Initial checkin of unified hierarchy of WPILib 2015

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -0,0 +1,197 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import java.io.IOException;
+import java.net.URL;
+import java.util.Enumeration;
+import java.util.jar.Manifest;
+
+import edu.wpi.first.wpilibj.communication.FRC_NetworkCommunicationsLibrary;
+import edu.wpi.first.wpilibj.communication.FRC_NetworkCommunicationsLibrary.tInstances;
+import edu.wpi.first.wpilibj.communication.FRC_NetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.HALLibrary;
+import edu.wpi.first.wpilibj.networktables.NetworkTable;
+
+/**
+ * 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.
+ */
+public abstract class RobotBase {
+    /**
+     * The VxWorks priority that robot code should work at (so Java code should run at)
+     */
+    public static final int ROBOT_TASK_PRIORITY = 101;
+
+    /**
+     * Boolean System property. If true (default), send System.err messages to the driver station.
+     */
+    public final static String ERRORS_TO_DRIVERSTATION_PROP = "first.driverstation.senderrors";
+
+    protected final DriverStation m_ds;
+
+    /**
+     * Constructor for a generic robot program.
+     * User code should be placed in the constructor that runs before the Autonomous or Operator
+     * Control period starts. The constructor will run to completion before Autonomous is entered.
+     *
+     * This must be used to ensure that the communications code starts. In the future it would be
+     * nice to put this code into it's own task that loads on boot so ensure that it runs.
+     */
+    protected RobotBase() {
+        // TODO: StartCAPI();
+        // TODO: See if the next line is necessary
+        // Resource.RestartProgram();
+
+//        if (getBooleanProperty(ERRORS_TO_DRIVERSTATION_PROP, true)) {
+//            Utility.sendErrorStreamToDriverStation(true);
+//        }
+        NetworkTable.setServerMode();//must be before b
+        m_ds = DriverStation.getInstance();
+        NetworkTable.getTable("");  // forces network tables to initialize
+        NetworkTable.getTable("LiveWindow").getSubTable("~STATUS~").putBoolean("LW Enabled", false);
+    }
+
+    /**
+     * Free the resources for a RobotBase class.
+     */
+    public void free() {
+    }
+
+    /**
+     * @deprecated This has been deprecated in favor of {@link #isEnabled()}
+     * Check on the overall status of the system.
+     *
+     * @return Is the system active (i.e. PWM motor outputs, etc. enabled)?
+     */
+    public boolean isSystemActive() {
+    	return isEnabled();
+    }
+
+    /**
+     * Determine if the Robot is currently disabled.
+     * @return True if the Robot is currently disabled by the field controls.
+     */
+    public boolean isDisabled() {
+        return m_ds.isDisabled();
+    }
+
+    /**
+     * Determine if the Robot is currently enabled.
+     * @return True if the Robot is currently enabled by the field controls.
+     */
+    public boolean isEnabled() {
+        return m_ds.isEnabled();
+    }
+
+    /**
+     * Determine if the robot is currently in Autonomous mode.
+     * @return True if the robot is currently operating Autonomously as determined by the field controls.
+     */
+    public boolean isAutonomous() {
+        return m_ds.isAutonomous();
+    }
+
+    /**
+     * Determine if the robot is currently in Test mode
+     * @return True if the robot is currently operating in Test mode as determined by the driver station.
+     */
+    public boolean isTest() {
+        return m_ds.isTest();
+    }
+
+    /**
+     * Determine if the robot is currently in Operator Control mode.
+     * @return True if the robot is currently operating in Tele-Op mode as determined by the field controls.
+     */
+    public boolean isOperatorControl() {
+        return m_ds.isOperatorControl();
+    }
+
+    /**
+     * Indicates if new data is available from the driver station.
+     * @return Has new data arrived over the network since the last time this function was called?
+     */
+    public boolean isNewDataAvailable() {
+        return m_ds.isNewControlData();
+    }
+
+    /**
+     * Provide an alternate "main loop" via startCompetition().
+     */
+    public abstract void startCompetition();
+
+    public static boolean getBooleanProperty(String name, boolean defaultValue) {
+        String propVal = System.getProperty(name);
+        if (propVal == null) {
+            return defaultValue;
+        }
+        if (propVal.equalsIgnoreCase("false")) {
+            return false;
+        } else if (propVal.equalsIgnoreCase("true")) {
+            return true;
+        } else {
+            throw new IllegalStateException(propVal);
+        }
+    }
+
+    /**
+     * Starting point for the applications. Starts the OtaServer and then runs
+     * the robot.
+     * @throws javax.microedition.midlet.MIDletStateChangeException
+     */
+    public static void main(String args[]) { // TODO: expose main to teams?{
+        boolean errorOnExit = false;
+
+        HALLibrary.FRC_NetworkCommunication_Reserve();
+        FRC_NetworkCommunicationsLibrary.FRC_NetworkCommunication_observeUserProgramStarting();
+
+        UsageReporting.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
+
+		String robotName = "";
+		Enumeration<URL> resources = null;
+		try {
+			resources = RobotBase.class.getClassLoader().getResources("META-INF/MANIFEST.MF");
+		} catch (IOException e) {e.printStackTrace();}
+		while (resources != null && resources.hasMoreElements()) {
+		    try {
+		    	Manifest manifest = new Manifest(resources.nextElement().openStream());
+		    	robotName = manifest.getMainAttributes().getValue("Robot-Class");
+		    } catch (IOException e) {e.printStackTrace();}
+		}
+
+        RobotBase robot;
+		try {
+			robot = (RobotBase) Class.forName(robotName).newInstance();
+		} catch (InstantiationException|IllegalAccessException|ClassNotFoundException e) {
+			System.err.println("WARNING: Robots don't quit!");
+			System.err.println("ERROR: Could not instantiate robot "+robotName+"!");
+			return;
+		}
+
+        try {
+            robot.startCompetition();
+        } catch (Throwable t) {
+            t.printStackTrace();
+            errorOnExit = true;
+        } finally {
+            // startCompetition never returns unless exception occurs....
+            System.err.println("WARNING: Robots don't quit!");
+            if (errorOnExit) {
+                System.err.println("---> The startCompetition() method (or methods called by it) should have handled the exception above.");
+            } else {
+                System.err.println("---> Unexpected return from startCompetition() method.");
+            }
+        }
+    }
+}