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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.
This commit is contained in:
Peter Mitrano
committed by
Peter Johnson
Peter Johnson
parent
54092378e9
commit
e71f454b9d
277
wpilibc/sim/src/IterativeRobot.cpp
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277
wpilibc/sim/src/IterativeRobot.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#include "IterativeRobot.h"
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#include "DriverStation.h"
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#include "LiveWindow/LiveWindow.h"
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#include "SmartDashboard/SmartDashboard.h"
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#include "networktables/NetworkTable.h"
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// not sure what this is used for yet.
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#ifdef _UNIX
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#include <unistd.h>
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#endif
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const double IterativeRobot::kDefaultPeriod = 0;
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/**
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* Set the period for the periodic functions.
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*
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* @param period The period of the periodic function calls. 0.0 means sync to
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* driver station control data.
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*/
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void IterativeRobot::SetPeriod(double period) {
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if (period > 0.0) {
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// Not syncing with the DS, so start the timer for the main loop
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m_mainLoopTimer.Reset();
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m_mainLoopTimer.Start();
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} else {
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// Syncing with the DS, don't need the timer
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m_mainLoopTimer.Stop();
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}
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m_period = period;
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}
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/**
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* Get the period for the periodic functions.
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*
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* Returns 0.0 if configured to syncronize with DS control data packets.
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*
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* @return Period of the periodic function calls
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*/
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double IterativeRobot::GetPeriod() { return m_period; }
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/**
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* Get the number of loops per second for the IterativeRobot.
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*
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* @return Frequency of the periodic function calls
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*/
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double IterativeRobot::GetLoopsPerSec() {
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// If syncing to the driver station, we don't know the rate,
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// so guess something close.
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if (m_period <= 0.0) return 50.0;
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return 1.0 / m_period;
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}
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/**
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* Provide an alternate "main loop" via StartCompetition().
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*
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* This specific StartCompetition() implements "main loop" behavior like that of
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* the FRC control system in 2008 and earlier, with a primary (slow) loop that
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* is called periodically, and a "fast loop" (a.k.a. "spin loop") that is
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* called as fast as possible with no delay between calls.
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*/
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void IterativeRobot::StartCompetition() {
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LiveWindow* lw = LiveWindow::GetInstance();
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// first and one-time initialization
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SmartDashboard::init();
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NetworkTable::GetTable("LiveWindow")
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->GetSubTable("~STATUS~")
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->PutBoolean("LW Enabled", false);
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RobotInit();
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// loop forever, calling the appropriate mode-dependent function
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lw->SetEnabled(false);
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while (true) {
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// Call the appropriate function depending upon the current robot mode
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if (IsDisabled()) {
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// call DisabledInit() if we are now just entering disabled mode from
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// either a different mode or from power-on
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if (!m_disabledInitialized) {
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lw->SetEnabled(false);
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DisabledInit();
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m_disabledInitialized = true;
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// reset the initialization flags for the other modes
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m_autonomousInitialized = false;
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m_teleopInitialized = false;
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m_testInitialized = false;
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}
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if (NextPeriodReady()) {
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// TODO: HALNetworkCommunicationObserveUserProgramDisabled();
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DisabledPeriodic();
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}
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} else if (IsAutonomous()) {
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// call AutonomousInit() if we are now just entering autonomous mode from
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// either a different mode or from power-on
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if (!m_autonomousInitialized) {
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lw->SetEnabled(false);
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AutonomousInit();
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m_autonomousInitialized = true;
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// reset the initialization flags for the other modes
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m_disabledInitialized = false;
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m_teleopInitialized = false;
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m_testInitialized = false;
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}
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if (NextPeriodReady()) {
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// TODO: HALNetworkCommunicationObserveUserProgramAutonomous();
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AutonomousPeriodic();
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}
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} else if (IsTest()) {
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// call TestInit() if we are now just entering test mode from
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// either a different mode or from power-on
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if (!m_testInitialized) {
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lw->SetEnabled(true);
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TestInit();
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m_testInitialized = true;
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// reset the initialization flags for the other modes
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m_disabledInitialized = false;
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m_autonomousInitialized = false;
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m_teleopInitialized = false;
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}
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if (NextPeriodReady()) {
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// TODO: HALNetworkCommunicationObserveUserProgramTest();
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TestPeriodic();
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}
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} else {
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// call TeleopInit() if we are now just entering teleop mode from
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// either a different mode or from power-on
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if (!m_teleopInitialized) {
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lw->SetEnabled(false);
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TeleopInit();
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m_teleopInitialized = true;
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// reset the initialization flags for the other modes
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m_disabledInitialized = false;
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m_autonomousInitialized = false;
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m_testInitialized = false;
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Scheduler::GetInstance()->SetEnabled(true);
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}
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if (NextPeriodReady()) {
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// TODO: HALNetworkCommunicationObserveUserProgramTeleop();
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TeleopPeriodic();
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}
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}
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// wait for driver station data so the loop doesn't hog the CPU
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m_ds.WaitForData();
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}
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}
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/**
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* Determine if the periodic functions should be called.
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*
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* If m_period > 0.0, call the periodic function every m_period as compared
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* to Timer.Get(). If m_period == 0.0, call the periodic functions whenever
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* a packet is received from the Driver Station, or about every 20ms.
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*
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* @todo Decide what this should do if it slips more than one cycle.
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*/
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bool IterativeRobot::NextPeriodReady() {
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if (m_period > 0.0) {
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return m_mainLoopTimer.HasPeriodPassed(m_period);
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} else {
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// XXX: BROKEN! return m_ds->IsNewControlData();
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}
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return true;
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}
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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 which
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* will be called when the robot is first powered on. It will be called
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* exactly 1 time.
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*/
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void IterativeRobot::RobotInit() {
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printf("Default %s() method... Overload me!\n", __FUNCTION__);
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}
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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 the robot enters disabled mode.
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*/
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void IterativeRobot::DisabledInit() {
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printf("Default %s() method... Overload me!\n", __FUNCTION__);
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}
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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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void IterativeRobot::AutonomousInit() {
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printf("Default %s() method... Overload me!\n", __FUNCTION__);
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}
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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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void IterativeRobot::TeleopInit() {
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printf("Default %s() method... Overload me!\n", __FUNCTION__);
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}
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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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void IterativeRobot::TestInit() {
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printf("Default %s() method... Overload me!\n", __FUNCTION__);
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}
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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 periodically
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* at a regular rate while the robot is in disabled mode.
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*/
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void IterativeRobot::DisabledPeriodic() {
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static bool firstRun = true;
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if (firstRun) {
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printf("Default %s() method... Overload me!\n", __FUNCTION__);
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firstRun = false;
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}
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}
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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 periodically
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* at a regular rate while the robot is in autonomous mode.
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*/
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void IterativeRobot::AutonomousPeriodic() {
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static bool firstRun = true;
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if (firstRun) {
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printf("Default %s() method... Overload me!\n", __FUNCTION__);
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firstRun = false;
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}
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}
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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 periodically
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* at a regular rate while the robot is in teleop mode.
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*/
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void IterativeRobot::TeleopPeriodic() {
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static bool firstRun = true;
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if (firstRun) {
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printf("Default %s() method... Overload me!\n", __FUNCTION__);
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firstRun = false;
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}
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}
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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 periodically
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* at a regular rate while the robot is in test mode.
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*/
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void IterativeRobot::TestPeriodic() {
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static bool firstRun = true;
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if (firstRun) {
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printf("Default %s() method... Overload me!\n", __FUNCTION__);
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firstRun = false;
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}
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}
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