[wpilib] Make robot base class functions protected

Users should be inheriting from these classes instead of directly instantiating them.
wpilibsuite · Sep 13, 2024 · be7b72a · be7b72a
1 parent 97c6c86
commit be7b72a
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Showing 6 changed files with 66 additions and 64 deletions.
diff --git a/wpilibc/src/main/native/cpp/TimedRobot.cpp b/wpilibc/src/main/native/cpp/TimedRobot.cpp
@@ -17,6 +17,13 @@
 
 using namespace frc;
 
+TimedRobot::~TimedRobot() {
+  int32_t status = 0;
+
+  HAL_StopNotifier(m_notifier, &status);
+  FRC_ReportError(status, "StopNotifier");
+}
+
 void TimedRobot::StartCompetition() {
   RobotInit();
 
@@ -76,6 +83,14 @@ void TimedRobot::EndCompetition() {
   HAL_StopNotifier(m_notifier, &status);
 }
 
+void TimedRobot::AddPeriodic(std::function<void()> callback,
+                             units::second_t period, units::second_t offset) {
+  m_callbacks.emplace(
+      callback, m_startTime,
+      std::chrono::microseconds{static_cast<int64_t>(period.value() * 1e6)},
+      std::chrono::microseconds{static_cast<int64_t>(offset.value() * 1e6)});
+}
+
 TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
   m_startTime = std::chrono::microseconds{RobotController::GetFPGATime()};
   AddPeriodic([=, this] { LoopFunc(); }, period);
@@ -88,18 +103,3 @@ TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
   HAL_Report(HALUsageReporting::kResourceType_Framework,
              HALUsageReporting::kFramework_Timed);
 }
-
-TimedRobot::~TimedRobot() {
-  int32_t status = 0;
-
-  HAL_StopNotifier(m_notifier, &status);
-  FRC_ReportError(status, "StopNotifier");
-}
-
-void TimedRobot::AddPeriodic(std::function<void()> callback,
-                             units::second_t period, units::second_t offset) {
-  m_callbacks.emplace(
-      callback, m_startTime,
-      std::chrono::microseconds{static_cast<int64_t>(period.value() * 1e6)},
-      std::chrono::microseconds{static_cast<int64_t>(offset.value() * 1e6)});
-}
diff --git a/wpilibc/src/main/native/cpp/TimesliceRobot.cpp b/wpilibc/src/main/native/cpp/TimesliceRobot.cpp
@@ -8,11 +8,6 @@
 
 using namespace frc;
 
-TimesliceRobot::TimesliceRobot(units::second_t robotPeriodicAllocation,
-                               units::second_t controllerPeriod)
-    : m_nextOffset{robotPeriodicAllocation},
-      m_controllerPeriod{controllerPeriod} {}
-
 void TimesliceRobot::Schedule(std::function<void()> func,
                               units::second_t allocation) {
   if (m_nextOffset + allocation > m_controllerPeriod) {
@@ -25,3 +20,8 @@ void TimesliceRobot::Schedule(std::function<void()> func,
   AddPeriodic(func, m_controllerPeriod, m_nextOffset);
   m_nextOffset += allocation;
 }
+
+TimesliceRobot::TimesliceRobot(units::second_t robotPeriodicAllocation,
+                               units::second_t controllerPeriod)
+    : m_nextOffset{robotPeriodicAllocation},
+      m_controllerPeriod{controllerPeriod} {}
diff --git a/wpilibc/src/main/native/include/frc/TimedRobot.h b/wpilibc/src/main/native/include/frc/TimedRobot.h
@@ -34,6 +34,11 @@ class TimedRobot : public IterativeRobotBase {
   /// Default loop period.
   static constexpr auto kDefaultPeriod = 20_ms;
 
+  TimedRobot(TimedRobot&&) = default;
+  TimedRobot& operator=(TimedRobot&&) = default;
+
+  ~TimedRobot() override;
+
   /**
    * Provide an alternate "main loop" via StartCompetition().
    */
@@ -44,18 +49,6 @@ class TimedRobot : public IterativeRobotBase {
    */
   void EndCompetition() override;
 
-  /**
-   * Constructor for TimedRobot.
-   *
-   * @param period Period.
-   */
-  explicit TimedRobot(units::second_t period = kDefaultPeriod);
-
-  TimedRobot(TimedRobot&&) = default;
-  TimedRobot& operator=(TimedRobot&&) = default;
-
-  ~TimedRobot() override;
-
   /**
    * Add a callback to run at a specific period with a starting time offset.
    *
@@ -71,6 +64,14 @@ class TimedRobot : public IterativeRobotBase {
   void AddPeriodic(std::function<void()> callback, units::second_t period,
                    units::second_t offset = 0_s);
 
+ protected:
+  /**
+   * Constructor for TimedRobot.
+   *
+   * @param period Period.
+   */
+  explicit TimedRobot(units::second_t period = kDefaultPeriod);
+
  private:
   class Callback {
    public:

diff --git a/wpilibc/src/main/native/include/frc/TimesliceRobot.h b/wpilibc/src/main/native/include/frc/TimesliceRobot.h
@@ -84,18 +84,6 @@ namespace frc {
  */
 class TimesliceRobot : public TimedRobot {
  public:
-  /**
-   * Constructor for TimesliceRobot.
-   *
-   * @param robotPeriodicAllocation The allocation to give the TimesliceRobot
-   *                                periodic functions.
-   * @param controllerPeriod The controller period. The sum of all scheduler
-   *                         allocations should be less than or equal to this
-   *                         value.
-   */
-  explicit TimesliceRobot(units::second_t robotPeriodicAllocation,
-                          units::second_t controllerPeriod);
-
   /**
    * Schedule a periodic function with the constructor's controller period and
    * the given allocation. The function's runtime allocation will be placed
@@ -112,6 +100,19 @@ class TimesliceRobot : public TimedRobot {
    */
   void Schedule(std::function<void()> func, units::second_t allocation);
 
+ protected:
+  /**
+   * Constructor for TimesliceRobot.
+   *
+   * @param robotPeriodicAllocation The allocation to give the TimesliceRobot
+   *                                periodic functions.
+   * @param controllerPeriod The controller period. The sum of all scheduler
+   *                         allocations should be less than or equal to this
+   *                         value.
+   */
+  explicit TimesliceRobot(units::second_t robotPeriodicAllocation,
+                          units::second_t controllerPeriod);
+
  private:
   units::second_t m_nextOffset;
   units::second_t m_controllerPeriod;

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -76,25 +76,6 @@ 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_startTimeUs = RobotController.getFPGATime();
-    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);
@@ -159,6 +140,25 @@ 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_startTimeUs = RobotController.getFPGATime();
+    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.
    *

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimesliceRobot.java b/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;
   }