mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
f84018af5f
During shared library loading, a different libLLVM can be pulled in, causing llvm symbols from dependent libraries to resolve to that library instead of this one. This has been seen in the wild with the Mesa OpenGL implementation in JavaFX applications (see wpilibsuite/shuffleboard#361). This is clearly a very breaking change. For some level of backwards compatibility, a namespace alias from llvm to wpi is performed in the "llvm" headers. Unfortunately, forward declarations of llvm classes will still break, but compilers seem to generate clear error messages in those cases ("namespace alias 'llvm' not allowed here, assuming 'wpi'"). This change also moves all the wpiutil headers to a single "wpi" subdirectory from the previously split "llvm", "support", "tcpsockets", and "udpsockets". Shim headers will be added for backwards compatibility in a later commit.
78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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 <thread>
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#include <HAL/HAL.h>
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#include <wpi/raw_ostream.h>
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#include "Base.h"
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namespace frc {
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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 (!HAL_Initialize(500, 0)) { \
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wpi::errs() << "FATAL ERROR: HAL could not be initialized\n"; \
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return -1; \
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} \
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HAL_Report(HALUsageReporting::kResourceType_Language, \
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HALUsageReporting::kLanguage_CPlusPlus); \
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wpi::outs() << "\n********** Robot program starting **********\n"; \
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static _ClassName_ robot; \
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robot.StartCompetition(); \
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}
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/**
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* Implement a Robot Program framework.
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*
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* The RobotBase class is intended to be subclassed by a user creating a robot
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* program. Overridden Autonomous() and OperatorControl() methods are called at
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* the appropriate time as the match proceeds. In the current implementation,
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* the Autonomous code will run to completion before the OperatorControl code
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* could start. In the future the Autonomous code might be spawned as a task,
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* then killed at the end of the Autonomous period.
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*/
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class RobotBase {
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public:
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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 std::thread::id GetThreadId();
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virtual void StartCompetition() = 0;
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static constexpr bool IsReal() {
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#ifdef __FRC_ROBORIO__
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return true;
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#else
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return false;
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#endif
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}
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static constexpr bool IsSimulation() { return !IsReal(); }
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protected:
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RobotBase();
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virtual ~RobotBase() = default;
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RobotBase(const RobotBase&) = delete;
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RobotBase& operator=(const RobotBase&) = delete;
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DriverStation& m_ds;
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static std::thread::id m_threadId;
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};
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} // namespace frc
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