mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
4514e4489a
builds two libraries, Athena and Desktop. Simulation should use Desktop, Robots should use Athena Also: - copied Driverstation and Joystick from Devices into Sim - Descreased dependency of pthreads in JNI. - removed Simulation ifdef from non simulation - added missing decprecated attribute for msvc - removed usage reporting from sim - removed unused pom.xml and constexpr Change-Id: If8eb540f9434dce17c77a245fda6985713e80b2d
54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "Base.h"
|
|
#include "DriverStation.h"
|
|
#include "simulation/simTime.h"
|
|
#include "simulation/MainNode.h"
|
|
|
|
#define START_ROBOT_CLASS(_ClassName_) \
|
|
int main() \
|
|
{ \
|
|
(new _ClassName_())->StartCompetition(); \
|
|
return 0; \
|
|
}
|
|
|
|
/**
|
|
* Implement a Robot Program framework.
|
|
* The RobotBase class is intended to be subclassed by a user creating a robot program.
|
|
* Overridden Autonomous() and OperatorControl() methods are called at the appropriate time
|
|
* as the match proceeds. In the current implementation, the Autonomous code will run to
|
|
* completion before the OperatorControl code could start. In the future the Autonomous code
|
|
* might be spawned as a task, then killed at the end of the Autonomous period.
|
|
*/
|
|
class RobotBase
|
|
{
|
|
friend class RobotDeleter;
|
|
public:
|
|
static RobotBase &getInstance();
|
|
static void setInstance(RobotBase* robot);
|
|
|
|
bool IsEnabled() const;
|
|
bool IsDisabled() const;
|
|
bool IsAutonomous() const;
|
|
bool IsOperatorControl() const;
|
|
bool IsTest() const;
|
|
virtual void StartCompetition() = 0;
|
|
|
|
protected:
|
|
RobotBase();
|
|
virtual ~RobotBase() = default;
|
|
|
|
RobotBase(const RobotBase&) = delete;
|
|
RobotBase& operator=(const RobotBase&) = delete;
|
|
|
|
DriverStation &m_ds;
|
|
|
|
private:
|
|
static RobotBase *m_instance;
|
|
};
|