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DeepBlueSim

Simulate FIRST Robotics Competition (FRC) robots in the Webots robot simulator.

Status

CI

We (Team 199, Deep Blue) are actively developing it. It is working for us, but the implementation is still changing rapidly.

See the issues for likely changes in the near future.

Works on Windows, MacOS, and Linux.

Works with Java WPILib projects and (probably) C++ WPILib projects because it takes advantage of the WPILib's WebSockets server desktop simulation extension.

Quick Start

Installation

  1. Install the latest official nightly build of Webots.
  2. Add the DeepBlueSim Gradle plugin to your build.gradle by adding the following line in your plugins section:
    id "org.carlmontrobotics.deepbluesim" version "0.0.15"

Demo

  1. In VSCode run the WPILib: Create a new project command and create the example project.
  2. Add the DeepBlueSim Gradle plugin to the build.gradle as described above.
  3. If you are not using lib199, add the following 2 lines to your robot's simulationInit() method (lib199 handles this automatically):
    @Override
   public void simulationInit() {
       // Regularly request a HALSimWS connection from the DeepBlueSim controller (if/when it is
       // listening). To workaround https://github.com/wpilibsuite/allwpilib/issues/6842, this must
       // be done *after* any SimDevices have been created.
       var reqPublisher = NetworkTableInstance.getDefault()
               .getStringTopic("/DeepBlueSim/Coordinator/request").publish();
       addPeriodic(() -> reqPublisher.set("connectHALSimWS"), kDefaultPeriod);
   }
  1. In VSCode run the WPILib: Simulate Robot Code on Desktop command and select both libhalsim_gui and libhalsim_ws_server as the extensions to use.
  2. Start Webots and open your_example_project/Webots/worlds/DBSExample.wbt
  3. 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

Command Line Options

The controller provides some command line options that can be used to configure different features. These can be specified through the controllerArgs field in Webots or on the command line (if run as an external controller). They are primarily intended for debugging. For the majority of cases, the default settings should be sufficient.

At the moment, the following options are supported:

--no-network-tables   Do not attempt to connect to Network Tables
--no-robot-code       Do not attempt to connect to the HALSim Server

Time synchronization and writing tests

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, tests should use the org.carlmontrobotics.libdeepbluesim.WebotsSimulator class as demonstrated in the example's SystemTestRobot.java. In addition to synchronizing the clocks, the WebotsSimulator class provides methods for accessing the state of the simulation at every time step and at specific times, as well as methods to enable the robot in autonomous and teleop.

Contributing

NOTE: If you are using VSCode and attempting to work on the code in plugin/controller/, VSCode may complain about being unable to resolve various symbols from WPIWebSockets. This is because VSCode's Language Support for Java doesn't currently handle dependencies in Gradle "included builds". The workaround is to run gradlew :WPIWebSockets:publishToMavenLocal and then tell VSCode to "Java: Clean Language Server Workspace".

For debugging, the controller can be run externally. To do this, set the robot's controller in Webots to <extern>, and in VSCode go to Run and Debug > Launch Extern Controller or press F5. This will launch the controller and connect it to VSCode's debugger. There is also a Launch Extern Controller (No Robot Code) configuration which passes the --no-robot-code argument to the controller so that controller-specific behavior can be tested.

In addition to these features, there is an Update example/Webots directory task which will build the plugin and install it to the example/Webots directory without running additional tests. This is helpful for debugging Webots specific features (such as PROTOs). There is also a (Watch) variant which scans for changes in the plugin code and updates the directory automatically. Note that any time the directory is updated, DBSExample.wbt is overwritten. The recommended way to work around this is to keep Webots open while the directory is reloaded and then Save and Reload the world to preserve any changes to the world file.