Merge branch 'master' into complete-workaround-for-HALSimWS-SimDevice…

…-deadlocks
DeepBlueRobotics · Jul 17, 2024 · e77b9ba · e77b9ba
2 parents c0ebd9a + 7500719
commit e77b9ba
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Showing 3 changed files with 23 additions and 16 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -9,8 +9,11 @@
             "type": "cppdbg",
             "request": "attach",
             "program": "${env:HOME}/wpilib/2024/jdk/bin/java",
+            "windows": {
+                "program": "${env:PUBLIC}\\wpilib\\2024\\jdk\\bin\\java"
+            },
             "sourceFileMap": {
-                "/work/": "${env:HOME}/git/allwpilib/"
+                "/work/": "${input:wpilibSrcPath}/"
             },
             "MIMode": "gdb",
             "setupCommands": [
@@ -55,5 +58,13 @@
             "args": "--no-robot-code",
             "cwd": "${workspaceFolder}/example/Webots/controllers/DeepBlueSim"
         }
+    ],
+    "inputs": [
+        {
+            "id": "wpilibSrcPath",
+            "type": "promptString",
+            "description": "The path to the wpilib source code (no trailing slash)",
+            "default": "${workspaceFolder}/../allwpilib"
+        }
     ]
 }
diff --git a/plugin/controller/src/main/java/org/carlmontrobotics/deepbluesim/WebotsSupervisor.java b/plugin/controller/src/main/java/org/carlmontrobotics/deepbluesim/WebotsSupervisor.java
@@ -98,6 +98,8 @@ private static void updateUsersSimulationSpeed(Supervisor robot) {
 
     private static boolean gotSimMode;
 
+    private static final long minQuietTimeMs = 500;
+
     private static final Timer delayer = new Timer();
     private static volatile long lastMsgTimeMs = -1;
 
@@ -204,17 +206,15 @@ public void run() {
         try (var p = requestTopic.publish(pubSubOptions)) {
             requestTopic.setCached(false);
         }
-        var requestSubscriber =
-                requestTopic.subscribe("", pubSubOptions);
+        var requestSubscriber = requestTopic.subscribe("", pubSubOptions);
         inst.addListener(requestSubscriber,
                 EnumSet.of(Kind.kValueRemote, Kind.kImmediate), (event) -> {
                     var request = event.valueData.value.getString();
-                    LOG.log(Level.DEBUG, "In listener, request = {0}",
-                            request);
+                    LOG.log(Level.DEBUG, "In listener, request = {0}", request);
                     if (request == null)
                         return;
                     var requestParts = request.split(" ", 2);
-                            var requestVerb = requestParts[0];
+                    var requestVerb = requestParts[0];
                     switch (requestVerb) {
                         case NTConstants.REQUEST_LOAD_VERB:
                             if (requestParts.length != 2) {
@@ -313,8 +313,8 @@ public void run() {
             LOG.log(Level.DEBUG, "In connection listener");
             if (event.is(Kind.kConnected)) {
                 queuedEvents.add(() -> {
-                    var statusTopic = coordinator.getStringTopic(
-                            NTConstants.STATUS_TOPIC_NAME);
+                    var statusTopic = coordinator
+                            .getStringTopic(NTConstants.STATUS_TOPIC_NAME);
                     statusTopic.setCached(false);
                     statusPublisher = statusTopic.publish(pubSubOptions);
                     sendCompletedOnceHALSimIsQuiet();
@@ -378,18 +378,14 @@ private static void handleLoadRequest(Supervisor robot, int basicTimeStep,
         });
     }
 
-    private static final long minQuietTimeMs = 500;
-
     private static void sendCompletedOnceHALSimIsQuiet() {
         // To workaround https://github.com/wpilibsuite/allwpilib/issues/6842, wait until HALSim has
         // been quiet for a bit. We take that as a sign that any of the server's onConnect callbacks
         // have run and it will be safe for the WebotsSimulator to create SimDevices.
         var timeSinceLastMsgMs = getTimeSinceLastMessageMs();
-        if (statusPublisher != null
-                && timeSinceLastMsgMs > minQuietTimeMs) {
+        if (statusPublisher != null && timeSinceLastMsgMs > minQuietTimeMs) {
             LOG.log(Level.DEBUG, "Setting status to Completed");
-            statusPublisher
-                    .set(NTConstants.STATUS_COMPLETED_VALUE);
+            statusPublisher.set(NTConstants.STATUS_COMPLETED_VALUE);
             inst.flush();
         } else {
             LOG.log(Level.DEBUG,

diff --git a/plugin/libdeepbluesim/src/main/java/org/carlmontrobotics/libdeepbluesim/WebotsSimulator.java b/plugin/libdeepbluesim/src/main/java/org/carlmontrobotics/libdeepbluesim/WebotsSimulator.java
@@ -419,7 +419,7 @@ private void sendRobotTime() {
     }
 
     private SimDevice timeSyncDevice;
-        private SimDeviceSim timeSyncDeviceSim;
+    private SimDeviceSim timeSyncDeviceSim;
 
     private void startTimeSync() {
         LOG.log(Level.DEBUG, "In startTimeSync()");
@@ -767,7 +767,7 @@ public void run() throws InstantiationException, IllegalAccessException,
         waitForUserToStart(worldFile.getAbsolutePath());
 
         // Restart timing before robot is constructed to ensure that timed callbacks added during
-        // the constructor (and out own onRobotInit callback) work properly.
+        // the constructor (and our own onRobotInit callback) work properly.
         SimHooks.restartTiming();
         SimHooks.pauseTiming();
         try (TimedRobot robot = robotConstructor.get();