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Remove kDefaultPeriod from IterativeRobot (#232)

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* Remove kDefaultPeriod from IterativeRobot

* Remove period

* Remove NextPeriodReady
This commit is contained in:
Austin Shalit
2016-10-09 16:58:30 -04:00
committed by Peter Johnson
parent 4896a77c86
commit 27bf94fd06
4 changed files with 11 additions and 107 deletions
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84
wpilibc/sim/src/IterativeRobot.cpp
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@@ -17,47 +17,6 @@
#include <unistd.h>
#endif
const double IterativeRobot::kDefaultPeriod = 0;
/**
* Set the period for the periodic functions.
*
* @param period The period of the periodic function calls. 0.0 means sync to
* driver station control data.
*/
void IterativeRobot::SetPeriod(double period) {
if (period > 0.0) {
// Not syncing with the DS, so start the timer for the main loop
m_mainLoopTimer.Reset();
m_mainLoopTimer.Start();
} else {
// Syncing with the DS, don't need the timer
m_mainLoopTimer.Stop();
}
m_period = period;
}
/**
* Get the period for the periodic functions.
*
* Returns 0.0 if configured to syncronize with DS control data packets.
*
* @return Period of the periodic function calls
*/
double IterativeRobot::GetPeriod() { return m_period; }
/**
* Get the number of loops per second for the IterativeRobot.
*
* @return Frequency of the periodic function calls
*/
double IterativeRobot::GetLoopsPerSec() {
// If syncing to the driver station, we don't know the rate,
// so guess something close.
if (m_period <= 0.0) return 50.0;
return 1.0 / m_period;
}
/**
* Provide an alternate "main loop" via StartCompetition().
*
@@ -91,10 +50,8 @@ void IterativeRobot::StartCompetition() {
m_teleopInitialized = false;
m_testInitialized = false;
}
if (NextPeriodReady()) {
// TODO: HALNetworkCommunicationObserveUserProgramDisabled();
DisabledPeriodic();
}
// TODO: HALNetworkCommunicationObserveUserProgramDisabled();
DisabledPeriodic();
} else if (IsAutonomous()) {
// call AutonomousInit() if we are now just entering autonomous mode from
// either a different mode or from power-on
@@ -107,10 +64,8 @@ void IterativeRobot::StartCompetition() {
m_teleopInitialized = false;
m_testInitialized = false;
}
if (NextPeriodReady()) {
// TODO: HALNetworkCommunicationObserveUserProgramAutonomous();
AutonomousPeriodic();
}
// TODO: HALNetworkCommunicationObserveUserProgramAutonomous();
AutonomousPeriodic();
} else if (IsTest()) {
// call TestInit() if we are now just entering test mode from
// either a different mode or from power-on
@@ -123,10 +78,8 @@ void IterativeRobot::StartCompetition() {
m_autonomousInitialized = false;
m_teleopInitialized = false;
}
if (NextPeriodReady()) {
// TODO: HALNetworkCommunicationObserveUserProgramTest();
TestPeriodic();
}
// TODO: HALNetworkCommunicationObserveUserProgramTest();
TestPeriodic();
} else {
// call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on
@@ -140,35 +93,14 @@ void IterativeRobot::StartCompetition() {
m_testInitialized = false;
Scheduler::GetInstance()->SetEnabled(true);
}
if (NextPeriodReady()) {
// TODO: HALNetworkCommunicationObserveUserProgramTeleop();
TeleopPeriodic();
}
// TODO: HALNetworkCommunicationObserveUserProgramTeleop();
TeleopPeriodic();
}
// wait for driver station data so the loop doesn't hog the CPU
m_ds.WaitForData();
}
}
/**
* Determine if the periodic functions should be called.
*
* If m_period > 0.0, call the periodic function every m_period as compared
* to Timer.Get(). If m_period == 0.0, call the periodic functions whenever
* a packet is received from the Driver Station, or about every 20ms.
*
* @todo Decide what this should do if it slips more than one cycle.
*/
bool IterativeRobot::NextPeriodReady() {
if (m_period > 0.0) {
return m_mainLoopTimer.HasPeriodPassed(m_period);
} else {
// XXX: BROKEN! return m_ds->IsNewControlData();
}
return true;
}
/**
* Robot-wide initialization code should go here.
*