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https://github.com/wpilibsuite/allwpilib
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7508aada93
This is useful for both cleanly exiting from simulation and for unit testing at a framework level. This change required removing move constructor/assignment from IterativeRobot.
43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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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#include "frc/IterativeRobot.h"
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#include <hal/HAL.h>
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#include "frc/DriverStation.h"
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using namespace frc;
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static constexpr auto kPacketPeriod = 0.02_s;
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IterativeRobot::IterativeRobot() : IterativeRobotBase(kPacketPeriod) {
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HAL_Report(HALUsageReporting::kResourceType_Framework,
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HALUsageReporting::kFramework_Iterative);
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}
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void IterativeRobot::StartCompetition() {
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RobotInit();
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// Tell the DS that the robot is ready to be enabled
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HAL_ObserveUserProgramStarting();
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// Loop forever, calling the appropriate mode-dependent function
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while (true) {
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// Wait for driver station data so the loop doesn't hog the CPU
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DriverStation::GetInstance().WaitForData();
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if (m_exit) break;
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LoopFunc();
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}
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}
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void IterativeRobot::EndCompetition() {
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m_exit = true;
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DriverStation::GetInstance().WakeupWaitForData();
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}
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