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https://github.com/wpilibsuite/allwpilib
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534ea134a4
This deals with the majority of the user-facing code in wpilibC++Devices and a substantial portion of it in wpilibC++. wpilibC++Sim and wpilibC++IntegrationTests are untouched except where it is necessary to make them work with the rest of the libraries. There is still a lot to do in the following areas: -The HAL (which we may not want to touch at all). -The I2C, Serial, and SPI interfaces in wpilibC++Devices, which I haven't gotten around to doing yet. -Most wpilibC++Devices classes have void* pointers for interacting with the HAL. -InterruptableSensorBase passes a void *params for the interrupt handler. -I haven't converted all the const char* to std::strings. -There are plenty of other cases of raw pointers still existing. -This doesn't fall directly under raw pointer stuff, but move syntax and rvalue references could be introduced in many places. -I haven't touched vision code. -The Resource classes conflict (one is in the hal, the other in wpilibC++). Someone should figure out a more permanent fix (eg, just renaming them), then doing what I did (making a new namespace for one of them, essentially the same as renaming it). A few other things: -I created a NullDeleter class which is marked as deprecated. What this does is it can be passed as the deleter to a std::shared_ptr so that when you are converting raw pointers to shared_ptrs the shared_ptr doesn't do any deletion if someone else owns the raw pointer. This should only be used in making old raw pointer UIs. -I had to alter the build.gradle so that it did not emit errors when deprecated functions called deprecated functions. Unfortunately, gradle doesn't appear to be actually printing out gcc warnigns for some reason. The best way I have found to fix this is to patch the toolchains (https://bitbucket.org/byteit101/toolchain-builder/pull-request/5/make-gcc-not-throw-warnings-for-nested/diff) so that a deprecated function calling a deprecated function is fine but a non-deprecated function calling a deprecated function will throw a warning (which we then elevate with -Werror). I believe that clang deals with this properly, although I have not tried it myself. Change-Id: Ib8090c66893576fe73654f4e9d268f9d37be06a2
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;
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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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