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[wpilib] Split DriverStation into smaller classes (#8628)

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This commit is contained in:
Thad House
2026-04-18 19:56:45 -07:00
committed by GitHub
parent 58ad633ae2
commit ab2aef2c29
108 changed files with 4406 additions and 3211 deletions
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18
wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
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@@ -4,7 +4,8 @@
#include "Robot.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/internal/DriverStationModeThread.hpp"
@@ -22,19 +23,20 @@ void Robot::StartCompetition() {
wpi::internal::DriverStationModeThread modeThread{wpi::hal::GetControlWord()};
// Create an opmode per robot mode
wpi::DriverStation::AddOpMode(wpi::RobotMode::AUTONOMOUS, "Auto");
wpi::DriverStation::AddOpMode(wpi::RobotMode::TELEOPERATED, "Teleop");
wpi::DriverStation::AddOpMode(wpi::RobotMode::TEST, "Test");
wpi::DriverStation::PublishOpModes();
wpi::RobotState::AddOpMode(wpi::RobotMode::AUTONOMOUS, "Auto");
wpi::RobotState::AddOpMode(wpi::RobotMode::TELEOPERATED, "Teleop");
wpi::RobotState::AddOpMode(wpi::RobotMode::TEST, "Test");
wpi::RobotState::PublishOpModes();
wpi::util::Event event{false, false};
wpi::DriverStation::ProvideRefreshedDataEventHandle(event.GetHandle());
wpi::internal::DriverStationBackend::ProvideRefreshedDataEventHandle(
event.GetHandle());
// Tell the DS that the robot is ready to be enabled
wpi::DriverStation::ObserveUserProgramStarting();
wpi::internal::DriverStationBackend::ObserveUserProgramStarting();
while (!m_exit) {
modeThread.InControl(wpi::DriverStation::GetControlWord());
modeThread.InControl(wpi::internal::DriverStationBackend::GetControlWord());
if (IsDisabled()) {
Disabled();
while (IsDisabled()) {