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[wpilib] Remove IterativeRobot base class

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TimedRobot supersedes it (see commit 81498e6 for reasoning).
This commit is contained in:
Tyler Veness
2019-04-10 20:21:11 -07:00
committed by Peter Johnson
parent 3c08461685
commit f00dfed7ac
3 changed files with 0 additions and 160 deletions
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46
wpilibc/src/main/native/cpp/IterativeRobot.cpp
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/IterativeRobot.h"
#include <hal/DriverStation.h>
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
using namespace frc;
static constexpr auto kPacketPeriod = 0.02_s;
IterativeRobot::IterativeRobot() : IterativeRobotBase(kPacketPeriod) {
HAL_Report(HALUsageReporting::kResourceType_Framework,
HALUsageReporting::kFramework_Iterative);
}
void IterativeRobot::StartCompetition() {
RobotInit();
if constexpr (IsSimulation()) {
SimulationInit();
}
// Tell the DS that the robot is ready to be enabled
HAL_ObserveUserProgramStarting();
// Loop forever, calling the appropriate mode-dependent function
while (true) {
// Wait for driver station data so the loop doesn't hog the CPU
DriverStation::GetInstance().WaitForData();
if (m_exit) {
break;
}
LoopFunc();
}
}
void IterativeRobot::EndCompetition() {
m_exit = true;
DriverStation::GetInstance().WakeupWaitForData();
}

50
wpilibc/src/main/native/include/frc/IterativeRobot.h
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <atomic>
#include "frc/IterativeRobotBase.h"
namespace frc {
/**
* IterativeRobot implements the IterativeRobotBase robot program framework.
*
* The IterativeRobot class is intended to be subclassed by a user creating a
* robot program.
*
* Periodic() functions from the base class are called each time a new packet is
* received from the driver station.
*
* @deprecated Use TimedRobot instead. It's a drop-in replacement that provides
* more regular execution periods.
*/
class IterativeRobot : public IterativeRobotBase {
public:
WPI_DEPRECATED(
"Use TimedRobot instead. It's a drop-in replacement that provides more "
"regular execution periods.")
IterativeRobot();
~IterativeRobot() override = default;
/**
* Provide an alternate "main loop" via StartCompetition().
*
* This specific StartCompetition() implements "main loop" behavior synced
* with the DS packets.
*/
void StartCompetition() override;
/**
* Ends the main loop in StartCompetition().
*/
void EndCompetition() override;
private:
std::atomic<bool> m_exit{false};
};
} // namespace frc

64
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
/**
* IterativeRobot implements the IterativeRobotBase robot program framework.
*
* <p>The IterativeRobot class is intended to be subclassed by a user creating a robot program.
*
* <p>periodic() functions from the base class are called each time a new packet is received from
* the driver station.
*
* @deprecated Use TimedRobot instead. It's a drop-in replacement that provides more regular
* execution periods.
*/
@Deprecated
public class IterativeRobot extends IterativeRobotBase {
private static final double kPacketPeriod = 0.02;
private volatile boolean m_exit;
/** Create a new IterativeRobot. */
public IterativeRobot() {
super(kPacketPeriod);
HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Iterative);
}
/** Provide an alternate "main loop" via startCompetition(). */
@Override
public void startCompetition() {
robotInit();
if (isSimulation()) {
simulationInit();
}
// Tell the DS that the robot is ready to be enabled
HAL.observeUserProgramStarting();
// Loop forever, calling the appropriate mode-dependent function
while (!Thread.currentThread().isInterrupted()) {
// Wait for new data to arrive
m_ds.waitForData();
if (m_exit) {
break;
}
loopFunc();
}
}
/** Ends the main loop in startCompetition(). */
@Override
public void endCompetition() {
m_exit = true;
m_ds.wakeupWaitForData();
}
}