MockDS

MockDS provides a simple internal UDP packet loop that WPILib created for use on the test bench. Studica modified the original code for VMX support.

MockDS Overview

At the lowest level, MockDS uses a C++ real-time thread that runs in the background alongside the user code. The thread continuously sends a specific UDP message that either enables or disables the robot in autonomous mode. Depending on the user code project type, either the Studica C++ Lib or the Studica Java Lib accesses the thread.

While MockDS does not require a specific user hardware interface, such as a button, Studica recommends one. Use the start button to enable the robot, and use the e-stop to disable the robot. Prefer the e-stop because it latches.

important

With the layout of MockDS, if the user code gets bogged down or stuck, the robot will stay enabled. This can create a dangerous condition because the user may have no way to disable the robot.

Adding MockDS

Add MockDS to the robot code by first upgrading Studica.json to version 2.0.0 or higher.

To Upgrade:

1. Open the Command Palette in VS Code.
2. Select: WPILib: Manage Vendor Libraries
3. Select: Check for updates (online)
4. Select: Studica.json
5. Hit yes to build and cache the new library.

MockDS Code

Java

// Import the MockDS Library
import com.studica.frc.MockDS;

public class Robot extends TimedRobot
{

    private MockDS ds; // Create the object
    private boolean active = false; // active flag prevents calling mockds more than once.

    @Override
    public void robotInit()
    {
        ds = new MockDS(); // Create the instance
    }

    @Override
    public void robotPeriodic()
    {
        // If the start button is pushed and the system is not active
        if (!RobotContainer.driveTrain.getStartButton() && !active)
        {
            ds.enable(); // enable the robot.
            active = true;
        }
        // If the e-stop is pushed and the system is active
        if (!RobotContainer.driveTrain.getEStopButton() && active)
        {
            ds.disable(); // disable the robot.
            active = false;
        }
    }
}

C++

Header

#prama once

// Include the MockDS Library
#include "studica/MockDS.h"

class Robot : public frc::TimedRobot
{
    private:
        studica::MockDS ds; // Create the object and the instance
        bool active; // Active flag prevents calling mockds more than once
};

Source

#include "Robot.h"

void Robot::RobotInit()
{
    active = false; // System should be default disabled
}

void Robot::RobotPeriodic()
{
    // If the start button is pushed and the system is not active
    if (!m_container.drive.GetStartButton() && !active)
    {
        ds.Enable(); // enable the robot
        active = true;
    }
    // If the e-stop is pushed and the system is active
    if (!m_container.drive.GetEStopButton() && active)
    {
        active = false;
        ds.Disable(); // disable the robot
    }
}

Demo Video