mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
aa4f0ef4f8
Remove all definitions from the MockData headers when in simulation mode. Add a constexpr IsReal and IsSimulation in RobotBase.
78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. 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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#pragma once
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#include <thread>
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#include <HAL/HAL.h>
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#include <llvm/raw_ostream.h>
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#include "Base.h"
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namespace frc {
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class DriverStation;
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#define START_ROBOT_CLASS(_ClassName_) \
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int main() { \
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if (!HAL_Initialize(500, 0)) { \
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llvm::errs() << "FATAL ERROR: HAL could not be initialized\n"; \
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return -1; \
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} \
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HAL_Report(HALUsageReporting::kResourceType_Language, \
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HALUsageReporting::kLanguage_CPlusPlus); \
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llvm::outs() << "\n********** Robot program starting **********\n"; \
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static _ClassName_ robot; \
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robot.StartCompetition(); \
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}
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/**
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* Implement a Robot Program framework.
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*
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* The RobotBase class is intended to be subclassed by a user creating a robot
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* program. Overridden Autonomous() and OperatorControl() methods are called at
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* the appropriate time as the match proceeds. In the current implementation,
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* the Autonomous code will run to completion before the OperatorControl code
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* could start. In the future the Autonomous code might be spawned as a task,
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* then killed at the end of the Autonomous period.
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*/
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class RobotBase {
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public:
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bool IsEnabled() const;
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bool IsDisabled() const;
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bool IsAutonomous() const;
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bool IsOperatorControl() const;
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bool IsTest() const;
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bool IsNewDataAvailable() const;
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static std::thread::id GetThreadId();
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virtual void StartCompetition() = 0;
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static constexpr bool IsReal() {
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#ifdef __FRC_ROBORIO__
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return true;
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#else
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return false;
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#endif
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}
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static constexpr bool IsSimulation() { return !IsReal(); }
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protected:
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RobotBase();
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virtual ~RobotBase() = default;
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RobotBase(const RobotBase&) = delete;
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RobotBase& operator=(const RobotBase&) = delete;
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DriverStation& m_ds;
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static std::thread::id m_threadId;
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};
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} // namespace frc
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