/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/
#pragma once

#include "Base.h"
#include "Task.h"

class DriverStation;

#define START_ROBOT_CLASS(_ClassName_) \
	int main() \
	{ \
		if (!HALInitialize()){std::cerr<<"FATAL ERROR: HAL could not be initialized"<<std::endl;return -1;}	\
		HALReport(HALUsageReporting::kResourceType_Language, HALUsageReporting::kLanguage_CPlusPlus); \
		_ClassName_ *robot = new _ClassName_(); \
		RobotBase::robotSetup(robot); \
		return 0; \
	}

/**
 * Implement a Robot Program framework.
 * The RobotBase class is intended to be subclassed by a user creating a robot program.
 * Overridden Autonomous() and OperatorControl() methods are called at the appropriate time
 * as the match proceeds. In the current implementation, the Autonomous code will run to
 * completion before the OperatorControl code could start. In the future the Autonomous code
 * might be spawned as a task, then killed at the end of the Autonomous period.
 */
class RobotBase
{
	friend class RobotDeleter;
public:
	static RobotBase &getInstance();
	static void setInstance(RobotBase* robot);

	bool IsEnabled();
	bool IsDisabled();
	bool IsAutonomous();
	bool IsOperatorControl();
	bool IsTest();
	bool IsNewDataAvailable();
	static void startRobotTask(FUNCPTR factory);
	static void robotTask(FUNCPTR factory, Task *task);
	virtual void StartCompetition() = 0;
	
	static void robotSetup(RobotBase *robot);

protected:
	virtual ~RobotBase();
	RobotBase();

	virtual void Prestart();

	Task *m_task;
	DriverStation *m_ds;

private:
	static RobotBase *m_instance;

	DISALLOW_COPY_AND_ASSIGN(RobotBase);
};