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https://github.com/wpilibsuite/allwpilib
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83 lines
2.1 KiB
C++
83 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2020 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 <hal/Types.h>
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#include <units/units.h>
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#include <wpi/deprecated.h>
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#include "frc/ErrorBase.h"
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#include "frc/IterativeRobotBase.h"
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namespace frc {
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/**
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* TimedRobot implements the IterativeRobotBase robot program framework.
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*
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* The TimedRobot class is intended to be subclassed by a user creating a
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* robot program.
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*
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* Periodic() functions from the base class are called on an interval by a
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* Notifier instance.
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*/
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class TimedRobot : public IterativeRobotBase, public ErrorBase {
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public:
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static constexpr units::second_t kDefaultPeriod = 20_ms;
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/**
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* Provide an alternate "main loop" via StartCompetition().
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*/
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void StartCompetition() override;
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/**
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* Ends the main loop in StartCompetition().
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*/
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void EndCompetition() override;
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/**
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* Get the time period between calls to Periodic() functions.
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*/
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units::second_t GetPeriod() const;
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/**
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* Constructor for TimedRobot.
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*
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* @deprecated use unit safe constructor instead.
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* TimedRobot(units::second_t period = kDefaultPeriod)
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*
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* @param period Period in seconds.
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*/
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WPI_DEPRECATED("Use constructor with unit-safety instead.")
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explicit TimedRobot(double period);
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/**
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* Constructor for TimedRobot.
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*
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* @param period Period.
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*/
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explicit TimedRobot(units::second_t period = kDefaultPeriod);
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~TimedRobot() override;
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TimedRobot(TimedRobot&&) = default;
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TimedRobot& operator=(TimedRobot&&) = default;
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private:
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hal::Handle<HAL_NotifierHandle> m_notifier;
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// The absolute expiration time
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units::second_t m_expirationTime{0};
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/**
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* Update the HAL alarm time.
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*/
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void UpdateAlarm();
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};
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} // namespace frc
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