Initial checkin of unified hierarchy of WPILib 2015

wpilibc/src/main/include/RobotBase.h

@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#ifndef ROBOT_H_
+#define ROBOT_H_
+
+#include "Base.h"
+#include "Task.h"
+#include "Watchdog.h"
+
+class DriverStation;
+
+#ifdef __vxworks
+#define START_ROBOT_CLASS(_ClassName_) \
+	RobotBase *FRC_userClassFactory() \
+	{ \
+	    cout << "Instantiating " #_ClassName_ "...\n";\
+		RobotBase* rb= new _ClassName_();\
+	    cout << "...Instantiated " #_ClassName_ "\n";\
+		return rb;\
+	} \
+	extern "C" { \
+		int32_t FRC_UserProgram_StartupLibraryInit() \
+		{ \
+			RobotBase::startRobotTask((FUNCPTR)FRC_userClassFactory); \
+			return 0; \
+		} \
+	}
+#else
+#define START_ROBOT_CLASS(_ClassName_) \
+  int main() \
+  { \
+    FRC_NetworkCommunication_Reserve();	\
+	RobotBase* robot = new _ClassName_(); \
+	robot->StartCompetition(); \
+	return 0; \
+  }
+#endif
+
+/**
+ * Implement a Robot Program framework.
+ * The RobotBase class is intended to be subclassed by a user creating a robot program.
+ * Overridden Autonomous() and OperatorControl() methods are called at the appropriate time
+ * as the match proceeds. In the current implementation, the Autonomous code will run to
+ * completion before the OperatorControl code could start. In the future the Autonomous code
+ * might be spawned as a task, then killed at the end of the Autonomous period.
+ */
+class RobotBase {
+	friend class RobotDeleter;
+public:
+	static RobotBase &getInstance();
+	static void setInstance(RobotBase* robot);
+
+	bool IsEnabled();
+	bool IsDisabled();
+	bool IsAutonomous();
+	bool IsOperatorControl();
+    bool IsTest();
+	bool IsSystemActive();
+	bool IsNewDataAvailable();
+	Watchdog &GetWatchdog();
+	static void startRobotTask(FUNCPTR factory);
+	static void robotTask(FUNCPTR factory, Task *task);
+	virtual void StartCompetition() = 0;
+
+protected:
+	virtual ~RobotBase();
+	RobotBase();
+
+	Task *m_task;
+	Watchdog m_watchdog;
+	DriverStation *m_ds;
+
+private:
+	static RobotBase *m_instance;
+	DISALLOW_COPY_AND_ASSIGN(RobotBase);
+};
+
+#endif
+