mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
80 lines
2.1 KiB
C++
80 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef ROBOT_H_
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#define ROBOT_H_
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#include "Base.h"
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#include "Task.h"
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class DriverStation;
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#ifdef __vxworks
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#define START_ROBOT_CLASS(_ClassName_) \
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RobotBase *FRC_userClassFactory() \
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{ \
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cout << "Instantiating " #_ClassName_ "...\n";\
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RobotBase* rb= new _ClassName_();\
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cout << "...Instantiated " #_ClassName_ "\n";\
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return rb;\
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} \
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extern "C" { \
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int32_t FRC_UserProgram_StartupLibraryInit() \
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{ \
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RobotBase::startRobotTask((FUNCPTR)FRC_userClassFactory); \
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return 0; \
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} \
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}
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#else
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#define START_ROBOT_CLASS(_ClassName_) \
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int main() \
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{ \
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HALNetworkCommunicationReserve(); \
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RobotBase* robot = new _ClassName_(); \
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robot->StartCompetition(); \
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return 0; \
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}
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#endif
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/**
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* Implement a Robot Program framework.
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* The RobotBase class is intended to be subclassed by a user creating a robot program.
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* Overridden Autonomous() and OperatorControl() methods are called at the appropriate time
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* as the match proceeds. In the current implementation, the Autonomous code will run to
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* completion before the OperatorControl code could start. In the future the Autonomous code
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* might be spawned as a task, then killed at the end of the Autonomous period.
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*/
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class RobotBase {
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friend class RobotDeleter;
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public:
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static RobotBase &getInstance();
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static void setInstance(RobotBase* robot);
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bool IsEnabled();
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bool IsDisabled();
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bool IsAutonomous();
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bool IsOperatorControl();
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bool IsTest();
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bool IsNewDataAvailable();
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static void startRobotTask(FUNCPTR factory);
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static void robotTask(FUNCPTR factory, Task *task);
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virtual void StartCompetition() = 0;
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protected:
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virtual ~RobotBase();
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RobotBase();
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Task *m_task;
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DriverStation *m_ds;
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private:
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static RobotBase *m_instance;
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DISALLOW_COPY_AND_ASSIGN(RobotBase);
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};
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#endif
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