Initial checkin of unified hierarchy of WPILib 2015

2026-06-21 01:01:43 +00:00 · 2013-12-15 18:30:16 -05:00
commit 3178911eef
1560 changed files with 410007 additions and 0 deletions
--- a/wpilibc/src/main/native/SimpleRobot.cpp
+++ b/wpilibc/src/main/native/SimpleRobot.cpp
@@ -0,0 +1,150 @@
+/*----------------------------------------------------------------------------*/
+/* 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.  */
+/*----------------------------------------------------------------------------*/
+
+#include "SimpleRobot.h"
+
+#include "DriverStation.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "Timer.h"
+#include "SmartDashboard/SmartDashboard.h"
+#include "LiveWindow/LiveWindow.h"
+#include "networktables/NetworkTable.h"
+
+SimpleRobot::SimpleRobot()
+	: m_robotMainOverridden (true)
+{
+	m_watchdog.SetEnabled(false);
+}
+
+/**
+ * Robot-wide initialization code should go here.
+ * 
+ * Programmers should override this method for default Robot-wide initialization which will
+ * be called each time the robot enters the disabled state.
+ */
+void SimpleRobot::RobotInit()
+{
+	printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Disabled should go here.
+ * Programmers should override this method to run code that should run while the field is
+ * disabled.
+ */
+void SimpleRobot::Disabled()
+{
+	printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Autonomous should go here.
+ * Programmers should override this method to run code that should run while the field is
+ * in the autonomous period. This will be called once each time the robot enters the
+ * autonomous state.
+ */
+void SimpleRobot::Autonomous()
+{
+	printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Operator control (tele-operated) code should go here.
+ * Programmers should override this method to run code that should run while the field is
+ * in the Operator Control (tele-operated) period. This is called once each time the robot
+ * enters the teleop state.
+ */
+void SimpleRobot::OperatorControl()
+{
+	printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Test program should go here.
+ * Programmers should override this method to run code that executes while the robot is
+ * in test mode. This will be called once whenever the robot enters test mode
+ */
+void SimpleRobot::Test()
+{
+	printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Robot main program for free-form programs.
+ * 
+ * This should be overridden by user subclasses if the intent is to not use the Autonomous() and
+ * OperatorControl() methods. In that case, the program is responsible for sensing when to run
+ * the autonomous and operator control functions in their program.
+ * 
+ * This method will be called immediately after the constructor is called. If it has not been
+ * overridden by a user subclass (i.e. the default version runs), then the Autonomous() and
+ * OperatorControl() methods will be called.
+ */
+void SimpleRobot::RobotMain()
+{
+	m_robotMainOverridden = false;
+}
+
+/**
+ * Start a competition.
+ * This code needs to track the order of the field starting to ensure that everything happens
+ * in the right order. Repeatedly run the correct method, either Autonomous or OperatorControl
+ * or Test when the robot is enabled. After running the correct method, wait for some state to
+ * change, either the other mode starts or the robot is disabled. Then go back and wait for the
+ * robot to be enabled again.
+ */
+void SimpleRobot::StartCompetition()
+{
+	LiveWindow *lw = LiveWindow::GetInstance();
+
+	nUsageReporting::report(nUsageReporting::kResourceType_Framework, nUsageReporting::kFramework_Simple);
+
+	SmartDashboard::init();
+	NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
+
+	RobotMain();
+	
+	if (!m_robotMainOverridden)
+	{
+		// first and one-time initialization
+		lw->SetEnabled(false);
+		RobotInit();
+
+		while (true)
+		{
+			if (IsDisabled())
+			{
+				m_ds->InDisabled(true);
+				Disabled();
+				m_ds->InDisabled(false);
+				while (IsDisabled()) m_ds->WaitForData();
+			}
+			else if (IsAutonomous())
+			{
+				m_ds->InAutonomous(true);
+				Autonomous();
+				m_ds->InAutonomous(false);
+				while (IsAutonomous() && IsEnabled()) m_ds->WaitForData();
+			}
+            else if (IsTest())
+            {
+            	lw->SetEnabled(true);
+                m_ds->InTest(true);
+                Test();
+                m_ds->InTest(false);
+                while (IsTest() && IsEnabled()) m_ds->WaitForData();
+                lw->SetEnabled(false);
+            }
+			else
+			{
+				m_ds->InOperatorControl(true);
+				OperatorControl();
+				m_ds->InOperatorControl(false);
+				while (IsOperatorControl() && IsEnabled()) m_ds->WaitForData();
+			}
+		}
+	}
+}