Renamed folders for consistency, using sim/athena/shared schema (#27)

Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
2026-06-26 01:51:41 +00:00 · 2016-05-22 17:55:51 -04:00
parent 54092378e9
commit e71f454b9d
308 changed files with 14 additions and 14 deletions
--- a/wpilibc/athena/src/RobotBase.cpp
+++ b/wpilibc/athena/src/RobotBase.cpp
@@ -0,0 +1,127 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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 "RobotBase.h"
+
+#include <cstdio>
+#include <cstring>
+#include "DriverStation.h"
+#include "HAL/HAL.hpp"
+#include "HLUsageReporting.h"
+#include "Internal/HardwareHLReporting.h"
+#include "RobotState.h"
+#include "Utility.h"
+#include "networktables/NetworkTable.h"
+
+RobotBase* RobotBase::m_instance = nullptr;
+
+void RobotBase::setInstance(RobotBase* robot) {
+  wpi_assert(m_instance == nullptr);
+  m_instance = robot;
+}
+
+RobotBase& RobotBase::getInstance() { return *m_instance; }
+
+void RobotBase::robotSetup(RobotBase* robot) {
+  printf("\n********** Robot program starting **********\n");
+  robot->StartCompetition();
+}
+
+/**
+ * Constructor for a generic robot program.
+ *
+ * User code should be placed in the constructor 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.
+ */
+RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
+  RobotState::SetImplementation(DriverStation::GetInstance());
+  HLUsageReporting::SetImplementation(new HardwareHLReporting());
+
+  RobotBase::setInstance(this);
+
+  NetworkTable::SetNetworkIdentity("Robot");
+  NetworkTable::SetPersistentFilename("/home/lvuser/networktables.ini");
+
+  FILE* file = nullptr;
+  file = fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
+
+  if (file != nullptr) {
+    fputs("2016 C++ Release 5", file);
+    fclose(file);
+  }
+}
+
+/**
+ * Free the resources for a RobotBase class.
+ * This includes deleting all classes that might have been allocated as
+ * Singletons to they would never be deleted except here.
+ */
+RobotBase::~RobotBase() {
+  SensorBase::DeleteSingletons();
+  delete m_task;
+  m_task = nullptr;
+  m_instance = nullptr;
+}
+
+/**
+ * Determine if the Robot is currently enabled.
+ * @return True if the Robot is currently enabled by the field controls.
+ */
+bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); }
+
+/**
+ * Determine if the Robot is currently disabled.
+ * @return True if the Robot is currently disabled by the field controls.
+ */
+bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
+
+/**
+ * Determine if the robot is currently in Autonomous mode.
+ * @return True if the robot is currently operating Autonomously as determined
+ * by the field controls.
+ */
+bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
+
+/**
+ * Determine if the robot is currently in Operator Control mode.
+ * @return True if the robot is currently operating in Tele-Op mode as
+ * determined by the field controls.
+ */
+bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
+
+/**
+ * Determine if the robot is currently in Test mode.
+ * @return True if the robot is currently running tests as determined by the
+ * field controls.
+ */
+bool RobotBase::IsTest() const { return m_ds.IsTest(); }
+
+/**
+ * Indicates if new data is available from the driver station.
+ * @return Has new data arrived over the network since the last time this
+ * function was called?
+ */
+bool RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); }
+
+/**
+ * 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 the other remaining singletons that were
+ * registered.  This should also stop all tasks that are using the Task class.
+ */
+class RobotDeleter {
+ public:
+  RobotDeleter() {}
+  ~RobotDeleter() { delete &RobotBase::getInstance(); }
+};
+static RobotDeleter g_robotDeleter;