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61dbd43664
Print distinctive message on robot program startup Change-Id: Ic91b81bd298ee6730503933cf0e733702e4b4405
132 lines
4.1 KiB
C++
132 lines
4.1 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 "DriverStation.h"
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#include "RobotState.h"
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#include "HLUsageReporting.h"
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#include "Internal/HardwareHLReporting.h"
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#include "Utility.h"
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#include "networktables/NetworkTable.h"
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#include <cstring>
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#include "HAL/HAL.hpp"
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#include <cstdio>
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RobotBase *RobotBase::m_instance = nullptr;
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void RobotBase::setInstance(RobotBase *robot) {
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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() { return *m_instance; }
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void RobotBase::robotSetup(RobotBase *robot) {
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printf("\n********** Robot program starting **********\n");
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robot->StartCompetition();
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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 constructor that runs before the Autonomous
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* or Operator
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* Control period starts. The constructor will run to completion before
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* Autonomous is entered.
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*
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* This must be used to ensure that the communications code starts. In the
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* 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
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* runs.
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*/
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RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
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RobotState::SetImplementation(DriverStation::GetInstance());
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HLUsageReporting::SetImplementation(new HardwareHLReporting());
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RobotBase::setInstance(this);
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NetworkTable::SetNetworkIdentity("Robot");
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NetworkTable::SetPersistentFilename("/home/lvuser/networktables.ini");
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FILE *file = nullptr;
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file = fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
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if (file != nullptr) {
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fputs("2016 C++ Release 3", file);
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fclose(file);
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}
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}
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/**
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* Free the resources for a RobotBase class.
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* This includes deleting all classes that might have been allocated as
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* Singletons to they
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* would never be deleted except here.
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*/
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RobotBase::~RobotBase() {
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SensorBase::DeleteSingletons();
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delete m_task;
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m_task = nullptr;
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m_instance = nullptr;
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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 { return m_ds.IsEnabled(); }
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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 { return m_ds.IsDisabled(); }
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/**
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* Determine if the robot is currently in Autonomous mode.
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* @return True if the robot is currently operating Autonomously as determined
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* by the field controls.
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*/
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bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
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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
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* determined by the field controls.
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*/
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bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
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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
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* field controls.
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*/
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bool RobotBase::IsTest() const { return m_ds.IsTest(); }
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/**
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* Indicates if new data is available from the driver station.
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* @return Has new data arrived over the network since the last time this
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* function was called?
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*/
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bool RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); }
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/**
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* This class exists for the sole purpose of getting its destructor called when
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* the module unloads.
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* Before the module is done unloading, we need to delete the RobotBase derived
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* singleton. This should delete
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* the other remaining singletons that were registered. This should also stop
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* 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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public:
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RobotDeleter() {}
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~RobotDeleter() { delete &RobotBase::getInstance(); }
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};
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static RobotDeleter g_robotDeleter;
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