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https://github.com/wpilibsuite/allwpilib
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72 lines
2.5 KiB
C++
72 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 "Task.h"
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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 (!HALInitialize()) { \
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std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl; \
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return -1; \
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} \
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HALReport(HALUsageReporting::kResourceType_Language, \
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HALUsageReporting::kLanguage_CPlusPlus); \
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_ClassName_ *robot = new _ClassName_(); \
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RobotBase::robotSetup(robot); \
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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
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* program.
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* Overridden Autonomous() and OperatorControl() methods are called at the
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* appropriate time
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* as the match proceeds. In the current implementation, the Autonomous code
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* will run to
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* completion before the OperatorControl code could start. In the future the
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* 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() 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 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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static void robotSetup(RobotBase *robot);
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protected:
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virtual ~RobotBase();
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RobotBase();
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virtual void Prestart();
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Task *m_task = nullptr;
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DriverStation *m_ds = nullptr;
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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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