Notify the Driver Station that code is ready after robotInit is called

Change-Id: Id833a2a945c14bcbb4761d4fe463c6c9f7c4430c

wpilibc/wpilibC++Devices/include/IterativeRobot.h

@@ -70,8 +70,6 @@ class IterativeRobot : public RobotBase {
   virtual void TestPeriodic();
 
  protected:
-  virtual void Prestart();
-
   virtual ~IterativeRobot() = default;
   IterativeRobot() = default;
 

wpilibc/wpilibC++Devices/include/RobotBase.h

@@ -62,8 +62,6 @@ class RobotBase {
   RobotBase(const RobotBase&) = delete;
   RobotBase& operator=(const RobotBase&) = delete;
 
-  virtual void Prestart();
-
   Task *m_task = nullptr;
   DriverStation &m_ds;
 

wpilibc/wpilibC++Devices/src/IterativeRobot.cpp

@@ -16,11 +16,6 @@
 
 constexpr double IterativeRobot::kDefaultPeriod;
 
-void IterativeRobot::Prestart() {
-  // Don't immediately say that the robot's ready to be enabled.
-  // See below.
-}
-
 /**
  * Provide an alternate "main loop" via StartCompetition().
  *
@@ -39,10 +34,7 @@ void IterativeRobot::StartCompetition() {
       ->PutBoolean("LW Enabled", false);
   RobotInit();
 
-  // We call this now (not in Prestart like default) so that the robot
-  // won't enable until the initialization has finished. This is useful
-  // because otherwise it's sometimes possible to enable the robot
-  // before the code is ready.
+  // Tell the DS that the robot is ready to be enabled
   HALNetworkCommunicationObserveUserProgramStarting();
 
   // loop forever, calling the appropriate mode-dependent function
@@ -116,9 +108,13 @@ void IterativeRobot::StartCompetition() {
  * Robot-wide initialization code should go here.
  *
  * Users should override this method for default Robot-wide initialization which
- * will
- * be called when the robot is first powered on.  It will be called exactly 1
- * time.
+ * will be called when the robot is first powered on. It will be called exactly
+ * one time.
+ *
+ * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
+ * indicators will be off until RobotInit() exits. Code in RobotInit() that
+ * waits for enable will cause the robot to never indicate that the code is
+ * ready, causing the robot to be bypassed in a match.
  */
 void IterativeRobot::RobotInit() {
   printf("Default %s() method... Overload me!\n", __FUNCTION__);

wpilibc/wpilibC++Devices/src/RobotBase.cpp

@@ -30,7 +30,6 @@ void RobotBase::setInstance(RobotBase *robot) {
 RobotBase &RobotBase::getInstance() { return *m_instance; }
 
 void RobotBase::robotSetup(RobotBase *robot) {
-  robot->Prestart();
   robot->StartCompetition();
 }
 
@@ -107,19 +106,6 @@ bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
  */
 bool RobotBase::IsTest() const { return m_ds.IsTest(); }
 
-/**
- * This hook is called right before startCompetition(). By default, tell the DS
- * that the robot is now ready to
- * be enabled. If you don't want for the robot to be enabled yet, you can
- * override this method to do nothing.
- * If you do so, you will need to call
- * HALNetworkCommunicationObserveUserProgramStarting() from your code when
- * you are ready for the robot to be enabled.
- */
-void RobotBase::Prestart() {
-  HALNetworkCommunicationObserveUserProgramStarting();
-}
-
 /**
  * Indicates if new data is available from the driver station.
  * @return Has new data arrived over the network since the last time this

wpilibc/wpilibC++Devices/src/SampleRobot.cpp

@@ -19,9 +19,14 @@ SampleRobot::SampleRobot() : m_robotMainOverridden(true) {}
 /**
  * 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.
+ * Users should override this method for default Robot-wide initialization which
+ * will be called when the robot is first powered on. It will be called exactly
+ * one time.
+ *
+ * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
+ * indicators will be off until RobotInit() exits. Code in RobotInit() that
+ * waits for enable will cause the robot to never indicate that the code is
+ * ready, causing the robot to be bypassed in a match.
  */
 void SampleRobot::RobotInit() {
   printf("Default %s() method... Override me!\n", __FUNCTION__);
@@ -111,12 +116,16 @@ void SampleRobot::StartCompetition() {
       ->GetSubTable("~STATUS~")
       ->PutBoolean("LW Enabled", false);
 
+  RobotInit();
+
+  // Tell the DS that the robot is ready to be enabled
+  HALNetworkCommunicationObserveUserProgramStarting();
+
   RobotMain();
 
   if (!m_robotMainOverridden) {
     // first and one-time initialization
     lw->SetEnabled(false);
-    RobotInit();
 
     while (true) {
       if (IsDisabled()) {