mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
54 lines
1.6 KiB
C++
54 lines
1.6 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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#pragma once
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#include "Base.h"
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#include "DriverStation.h"
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#include "simulation/simTime.h"
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#include "simulation/MainNode.h"
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#define START_ROBOT_CLASS(_ClassName_) \
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int main() \
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{ \
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(new _ClassName_())->StartCompetition(); \
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return 0; \
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}
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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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{
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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() 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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virtual void StartCompetition() = 0;
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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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private:
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static RobotBase *m_instance;
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};
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