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Major formatting changes (breaks diffs). No code changes.

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The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
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330
wpilibc/wpilibC++Devices/src/IterativeRobot.cpp
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@@ -1,5 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
@@ -17,250 +18,233 @@ constexpr double IterativeRobot::kDefaultPeriod;
/**
* Constructor for RobotIterativeBase
*
*
* The constructor initializes the instance variables for the robot to indicate
* the status of initialization for disabled, autonomous, teleop, and test code.
*/
IterativeRobot::IterativeRobot()
: m_disabledInitialized (false)
, m_autonomousInitialized (false)
, m_teleopInitialized (false)
, m_testInitialized (false)
{
}
: m_disabledInitialized(false),
m_autonomousInitialized(false),
m_teleopInitialized(false),
m_testInitialized(false) {}
/**
* Free the resources for a RobotIterativeBase class.
*/
IterativeRobot::~IterativeRobot()
{
}
IterativeRobot::~IterativeRobot() {}
void IterativeRobot::Prestart() {
// Don't immediately say that the robot's ready to be enabled.
// See below.
// Don't immediately say that the robot's ready to be enabled.
// See below.
}
/**
* Provide an alternate "main loop" via StartCompetition().
*
* This specific StartCompetition() implements "main loop" behaviour synced with the DS packets
*
* This specific StartCompetition() implements "main loop" behaviour synced with
* the DS packets
*/
void IterativeRobot::StartCompetition()
{
HALReport(HALUsageReporting::kResourceType_Framework, HALUsageReporting::kFramework_Iterative);
void IterativeRobot::StartCompetition() {
HALReport(HALUsageReporting::kResourceType_Framework,
HALUsageReporting::kFramework_Iterative);
LiveWindow *lw = LiveWindow::GetInstance();
// first and one-time initialization
SmartDashboard::init();
NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
RobotInit();
LiveWindow *lw = LiveWindow::GetInstance();
// first and one-time initialization
SmartDashboard::init();
NetworkTable::GetTable("LiveWindow")
->GetSubTable("~STATUS~")
->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.
HALNetworkCommunicationObserveUserProgramStarting();
// 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.
HALNetworkCommunicationObserveUserProgramStarting();
// loop forever, calling the appropriate mode-dependent function
lw->SetEnabled(false);
while (true)
{
// Call the appropriate function depending upon the current robot mode
if (IsDisabled())
{
// call DisabledInit() if we are now just entering disabled mode from
// either a different mode or from power-on
if(!m_disabledInitialized)
{
lw->SetEnabled(false);
DisabledInit();
m_disabledInitialized = true;
// reset the initialization flags for the other modes
m_autonomousInitialized = false;
m_teleopInitialized = false;
m_testInitialized = false;
}
HALNetworkCommunicationObserveUserProgramDisabled();
DisabledPeriodic();
}
else if (IsAutonomous())
{
// call AutonomousInit() if we are now just entering autonomous mode from
// either a different mode or from power-on
if(!m_autonomousInitialized)
{
lw->SetEnabled(false);
AutonomousInit();
m_autonomousInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_teleopInitialized = false;
m_testInitialized = false;
}
HALNetworkCommunicationObserveUserProgramAutonomous();
AutonomousPeriodic();
}
else if (IsTest())
{
// call TestInit() if we are now just entering test mode from
// either a different mode or from power-on
if(!m_testInitialized)
{
lw->SetEnabled(true);
TestInit();
m_testInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_autonomousInitialized = false;
m_teleopInitialized = false;
}
HALNetworkCommunicationObserveUserProgramTest();
TestPeriodic();
}
else
{
// call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on
if(!m_teleopInitialized)
{
lw->SetEnabled(false);
TeleopInit();
m_teleopInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_autonomousInitialized = false;
m_testInitialized = false;
Scheduler::GetInstance()->SetEnabled(true);
}
HALNetworkCommunicationObserveUserProgramTeleop();
TeleopPeriodic();
}
// wait for driver station data so the loop doesn't hog the CPU
m_ds->WaitForData();
}
// loop forever, calling the appropriate mode-dependent function
lw->SetEnabled(false);
while (true) {
// Call the appropriate function depending upon the current robot mode
if (IsDisabled()) {
// call DisabledInit() if we are now just entering disabled mode from
// either a different mode or from power-on
if (!m_disabledInitialized) {
lw->SetEnabled(false);
DisabledInit();
m_disabledInitialized = true;
// reset the initialization flags for the other modes
m_autonomousInitialized = false;
m_teleopInitialized = false;
m_testInitialized = false;
}
HALNetworkCommunicationObserveUserProgramDisabled();
DisabledPeriodic();
} else if (IsAutonomous()) {
// call AutonomousInit() if we are now just entering autonomous mode from
// either a different mode or from power-on
if (!m_autonomousInitialized) {
lw->SetEnabled(false);
AutonomousInit();
m_autonomousInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_teleopInitialized = false;
m_testInitialized = false;
}
HALNetworkCommunicationObserveUserProgramAutonomous();
AutonomousPeriodic();
} else if (IsTest()) {
// call TestInit() if we are now just entering test mode from
// either a different mode or from power-on
if (!m_testInitialized) {
lw->SetEnabled(true);
TestInit();
m_testInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_autonomousInitialized = false;
m_teleopInitialized = false;
}
HALNetworkCommunicationObserveUserProgramTest();
TestPeriodic();
} else {
// call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on
if (!m_teleopInitialized) {
lw->SetEnabled(false);
TeleopInit();
m_teleopInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_autonomousInitialized = false;
m_testInitialized = false;
Scheduler::GetInstance()->SetEnabled(true);
}
HALNetworkCommunicationObserveUserProgramTeleop();
TeleopPeriodic();
}
// wait for driver station data so the loop doesn't hog the CPU
m_ds->WaitForData();
}
}
/**
* 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.
*
* 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.
*/
void IterativeRobot::RobotInit()
{
printf("Default %s() method... Overload me!\n", __FUNCTION__);
void IterativeRobot::RobotInit() {
printf("Default %s() method... Overload me!\n", __FUNCTION__);
}
/**
* Initialization code for disabled mode should go here.
*
* Users should override this method for initialization code which will be called each time
*
* Users should override this method for initialization code which will be
* called each time
* the robot enters disabled mode.
*/
void IterativeRobot::DisabledInit()
{
printf("Default %s() method... Overload me!\n", __FUNCTION__);
void IterativeRobot::DisabledInit() {
printf("Default %s() method... Overload me!\n", __FUNCTION__);
}
/**
* Initialization code for autonomous mode should go here.
*
* Users should override this method for initialization code which will be called each time
*
* Users should override this method for initialization code which will be
* called each time
* the robot enters autonomous mode.
*/
void IterativeRobot::AutonomousInit()
{
printf("Default %s() method... Overload me!\n", __FUNCTION__);
void IterativeRobot::AutonomousInit() {
printf("Default %s() method... Overload me!\n", __FUNCTION__);
}
/**
* Initialization code for teleop mode should go here.
*
* Users should override this method for initialization code which will be called each time
*
* Users should override this method for initialization code which will be
* called each time
* the robot enters teleop mode.
*/
void IterativeRobot::TeleopInit()
{
printf("Default %s() method... Overload me!\n", __FUNCTION__);
void IterativeRobot::TeleopInit() {
printf("Default %s() method... Overload me!\n", __FUNCTION__);
}
/**
* Initialization code for test mode should go here.
*
* Users should override this method for initialization code which will be called each time
*
* Users should override this method for initialization code which will be
* called each time
* the robot enters test mode.
*/
void IterativeRobot::TestInit()
{
printf("Default %s() method... Overload me!\n", __FUNCTION__);
void IterativeRobot::TestInit() {
printf("Default %s() method... Overload me!\n", __FUNCTION__);
}
/**
* Periodic code for disabled mode should go here.
*
* Users should override this method for code which will be called periodically at a regular
*
* Users should override this method for code which will be called periodically
* at a regular
* rate while the robot is in disabled mode.
*/
void IterativeRobot::DisabledPeriodic()
{
static bool firstRun = true;
if (firstRun)
{
printf("Default %s() method... Overload me!\n", __FUNCTION__);
firstRun = false;
}
delayTicks(1);
void IterativeRobot::DisabledPeriodic() {
static bool firstRun = true;
if (firstRun) {
printf("Default %s() method... Overload me!\n", __FUNCTION__);
firstRun = false;
}
delayTicks(1);
}
/**
* Periodic code for autonomous mode should go here.
*
* Users should override this method for code which will be called periodically at a regular
* Users should override this method for code which will be called periodically
* at a regular
* rate while the robot is in autonomous mode.
*/
void IterativeRobot::AutonomousPeriodic()
{
static bool firstRun = true;
if (firstRun)
{
printf("Default %s() method... Overload me!\n", __FUNCTION__);
firstRun = false;
}
delayTicks(1);
void IterativeRobot::AutonomousPeriodic() {
static bool firstRun = true;
if (firstRun) {
printf("Default %s() method... Overload me!\n", __FUNCTION__);
firstRun = false;
}
delayTicks(1);
}
/**
* Periodic code for teleop mode should go here.
*
* Users should override this method for code which will be called periodically at a regular
* Users should override this method for code which will be called periodically
* at a regular
* rate while the robot is in teleop mode.
*/
void IterativeRobot::TeleopPeriodic()
{
static bool firstRun = true;
if (firstRun)
{
printf("Default %s() method... Overload me!\n", __FUNCTION__);
firstRun = false;
}
delayTicks(1);
void IterativeRobot::TeleopPeriodic() {
static bool firstRun = true;
if (firstRun) {
printf("Default %s() method... Overload me!\n", __FUNCTION__);
firstRun = false;
}
delayTicks(1);
}
/**
* Periodic code for test mode should go here.
*
* Users should override this method for code which will be called periodically at a regular
* Users should override this method for code which will be called periodically
* at a regular
* rate while the robot is in test mode.
*/
void IterativeRobot::TestPeriodic()
{
static bool firstRun = true;
if (firstRun)
{
printf("Default %s() method... Overload me!\n", __FUNCTION__);
firstRun = false;
}
delayTicks(1);
void IterativeRobot::TestPeriodic() {
static bool firstRun = true;
if (firstRun) {
printf("Default %s() method... Overload me!\n", __FUNCTION__);
firstRun = false;
}
delayTicks(1);
}