[wpilibc] Move framework sources to framework directory (#8347)

2026-06-19 00:41:43 +00:00 · 2025-11-08 22:52:01 -08:00
parent 04fb95a897
commit 4ea584b64f
4 changed files with 0 additions and 0 deletions
--- a/wpilibc/src/main/native/cpp/framework/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/framework/IterativeRobotBase.cpp
@@ -0,0 +1,202 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/framework/IterativeRobotBase.hpp"
+
+#include "wpi/driverstation/DSControlWord.hpp"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/hal/DriverStation.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/print.hpp"
+
+using namespace wpi;
+
+IterativeRobotBase::IterativeRobotBase(wpi::units::second_t period)
+    : m_period(period),
+      m_watchdog(period, [this] { PrintLoopOverrunMessage(); }) {}
+
+void IterativeRobotBase::DriverStationConnected() {}
+
+void IterativeRobotBase::SimulationInit() {}
+
+void IterativeRobotBase::DisabledInit() {}
+
+void IterativeRobotBase::AutonomousInit() {}
+
+void IterativeRobotBase::TeleopInit() {}
+
+void IterativeRobotBase::TestInit() {}
+
+void IterativeRobotBase::RobotPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+}
+
+void IterativeRobotBase::SimulationPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+}
+
+void IterativeRobotBase::DisabledPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+}
+
+void IterativeRobotBase::AutonomousPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+}
+
+void IterativeRobotBase::TeleopPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+}
+
+void IterativeRobotBase::TestPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+}
+
+void IterativeRobotBase::DisabledExit() {}
+
+void IterativeRobotBase::AutonomousExit() {}
+
+void IterativeRobotBase::TeleopExit() {}
+
+void IterativeRobotBase::TestExit() {}
+
+void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
+  m_ntFlushEnabled = enabled;
+}
+
+wpi::units::second_t IterativeRobotBase::GetPeriod() const {
+  return m_period;
+}
+
+void IterativeRobotBase::LoopFunc() {
+  DriverStation::RefreshData();
+  m_watchdog.Reset();
+
+  // Get current mode
+  DSControlWord word;
+  Mode mode = Mode::kNone;
+  if (word.IsDisabled()) {
+    mode = Mode::kDisabled;
+  } else if (word.IsAutonomous()) {
+    mode = Mode::kAutonomous;
+  } else if (word.IsTeleop()) {
+    mode = Mode::kTeleop;
+  } else if (word.IsTest()) {
+    mode = Mode::kTest;
+  }
+
+  if (!m_calledDsConnected && word.IsDSAttached()) {
+    m_calledDsConnected = true;
+    DriverStationConnected();
+  }
+
+  // If mode changed, call mode exit and entry functions
+  if (m_lastMode != mode) {
+    // Call last mode's exit function
+    if (m_lastMode == Mode::kDisabled) {
+      DisabledExit();
+    } else if (m_lastMode == Mode::kAutonomous) {
+      AutonomousExit();
+    } else if (m_lastMode == Mode::kTeleop) {
+      TeleopExit();
+    } else if (m_lastMode == Mode::kTest) {
+      TestExit();
+    }
+
+    // Call current mode's entry function
+    if (mode == Mode::kDisabled) {
+      DisabledInit();
+      m_watchdog.AddEpoch("DisabledInit()");
+    } else if (mode == Mode::kAutonomous) {
+      AutonomousInit();
+      m_watchdog.AddEpoch("AutonomousInit()");
+    } else if (mode == Mode::kTeleop) {
+      TeleopInit();
+      m_watchdog.AddEpoch("TeleopInit()");
+    } else if (mode == Mode::kTest) {
+      TestInit();
+      m_watchdog.AddEpoch("TestInit()");
+    }
+
+    m_lastMode = mode;
+  }
+
+  // Call the appropriate function depending upon the current robot mode
+  if (mode == Mode::kDisabled) {
+    HAL_ObserveUserProgramDisabled();
+    DisabledPeriodic();
+    m_watchdog.AddEpoch("DisabledPeriodic()");
+  } else if (mode == Mode::kAutonomous) {
+    HAL_ObserveUserProgramAutonomous();
+    AutonomousPeriodic();
+    m_watchdog.AddEpoch("AutonomousPeriodic()");
+  } else if (mode == Mode::kTeleop) {
+    HAL_ObserveUserProgramTeleop();
+    TeleopPeriodic();
+    m_watchdog.AddEpoch("TeleopPeriodic()");
+  } else if (mode == Mode::kTest) {
+    HAL_ObserveUserProgramTest();
+    TestPeriodic();
+    m_watchdog.AddEpoch("TestPeriodic()");
+  }
+
+  RobotPeriodic();
+  m_watchdog.AddEpoch("RobotPeriodic()");
+
+  SmartDashboard::UpdateValues();
+  m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
+
+  if constexpr (IsSimulation()) {
+    HAL_SimPeriodicBefore();
+    SimulationPeriodic();
+    HAL_SimPeriodicAfter();
+    m_watchdog.AddEpoch("SimulationPeriodic()");
+  }
+
+  m_watchdog.Disable();
+
+  // Flush NetworkTables
+  if (m_ntFlushEnabled) {
+    wpi::nt::NetworkTableInstance::GetDefault().FlushLocal();
+  }
+
+  // Warn on loop time overruns
+  if (m_watchdog.IsExpired()) {
+    m_watchdog.PrintEpochs();
+  }
+}
+
+void IterativeRobotBase::PrintLoopOverrunMessage() {
+  WPILIB_ReportError(err::Error, "Loop time of {:.6f}s overrun",
+                     m_period.value());
+}
+
+void IterativeRobotBase::PrintWatchdogEpochs() {
+  m_watchdog.PrintEpochs();
+}