Add ability to end startCompetition() main loop (#2032)

This is useful for both cleanly exiting from simulation and for unit testing
at a framework level.

This change required removing move constructor/assignment from IterativeRobot.

wpilibc/src/main/native/cpp/DriverStation.cpp

@@ -473,6 +473,13 @@ double DriverStation::GetBatteryVoltage() const {
   return voltage;
 }
 
+void DriverStation::WakeupWaitForData() {
+  std::scoped_lock waitLock(m_waitForDataMutex);
+  // Nofify all threads
+  m_waitForDataCounter++;
+  m_waitForDataCond.notify_all();
+}
+
 void DriverStation::GetData() {
   {
     // Compute the pressed and released buttons
@@ -494,13 +501,7 @@ void DriverStation::GetData() {
     }
   }
 
-  {
-    std::scoped_lock waitLock(m_waitForDataMutex);
-    // Nofify all threads
-    m_waitForDataCounter++;
-    m_waitForDataCond.notify_all();
-  }
-
+  WakeupWaitForData();
   SendMatchData();
 }
 

wpilibc/src/main/native/cpp/IterativeRobot.cpp

@@ -30,7 +30,13 @@ void IterativeRobot::StartCompetition() {
   while (true) {
     // Wait for driver station data so the loop doesn't hog the CPU
     DriverStation::GetInstance().WaitForData();
+    if (m_exit) break;
 
     LoopFunc();
   }
 }
+
+void IterativeRobot::EndCompetition() {
+  m_exit = true;
+  DriverStation::GetInstance().WakeupWaitForData();
+}

wpilibc/src/main/native/cpp/TimedRobot.cpp

@@ -43,6 +43,11 @@ void TimedRobot::StartCompetition() {
   }
 }
 
+void TimedRobot::EndCompetition() {
+  int32_t status = 0;
+  HAL_StopNotifier(m_notifier, &status);
+}
+
 units::second_t TimedRobot::GetPeriod() const {
   return units::second_t(m_period);
 }