mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
71 lines
2.5 KiB
C++
71 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* 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() const;
|
|
bool IsDisabled() const;
|
|
bool IsAutonomous() const;
|
|
bool IsOperatorControl() const;
|
|
bool IsTest() const;
|
|
bool IsNewDataAvailable() const;
|
|
static void startRobotTask(FUNCPTR factory);
|
|
static void robotTask(FUNCPTR factory, Task *task);
|
|
virtual void StartCompetition() = 0;
|
|
|
|
static void robotSetup(RobotBase *robot);
|
|
|
|
protected:
|
|
RobotBase();
|
|
virtual ~RobotBase();
|
|
|
|
RobotBase(const RobotBase&) = delete;
|
|
RobotBase& operator=(const RobotBase&) = delete;
|
|
|
|
Task *m_task = nullptr;
|
|
DriverStation &m_ds;
|
|
|
|
private:
|
|
static RobotBase *m_instance;
|
|
};
|