mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
d66c61a36e
Cleaned up RobotBase, removed singleton list from SensorBase, and removed unused typedefs and NULL_TASK macro from HAL's Task.hpp. Making the robot class instance static fixed non-POD statics used by the instance during destruction from being destroyed first.
53 lines
1.9 KiB
C++
53 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* 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. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <cstdio>
|
|
|
|
#include "Base.h"
|
|
#include "DriverStation.h"
|
|
#include "simulation/MainNode.h"
|
|
#include "simulation/simTime.h"
|
|
|
|
#define START_ROBOT_CLASS(_ClassName_) \
|
|
int main() { \
|
|
static _ClassName_ robot; \
|
|
std::printf("\n********** Robot program starting **********\n"); \
|
|
robot.StartCompetition(); \
|
|
}
|
|
|
|
/**
|
|
* 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 {
|
|
public:
|
|
bool IsEnabled() const;
|
|
bool IsDisabled() const;
|
|
bool IsAutonomous() const;
|
|
bool IsOperatorControl() const;
|
|
bool IsTest() const;
|
|
virtual void StartCompetition() = 0;
|
|
|
|
protected:
|
|
RobotBase();
|
|
virtual ~RobotBase() = default;
|
|
|
|
RobotBase(const RobotBase&) = delete;
|
|
RobotBase& operator=(const RobotBase&) = delete;
|
|
|
|
DriverStation& m_ds;
|
|
transport::SubscriberPtr time_sub;
|
|
};
|