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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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200
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#include "IterativeRobotBase.h"
#include <cstdio>
#include "HAL/HAL.h"
#include "LiveWindow/LiveWindow.h"
#include "llvm/raw_ostream.h"
using namespace frc;
/**
* 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
* one time.
*
* Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
* indicators will be off until RobotInit() exits. Code in RobotInit() that
* waits for enable will cause the robot to never indicate that the code is
* ready, causing the robot to be bypassed in a match.
*/
void IterativeRobotBase::RobotInit() {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
}
/**
* Initialization code for disabled mode should go here.
*
* Users should override this method for initialization code which will be
* called each time
* the robot enters disabled mode.
*/
void IterativeRobotBase::DisabledInit() {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
}
/**
* Initialization code for autonomous mode should go here.
*
* Users should override this method for initialization code which will be
* called each time the robot enters autonomous mode.
*/
void IterativeRobotBase::AutonomousInit() {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
}
/**
* Initialization code for teleop mode should go here.
*
* Users should override this method for initialization code which will be
* called each time the robot enters teleop mode.
*/
void IterativeRobotBase::TeleopInit() {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
}
/**
* Initialization code for test mode should go here.
*
* Users should override this method for initialization code which will be
* called each time the robot enters test mode.
*/
void IterativeRobotBase::TestInit() {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
}
/**
* Periodic code for all modes should go here.
*
* This function is called each time a new packet is received from the driver
* station.
*/
void IterativeRobotBase::RobotPeriodic() {
static bool firstRun = true;
if (firstRun) {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
firstRun = false;
}
}
/**
* Periodic code for disabled mode should go here.
*
* Users should override this method for code which will be called each time a
* new packet is received from the driver station and the robot is in disabled
* mode.
*/
void IterativeRobotBase::DisabledPeriodic() {
static bool firstRun = true;
if (firstRun) {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
firstRun = false;
}
}
/**
* Periodic code for autonomous mode should go here.
*
* Users should override this method for code which will be called each time a
* new packet is received from the driver station and the robot is in autonomous
* mode.
*/
void IterativeRobotBase::AutonomousPeriodic() {
static bool firstRun = true;
if (firstRun) {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
firstRun = false;
}
}
/**
* Periodic code for teleop mode should go here.
*
* Users should override this method for code which will be called each time a
* new packet is received from the driver station and the robot is in teleop
* mode.
*/
void IterativeRobotBase::TeleopPeriodic() {
static bool firstRun = true;
if (firstRun) {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
firstRun = false;
}
}
/**
* Periodic code for test mode should go here.
*
* Users should override this method for code which will be called each time a
* new packet is received from the driver station and the robot is in test mode.
*/
void IterativeRobotBase::TestPeriodic() {
static bool firstRun = true;
if (firstRun) {
llvm::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
firstRun = false;
}
}
IterativeRobotBase::IterativeRobotBase() {
RobotInit();
// Tell the DS that the robot is ready to be enabled
HAL_ObserveUserProgramStarting();
}
void IterativeRobotBase::LoopFunc() {
// 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_lastMode != Mode::kDisabled) {
LiveWindow::GetInstance()->SetEnabled(false);
DisabledInit();
m_lastMode = Mode::kDisabled;
}
HAL_ObserveUserProgramDisabled();
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_lastMode != Mode::kAutonomous) {
LiveWindow::GetInstance()->SetEnabled(false);
AutonomousInit();
m_lastMode = Mode::kAutonomous;
}
HAL_ObserveUserProgramAutonomous();
AutonomousPeriodic();
} else if (IsOperatorControl()) {
// call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on
if (m_lastMode != Mode::kTeleop) {
LiveWindow::GetInstance()->SetEnabled(false);
TeleopInit();
m_lastMode = Mode::kTeleop;
Scheduler::GetInstance()->SetEnabled(true);
}
HAL_ObserveUserProgramTeleop();
TeleopPeriodic();
} else {
// call TestInit() if we are now just entering test mode from
// either a different mode or from power-on
if (m_lastMode != Mode::kTest) {
LiveWindow::GetInstance()->SetEnabled(true);
TestInit();
m_lastMode = Mode::kTest;
}
HAL_ObserveUserProgramTest();
TestPeriodic();
}
RobotPeriodic();
}