 
   void DisabledInit() override { m_disabledInitCount++; }

wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp

@@ -30,6 +30,10 @@ class MockRobot : public TimesliceRobot {
 
   MockRobot() : TimesliceRobot{2_ms, 5_ms} {}
 
+  void Schedule(std::function<void()> func, units::second_t allocation) {
+    TimesliceRobot::Schedule(std::move(func), allocation);
+  }
+
   void RobotPeriodic() override { m_robotPeriodicCount++; }
 };
 }  // namespace

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

@@ -77,25 +77,6 @@ public int compareTo(Callback rhs) {
 
   private final PriorityQueue<Callback> m_callbacks = new PriorityQueue<>();
 
-  /** Constructor for TimedRobot. */
-  protected TimedRobot() {
-    this(kDefaultPeriod);
-  }
-
-  /**
-   * Constructor for TimedRobot.
-   *
-   * @param period Period in seconds.
-   */
-  protected TimedRobot(double period) {
-    super(period);
-    m_startTime = Timer.getFPGATimestamp();
-    addPeriodic(this::loopFunc, period);
-    NotifierJNI.setNotifierName(m_notifier, "TimedRobot");
-
-    HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Timed);
-  }
-
   @Override
   public void close() {
     NotifierJNI.stopNotifier(m_notifier);
@@ -152,6 +133,25 @@ public void endCompetition() {
     NotifierJNI.stopNotifier(m_notifier);
   }
 
+  /** Constructor for TimedRobot. */
+  protected TimedRobot() {
+    this(kDefaultPeriod);
+  }
+
+  /**
+   * Constructor for TimedRobot.
+   *
+   * @param period Period in seconds.
+   */
+  protected TimedRobot(double period) {
+    super(period);
+    m_startTime = Timer.getFPGATimestamp();
+    addPeriodic(this::loopFunc, period);
+    NotifierJNI.setNotifierName(m_notifier, "TimedRobot");
+
+    HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Timed);
+  }
+
   /**
    * Add a callback to run at a specific period.
    *
@@ -161,7 +161,7 @@ public void endCompetition() {
    * @param callback The callback to run.
    * @param periodSeconds The period at which to run the callback in seconds.
    */
-  public final void addPeriodic(Runnable callback, double periodSeconds) {
+  protected final void addPeriodic(Runnable callback, double periodSeconds) {
     m_callbacks.add(new Callback(callback, m_startTime, periodSeconds, 0.0));
   }
 
@@ -176,7 +176,7 @@ public final void addPeriodic(Runnable callback, double periodSeconds) {
    * @param offsetSeconds The offset from the common starting time in seconds. This is useful for
    *     scheduling a callback in a different timeslot relative to TimedRobot.
    */
-  public final void addPeriodic(Runnable callback, double periodSeconds, double offsetSeconds) {
+  protected final void addPeriodic(Runnable callback, double periodSeconds, double offsetSeconds) {
     m_callbacks.add(new Callback(callback, m_startTime, periodSeconds, offsetSeconds));
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimesliceRobot.java

@@ -79,7 +79,7 @@ public class TimesliceRobot extends TimedRobot {
    * @param controllerPeriod The controller period in seconds. The sum of all scheduler allocations
    *     should be less than or equal to this value.
    */
-  public TimesliceRobot(double robotPeriodicAllocation, double controllerPeriod) {
+  protected TimesliceRobot(double robotPeriodicAllocation, double controllerPeriod) {
     m_nextOffset = robotPeriodicAllocation;
     m_controllerPeriod = controllerPeriod;
   }
@@ -95,7 +95,7 @@ public TimesliceRobot(double robotPeriodicAllocation, double controllerPeriod) {
    * @param func Function to schedule.
    * @param allocation The function's runtime allocation in seconds out of the controller period.
    */
-  public void schedule(Runnable func, double allocation) {
+  protected void schedule(Runnable func, double allocation) {
     if (m_nextOffset + allocation > m_controllerPeriod) {
       throw new IllegalStateException(
           "Function scheduled at offset "