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https://github.com/wpilibsuite/allwpilib
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Move CameraServer and WPILib headers into their own folder
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
31ced30c1e
commit
d89b7dd412
@@ -1,160 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "RobotBase.h"
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#include "Watchdog.h"
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namespace frc {
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/**
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* IterativeRobotBase implements a specific type of robot program framework,
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* extending the RobotBase class.
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*
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* The IterativeRobotBase class does not implement StartCompetition(), so it
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* should not be used by teams directly.
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*
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* This class provides the following functions which are called by the main
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* loop, StartCompetition(), at the appropriate times:
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*
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* RobotInit() -- provide for initialization at robot power-on
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*
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* Init() functions -- each of the following functions is called once when the
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* appropriate mode is entered:
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* - DisabledInit() -- called only when first disabled
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* - AutonomousInit() -- called each and every time autonomous is entered from
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* another mode
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* - TeleopInit() -- called each and every time teleop is entered from
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* another mode
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* - TestInit() -- called each and every time test is entered from
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* another mode
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*
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* Periodic() functions -- each of these functions is called on an interval:
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* - RobotPeriodic()
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* - DisabledPeriodic()
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* - AutonomousPeriodic()
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* - TeleopPeriodic()
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* - TestPeriodic()
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*/
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class IterativeRobotBase : public RobotBase {
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public:
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/**
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* Robot-wide initialization code should go here.
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*
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* Users should override this method for default Robot-wide initialization
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* which will be called when the robot is first powered on. It will be called
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* exactly one time.
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*
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* Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
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* indicators will be off until RobotInit() exits. Code in RobotInit() that
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* waits for enable will cause the robot to never indicate that the code is
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* ready, causing the robot to be bypassed in a match.
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*/
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virtual void RobotInit();
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/**
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* Initialization code for disabled mode should go here.
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*
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* Users should override this method for initialization code which will be
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* called each time
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* the robot enters disabled mode.
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*/
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virtual void DisabledInit();
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/**
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* Initialization code for autonomous mode should go here.
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*
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* Users should override this method for initialization code which will be
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* called each time the robot enters autonomous mode.
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*/
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virtual void AutonomousInit();
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/**
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* Initialization code for teleop mode should go here.
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*
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* Users should override this method for initialization code which will be
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* called each time the robot enters teleop mode.
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*/
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virtual void TeleopInit();
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/**
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* Initialization code for test mode should go here.
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*
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* Users should override this method for initialization code which will be
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* called each time the robot enters test mode.
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*/
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virtual void TestInit();
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/**
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* Periodic code for all modes should go here.
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*
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* This function is called each time a new packet is received from the driver
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* station.
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*/
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virtual void RobotPeriodic();
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/**
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* Periodic code for disabled mode should go here.
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*
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* Users should override this method for code which will be called each time a
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* new packet is received from the driver station and the robot is in disabled
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* mode.
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*/
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virtual void DisabledPeriodic();
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/**
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* Periodic code for autonomous mode should go here.
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*
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* Users should override this method for code which will be called each time a
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* new packet is received from the driver station and the robot is in
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* autonomous mode.
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*/
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virtual void AutonomousPeriodic();
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/**
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* Periodic code for teleop mode should go here.
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*
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* Users should override this method for code which will be called each time a
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* new packet is received from the driver station and the robot is in teleop
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* mode.
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*/
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virtual void TeleopPeriodic();
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/**
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* Periodic code for test mode should go here.
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*
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* Users should override this method for code which will be called each time a
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* new packet is received from the driver station and the robot is in test
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* mode.
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*/
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virtual void TestPeriodic();
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protected:
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/**
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* Constructor for IterativeRobotBase.
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*
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* @param period Period in seconds.
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*/
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explicit IterativeRobotBase(double period);
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virtual ~IterativeRobotBase() = default;
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void LoopFunc();
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double m_period;
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private:
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enum class Mode { kNone, kDisabled, kAutonomous, kTeleop, kTest };
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Mode m_lastMode = Mode::kNone;
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Watchdog m_watchdog;
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void PrintLoopOverrunMessage();
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};
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} // namespace frc
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