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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
101 lines
2.9 KiB
C++
101 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#include "RobotBase.h"
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#include "RobotState.h"
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#include "Utility.h"
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#include <cstring>
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RobotBase* RobotBase::m_instance = nullptr;
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void RobotBase::setInstance(RobotBase* robot)
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{
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wpi_assert(m_instance == nullptr);
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m_instance = robot;
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}
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RobotBase &RobotBase::getInstance()
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{
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return *m_instance;
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}
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/**
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* Constructor for a generic robot program.
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* User code should be placed in the constuctor that runs before the Autonomous or Operator
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* Control period starts. The constructor will run to completion before Autonomous is entered.
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*
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* This must be used to ensure that the communications code starts. In the future it would be
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* nice to put this code into it's own task that loads on boot so ensure that it runs.
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*/
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RobotBase::RobotBase() : m_ds(DriverStation::GetInstance())
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{
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RobotState::SetImplementation(DriverStation::GetInstance());
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time_sub = MainNode::Subscribe("~/time", &wpilib::internal::time_callback);
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}
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/**
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* Determine if the Robot is currently enabled.
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* @return True if the Robot is currently enabled by the field controls.
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*/
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bool RobotBase::IsEnabled() const
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{
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return m_ds.IsEnabled();
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}
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/**
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* Determine if the Robot is currently disabled.
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* @return True if the Robot is currently disabled by the field controls.
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*/
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bool RobotBase::IsDisabled() const
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{
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return m_ds.IsDisabled();
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}
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/**
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* Determine if the robot is currently in Autnomous mode.
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* @return True if the robot is currently operating Autonomously as determined by the field controls.
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*/
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bool RobotBase::IsAutonomous() const
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{
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return m_ds.IsAutonomous();
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}
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/**
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* Determine if the robot is currently in Operator Control mode.
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* @return True if the robot is currently operating in Tele-Op mode as determined by the field controls.
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*/
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bool RobotBase::IsOperatorControl() const
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{
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return m_ds.IsOperatorControl();
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}
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/**
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* Determine if the robot is currently in Test mode.
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* @return True if the robot is currently running tests as determined by the field controls.
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*/
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bool RobotBase::IsTest() const
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{
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return m_ds.IsTest();
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}
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/**
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* This class exists for the sole purpose of getting its destructor called when the module unloads.
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* Before the module is done unloading, we need to delete the RobotBase derived singleton. This should delete
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* the other remaining singletons that were registered. This should also stop all tasks that are using
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* the Task class.
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*/
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class RobotDeleter
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{
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public:
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~RobotDeleter()
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{
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delete &RobotBase::getInstance();
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}
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};
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static RobotDeleter g_robotDeleter;
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