Call the steps method after super.loop

server_python_scripts/blocks_base_classes/opmode.py

@@ -7,9 +7,6 @@ def __init__(self, robot: RobotBase):
     def start(self) -> None:
         self.robot.start()
     def loop(self) -> None:
-        # Call steps method if it exists in the derived class
-        if hasattr(self, 'steps') and callable(self.steps):
-            self.steps()
         self.robot.update()
     def stop(self) -> None:
         self.robot.stop()

src/blocks/mrc_class_method_def.ts

@@ -457,8 +457,8 @@ export const pythonFromBlock = function (
     xfix2 = xfix1;
   }
   if (block.mrcPythonMethodName === '__init__') {
-    const classSpecific = generator.getClassSpecificForInit();
-    branch = generator.INDENT + 'super().__init__(' + classSpecific + ')\n' +
+    const superInitParameters = generator.getSuperInitParameters();
+    branch = generator.INDENT + 'super().__init__(' + superInitParameters + ')\n' +
         generator.generateInitStatements() + branch;
   }
   else if (generator.inBaseClassMethod(blocklyName)) {

src/blocks/mrc_steps.ts

@@ -32,6 +32,8 @@ import * as toolboxItems from '../toolbox/items';
 
 export const BLOCK_NAME = 'mrc_steps';
 
+export const STEPS_METHOD_NAME = '_steps';
+
 const INPUT_CONDITION_PREFIX = 'CONDITION_';
 const INPUT_STATEMENT_PREFIX = 'STATEMENT_';
 
@@ -219,7 +221,7 @@ export const pythonFromBlock = function (
   block: StepsBlock,
   generator: ExtendedPythonGenerator,
 ) {
-  let code = 'def steps(self):\n';
+  let code = 'def ' + STEPS_METHOD_NAME + '(self):\n';
   code += generator.INDENT + 'if not hasattr(self, \'_initialized_steps\'):\n';
   code += generator.INDENT.repeat(2) + 'self._current_step = \'' + block.mrcStepNames[0] + '\'\n';
   code += generator.INDENT.repeat(2) + 'self._initialized_steps = True\n\n';
@@ -243,7 +245,7 @@ export const pythonFromBlock = function (
     }
   });
 
-  generator.addClassMethodDefinition('steps', code);
+  generator.addClassMethodDefinition(STEPS_METHOD_NAME, code);
 
   return ''
 }

src/blocks/utils/python.ts

@@ -33,9 +33,12 @@ import * as SetPythonVariable from "../mrc_set_python_variable";
 
 export const MODULE_NAME_BLOCKS_BASE_CLASSES = 'blocks_base_classes';
 export const CLASS_NAME_ROBOT_BASE = MODULE_NAME_BLOCKS_BASE_CLASSES + '.RobotBase';
-export const CLASS_NAME_OPMODE = MODULE_NAME_BLOCKS_BASE_CLASSES + '.OpMode';
 export const CLASS_NAME_MECHANISM = MODULE_NAME_BLOCKS_BASE_CLASSES + '.Mechanism';
 
+// TODO(lizlooney): what about PeriodicOpMode and LinearOpMode?
+export const CLASS_NAME_OPMODE = MODULE_NAME_BLOCKS_BASE_CLASSES + '.OpMode';
+// TODO(lizlooney): Make sure to update the value of PERIODIC_METHOD_NAME when we update wpilib.
+export const PERIODIC_METHOD_NAME = 'loop';
 
 export const robotPyData = generatedRobotPyData as PythonData;
 const externalSamplesData = generatedExternalSamplesData as PythonData

src/editor/extended_python_generator.ts

@@ -24,9 +24,12 @@ import { PythonGenerator } from 'blockly/python';
 import { createGeneratorContext, GeneratorContext } from './generator_context';
 import * as mechanismContainerHolder from '../blocks/mrc_mechanism_component_holder';
 import * as eventHandler from '../blocks/mrc_event_handler';
+import { STEPS_METHOD_NAME } from '../blocks/mrc_steps';
+
 import {
     MODULE_NAME_BLOCKS_BASE_CLASSES,
     CLASS_NAME_OPMODE,
+    PERIODIC_METHOD_NAME,
     getClassData,
 } from '../blocks/utils/python';
 import * as storageModule from '../storage/module';
@@ -248,6 +251,22 @@ export class ExtendedPythonGenerator extends PythonGenerator {
 
       code = decorators + 'class ' + className + '(' + baseClassName + '):\n';
 
+      if (this.getModuleType() ===  storageModule.ModuleType.OPMODE) {
+        // If the user has a steps method, we need to generate code to call it from the periodic method.
+        if (STEPS_METHOD_NAME in this.classMethods) {
+          let periodicCode: string;
+          if (PERIODIC_METHOD_NAME in this.classMethods) {
+            periodicCode = this.classMethods[PERIODIC_METHOD_NAME];
+          } else {
+            periodicCode = `def ${PERIODIC_METHOD_NAME}(self):\n`;
+            periodicCode += this.INDENT + `super().${PERIODIC_METHOD_NAME}()\n`;
+          }
+          periodicCode += this.INDENT + `if hasattr(self, '${STEPS_METHOD_NAME}') and callable(self.${STEPS_METHOD_NAME}):\n`;
+          periodicCode += this.INDENT.repeat(2) + `self.${STEPS_METHOD_NAME}()\n`;
+          this.classMethods[PERIODIC_METHOD_NAME] = periodicCode;
+        }
+      }
+
       const classMethods = [];
 
       // Generate the __init__ method first.
@@ -295,7 +314,7 @@ export class ExtendedPythonGenerator extends PythonGenerator {
     this.opModeDetails = opModeDetails;
   }
 
-  getClassSpecificForInit(): string {
+  getSuperInitParameters(): string {
     if (this.context?.getBaseClassName() == CLASS_NAME_OPMODE) {
       return 'robot'
     }

src/modules/opmode_start.json

@@ -37,7 +37,6 @@
                 "type": "mrc_class_method_def",
                 "x": 10,
                 "y": 190,
-                "deletable": false,
                 "editable": false,
                 "extraState": {
                     "canChangeSignature": false,