Added TimedRobot (#520)

wpilibc/athena/include/IterativeRobot.h

@@ -7,67 +7,25 @@
 
 #pragma once
 
-#include "RobotBase.h"
+#include "IterativeRobotBase.h"
 
 namespace frc {
 
 /**
- * IterativeRobot implements a specific type of Robot Program framework,
- * extending the RobotBase class.
+ * IterativeRobot implements the IterativeRobotBase robot program framework.
  *
  * The IterativeRobot class is intended to be subclassed by a user creating a
  * robot program.
  *
- * This class is intended to implement the "old style" default code, by
- * providing the following functions which are called by the main loop,
- * StartCompetition(), at the appropriate times:
- *
- * RobotInit() -- provide for initialization at robot power-on
- *
- * Init() functions -- each of the following functions is called once when the
- *                     appropriate mode is entered:
- *  - DisabledInit()   -- called only when first disabled
- *  - AutonomousInit() -- called each and every time autonomous is entered from
- *                        another mode
- *  - TeleopInit()     -- called each and every time teleop is entered from
- *                        another mode
- *  - TestInit()       -- called each and every time test is entered from
- *                        another mode
- *
- * Periodic() functions -- each of these functions is called each time a
- *                         new packet is received from the driver station:
- *   - RobotPeriodic()
- *   - DisabledPeriodic()
- *   - AutonomousPeriodic()
- *   - TeleopPeriodic()
- *   - TestPeriodic()
- *
+ * Periodic() functions from the base class are called each time a new packet is
+ * received from the driver station.
  */
-class IterativeRobot : public RobotBase {
+class IterativeRobot : public IterativeRobotBase {
  public:
-  void StartCompetition() override;
-
-  virtual void RobotInit();
-  virtual void DisabledInit();
-  virtual void AutonomousInit();
-  virtual void TeleopInit();
-  virtual void TestInit();
-
-  virtual void RobotPeriodic();
-  virtual void DisabledPeriodic();
-  virtual void AutonomousPeriodic();
-  virtual void TeleopPeriodic();
-  virtual void TestPeriodic();
-
- protected:
-  IterativeRobot() = default;
+  IterativeRobot();
   virtual ~IterativeRobot() = default;
 
- private:
-  bool m_disabledInitialized = false;
-  bool m_autonomousInitialized = false;
-  bool m_teleopInitialized = false;
-  bool m_testInitialized = false;
+  void StartCompetition() override;
 };
 
 }  // namespace frc

wpilibc/athena/include/IterativeRobotBase.h

@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2017. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "RobotBase.h"
+
+namespace frc {
+
+/**
+ * IterativeRobotBase implements a specific type of robot program framework,
+ * extending the RobotBase class.
+ *
+ * The IterativeRobotBase class does not implement StartCompetition(), so it
+ * should not be used by teams directly.
+ *
+ * This class provides the following functions which are called by the main
+ * loop, StartCompetition(), at the appropriate times:
+ *
+ * RobotInit() -- provide for initialization at robot power-on
+ *
+ * Init() functions -- each of the following functions is called once when the
+ *                     appropriate mode is entered:
+ *   - DisabledInit()   -- called only when first disabled
+ *   - AutonomousInit() -- called each and every time autonomous is entered from
+ *                         another mode
+ *   - TeleopInit()     -- called each and every time teleop is entered from
+ *                         another mode
+ *   - TestInit()       -- called each and every time test is entered from
+ *                         another mode
+ *
+ * Periodic() functions -- each of these functions is called on an interval:
+ *   - RobotPeriodic()
+ *   - DisabledPeriodic()
+ *   - AutonomousPeriodic()
+ *   - TeleopPeriodic()
+ *   - TestPeriodic()
+ */
+class IterativeRobotBase : public RobotBase {
+ public:
+  virtual void RobotInit();
+  virtual void DisabledInit();
+  virtual void AutonomousInit();
+  virtual void TeleopInit();
+  virtual void TestInit();
+
+  virtual void RobotPeriodic();
+  virtual void DisabledPeriodic();
+  virtual void AutonomousPeriodic();
+  virtual void TeleopPeriodic();
+  virtual void TestPeriodic();
+
+ protected:
+  IterativeRobotBase();
+  virtual ~IterativeRobotBase() = default;
+
+  void LoopFunc();
+
+ private:
+  enum class Mode { kNone, kDisabled, kAutonomous, kTeleop, kTest };
+
+  Mode m_lastMode = Mode::kNone;
+};
+
+}  // namespace frc

wpilibc/athena/include/RobotBase.h

@@ -25,8 +25,8 @@ class DriverStation;
     }                                                                   \
     HAL_Report(HALUsageReporting::kResourceType_Language,               \
                HALUsageReporting::kLanguage_CPlusPlus);                 \
-    static _ClassName_ robot;                                           \
     llvm::outs() << "\n********** Robot program starting **********\n"; \
+    static _ClassName_ robot;                                           \
     robot.StartCompetition();                                           \
   }
 

wpilibc/athena/include/SampleRobot.h

@@ -27,7 +27,7 @@ class SampleRobot : public RobotBase {
   virtual ~SampleRobot() = default;
 
  private:
-  bool m_robotMainOverridden;
+  bool m_robotMainOverridden = true;
 };
 
 }  // namespace frc

wpilibc/athena/include/TimedRobot.h

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2017. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "IterativeRobotBase.h"
+#include "Notifier.h"
+
+namespace frc {
+
+/**
+ * TimedRobot implements the IterativeRobotBase robot program framework.
+ *
+ * The TimedRobot class is intended to be subclassed by a user creating a
+ * robot program.
+ *
+ * Periodic() functions from the base class are called on an interval by a
+ * Notifier instance.
+ */
+class TimedRobot : public IterativeRobotBase {
+ public:
+  static constexpr double kDefaultPeriod = 0.02;
+
+  void StartCompetition() override;
+
+  void SetPeriod(double seconds);
+
+ protected:
+  TimedRobot();
+  virtual ~TimedRobot();
+
+ private:
+  double m_period = kDefaultPeriod;
+
+  // Prevents loop from starting if user calls SetPeriod() in RobotInit()
+  bool m_startLoop = false;
+
+  std::unique_ptr<Notifier> m_loop;
+};
+
+}  // namespace frc

wpilibc/athena/include/WPILib.h

@@ -77,6 +77,7 @@
 #include "Talon.h"
 #include "TalonSRX.h"
 #include "Threads.h"
+#include "TimedRobot.h"
 #include "Timer.h"
 #include "Ultrasonic.h"
 #include "Utility.h"