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

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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.
This commit is contained in:
Peter Johnson
2019-11-05 21:33:09 -08:00
committed by GitHub
parent f5b4be16db
commit 7508aada93
14 changed files with 185 additions and 35 deletions
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15
wpilibc/src/main/native/include/frc/IterativeRobot.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. 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. */
@@ -7,6 +7,8 @@
#pragma once
#include <atomic>
#include "frc/IterativeRobotBase.h"
namespace frc {
@@ -28,9 +30,6 @@ class IterativeRobot : public IterativeRobotBase {
IterativeRobot();
virtual ~IterativeRobot() = default;
IterativeRobot(IterativeRobot&&) = default;
IterativeRobot& operator=(IterativeRobot&&) = default;
/**
* Provide an alternate "main loop" via StartCompetition().
*
@@ -38,6 +37,14 @@ class IterativeRobot : public IterativeRobotBase {
* with the DS packets.
*/
void StartCompetition() override;
/**
* Ends the main loop in StartCompetition().
*/
void EndCompetition() override;
private:
std::atomic<bool> m_exit{false};
};
} // namespace frc