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Merge "Set RobotBase instance in constructor [artf3652]"

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This commit is contained in:
Brad Miller (WPI)
2014-10-20 07:46:48 -07:00
committed by Gerrit Code Review
parent fc7c015823 e51c3daf00
commit bbeb0084a2
2 changed files with 3 additions and 87 deletions
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18
wpilibc/wpilibC++Devices/include/RobotBase.h
View File

@@ -10,23 +10,6 @@
class DriverStation;
#ifdef __vxworks
#define START_ROBOT_CLASS(_ClassName_) \
RobotBase *FRC_userClassFactory() \
{ \
cout << "Instantiating " #_ClassName_ "...\n";\
RobotBase* rb= new _ClassName_();\
cout << "...Instantiated " #_ClassName_ "\n";\
return rb;\
} \
extern "C" { \
int32_t FRC_UserProgram_StartupLibraryInit() \
{ \
RobotBase::startRobotTask((FUNCPTR)FRC_userClassFactory); \
return 0; \
} \
}
#else
#define START_ROBOT_CLASS(_ClassName_) \
int main() \
{ \
@@ -36,7 +19,6 @@ class DriverStation;
(new _ClassName_())->StartCompetition(); \
return 0; \
}
#endif
/**
* Implement a Robot Program framework.

72
wpilibc/wpilibC++Devices/src/RobotBase.cpp
View File

@@ -41,7 +41,7 @@ RobotBase &RobotBase::getInstance()
* Constructor for a generic robot program.
* User code should be placed in the constuctor that runs before the Autonomous or Operator
* Control period starts. The constructor will run to completion before Autonomous is entered.
*
*
* This must be used to ensure that the communications code starts. In the future it would be
* nice to put this code into it's own task that loads on boot so ensure that it runs.
*/
@@ -52,6 +52,8 @@ RobotBase::RobotBase()
m_ds = DriverStation::GetInstance();
RobotState::SetImplementation(DriverStation::GetInstance()); \
HLUsageReporting::SetImplementation(new HardwareHLReporting()); \
RobotBase::setInstance(this);
}
/**
@@ -121,74 +123,6 @@ bool RobotBase::IsNewDataAvailable()
return m_ds->IsNewControlData();
}
/**
* Static interface that will start the competition in the new task.
*/
void RobotBase::robotTask(FUNCPTR factory, Task *task)
{
RobotBase::setInstance((RobotBase*)factory());
RobotBase::getInstance().m_task = task;
RobotBase::getInstance().StartCompetition();
}
/**
*
* Start the robot code.
* This function starts the robot code running by spawning a task. Currently tasks seemed to be
* started by LVRT without setting the VX_FP_TASK flag so floating point context is not saved on
* interrupts. Therefore the program experiences hard to debug and unpredictable results. So the
* LVRT code starts this function, and it, in turn, starts the actual user program.
*/
void RobotBase::startRobotTask(FUNCPTR factory)
{
#ifdef SVN_REV
if (strlen(SVN_REV))
{
printf("WPILib was compiled from SVN revision %s\n", SVN_REV);
}
else
{
printf("WPILib was compiled from a location that is not source controlled.\n");
}
#else
printf("WPILib was compiled without -D'SVN_REV=nnnn'\n");
#endif
#ifdef __vxworks
// Check for startup code already running
int32_t oldId = taskNameToId(const_cast<char*>("FRC_RobotTask"));
if (oldId != ERROR)
{
// Find the startup code module.
char moduleName[256];
moduleNameFindBySymbolName("FRC_UserProgram_StartupLibraryInit", moduleName);
MODULE_ID startupModId = moduleFindByName(moduleName);
if (startupModId != NULL)
{
// Remove the startup code.
unldByModuleId(startupModId, 0);
printf("!!! Error: Default code was still running... It was unloaded for you... Please try again.\n");
return;
}
// This case should no longer get hit.
printf("!!! Error: Other robot code is still running... Unload it and then try again.\n");
return;
}
#endif
// Let the framework know that we are starting a new user program so the Driver Station can disable.
HALNetworkCommunicationObserveUserProgramStarting();
// Let the Usage Reporting framework know that there is a C++ program running
HALReport(HALUsageReporting::kResourceType_Language, HALUsageReporting::kLanguage_CPlusPlus);
// Start robot task
// This is done to ensure that the C++ robot task is spawned with the floating point
// context save parameter.
Task *task = new Task("RobotTask", (FUNCPTR)RobotBase::robotTask, Task::kDefaultPriority, 64000);
task->Start((int32_t)factory, (int32_t)task);
}
/**
* This class exists for the sole purpose of getting its destructor called when the module unloads.
* Before the module is done unloading, we need to delete the RobotBase derived singleton. This should delete