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https://github.com/wpilibsuite/allwpilib
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46 lines
1.3 KiB
C++
46 lines
1.3 KiB
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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namespace wpi {
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/**
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* Top-level interface for opmode classes. Users should generally extend one of
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* the abstract implementations of this interface (e.g. PeriodicOpMode or
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* LinearOpMode) rather than directly implementing this interface.
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*/
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class OpMode {
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public:
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/**
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* The object is destroyed when the opmode is no longer selected on the DS or
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* after OpModeRun() returns.
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*/
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virtual ~OpMode() = default;
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/**
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* This function is called periodically while the opmode is selected on the DS
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* (robot is disabled). Code that should only run once when the opmode is
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* selected should go in the opmode constructor.
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*/
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virtual void DisabledPeriodic() {}
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/**
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* This function is called when the opmode starts (robot is enabled).
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*
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* @param opModeId opmode unique ID
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*/
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virtual void OpModeRun(int64_t opModeId) = 0;
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/**
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* This function is called asynchronously when the robot is disabled, to
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* request the opmode return from OpModeRun().
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*/
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virtual void OpModeStop() = 0;
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};
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} // namespace wpi
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