Bug Fixes

.github/actions/run-system-test/action.yml

@@ -7,7 +7,7 @@ runs:
       run: |
         # This is also a test that our plugin installs DeepBlueSim if one of WPILib's simulate
         # tasks is executed.
-        ./gradlew :example:externalSimulate --info --stacktrace
+        ./gradlew :example:simulateExternalJavaRelease --info --stacktrace
       shell: bash
 
     - name: Start Webots

.github/workflows/ci.yml

@@ -8,53 +8,43 @@ on:
 
 jobs:
   build:
-    strategy: 
+    strategy:
       fail-fast: false
       matrix:
         os: [ windows-latest, macos-latest, ubuntu-latest ]
     runs-on: ${{ matrix.os }}
 
     steps:
     - name: Checkout source
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: "recursive"
         fetch-depth: 0
 
-    - name: Set up JDK 11
-      uses: actions/setup-java@v1
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
       with:
-        java-version: 11
-
-    - name: Get Webots cache path
-      id: getWebotsCachePath
-      uses: DeepBlueRobotics/setup-webots@v1
-      with:
-        install: false
-
-    - name: Cache Webots
-      uses: actions/cache@v2
-      with:
-        path: ${{ steps.getWebotsCachePath.outputs.cachePath }}
-        key: webots-v2021a-install-${{ runner.os }}
-
+        distribution: 'temurin'
+        java-version: 17
 
     - name: Setup Webots
       id: setupWebots
-      uses: DeepBlueRobotics/setup-webots@v1
+      uses: DeepBlueRobotics/setup-webots@v2
+      with:
+        webotsVersion: R2023b
 
     - name: Do the system test
       uses: ./.github/actions/run-system-test
 
     - name: Archive the example folder
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       if: always()
       with:
         name: Resulting example project for ${{ runner.os }}
         path: example/
 
     - name: Archive Webots log
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       if: always()
       with:
         name: Webots log for ${{ runner.os }}
@@ -68,38 +58,29 @@ jobs:
 
     steps:
     - name: Cancel any existing workflow runs
-      uses: fkirc/skip-duplicate-actions@v3.3.0
+      uses: fkirc/skip-duplicate-actions@v5
 
-    - name: Set up JDK 11
-      uses: actions/setup-java@v1
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
       with:
-        java-version: 11
-
-    - name: Get Webots cache path
-      id: getWebotsCachePath
-      uses: DeepBlueRobotics/setup-webots@v1
-      with:
-        install: false
-
-    - name: Cache Webots
-      uses: actions/cache@v2
-      with:
-        path: ${{ steps.getWebotsCachePath.outputs.cachePath }}
-        key: webots-v2021a-install-${{ runner.os }}
+        distribution: 'temurin'
+        java-version: 17
 
     - name: Setup Webots
       id: setupWebots
-      uses: DeepBlueRobotics/setup-webots@v1
+      uses: DeepBlueRobotics/setup-webots@versioning-and-caching
+      with:
+        webotsVersion: R2023b
 
     - name: Checkout source
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         submodules: "recursive"
         fetch-depth: 0
 
     - name: Compute next semantic version
       id: version
-      uses: paulhatch/semantic-version@v3.3.1
+      uses: paulhatch/semantic-version@v5
       with:
         branch: "master"
 
@@ -108,10 +89,12 @@ jobs:
 
     - name: Tag
       run: git tag ${{ steps.version.outputs.version_tag }}
-    
+
     - name: Push
       run: git push origin ${{ steps.version.outputs.version_tag }}
 
     - name: Publish to Gradle Plugin Portal
-      run: ./gradlew :plugin:publishPlugins -Pversion=${{ steps.version.outputs.version }} -Pgradle.publish.key=${{ secrets.GRADLE_PUBLISH_KEY }} -Pgradle.publish.secret=${{ secrets.GRADLE_PUBLISH_SECRET }} --info --stacktrace
-
+      env:
+        GRADLE_PUBLISH_KEY: ${{ secrets.GRADLE_PUBLISH_KEY }}
+        GRADLE_PUBLISH_SECRET: ${{ secrets.GRADLE_PUBLISH_SECRET }}
+      run: ./gradlew :plugin:publishPlugins -Pversion=${{ steps.version.outputs.version }} -Pgradle.publish.key=$GRADLE_PUBLISH_KEY -Pgradle.publish.secret=$GRADLE_PUBLISH_SECRET --info --stacktrace

.vscode/launch.json

@@ -4,7 +4,13 @@
     // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
     "version": "0.2.0",
     "configurations": [
-
+        {
+            "type": "java",
+            "name": "Launch DeepBlueSim",
+            "request": "launch",
+            "mainClass": "DeepBlueSim",
+            "projectName": "controller"
+        },
         {
             "type": "java",
             "name": "WPILibWebSocketsToWebots",

README.md

@@ -39,5 +39,25 @@ advantage of the WPILib's WebSockets server desktop simulation extension.
  1. In the HALSim GUI, select `Autonomous` to see the robot drive forward for 2 seconds, or
  select `Teleop` and use the keyboard on joystick to drive the robot around.
 
-
+## Details
+
+### Time synchronization
+
+By default, the robot code and Webots run at their own speeds so their clocks
+will not necessarily match. This can be particularly problematic when trying to
+write tests which should be as deterministic as possible. To synchronize the
+clocks, the robot code can create a `SimDeviceSim` named `TimeSynchronizer` with
+2 `double` values: `robotTimeSec` (output direction) and `simTimeSec` (input
+direction). To start the synchronization and force Webots to reload the world
+(so that it is in a known state with time = 0), the robot code should set
+`robotTimeSec` to -2. The simulator will respond by setting `simTimeSec` to -2.
+At that point the robot code can set `robotTimeSec` to the current robot time
+and the simulator will run until it's time is greater than that. As it runs, it
+will also updae `simTimeSec`. The robot code can ensure that it doesn't get
+ahead of the simulator by using `SimHooks.pauseTiming()` to pause the robot code
+when the robot time is ahead of the simulation time and
+`SimHooks.resumeTiming()` when it is not. See the `webotsInit()` method of the
+example's
+[`SystemTestRobot.java`](example/src/systemTest/java/frc/robot/SystemTestRobot.java)
+for an example implementation.
 

example/.gitignore

@@ -161,5 +161,9 @@ imgui.ini
 # End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
 
 # For testing purposes, we want to ensure that this project starts without DeepBlueSim installed.
-Webots/controllers/DeepBlueSim.jar
-Webots/*/DBS*
+Webots/*
+
+# Ignore Simulation GUI settings
+/networktables.json
+/simgui.json
+/simgui-*.json

example/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2021",
+    "projectYear": "2023",
     "teamNumber": 199
 }