mirror of
https://github.com/wpilibsuite/allwpilib
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148 lines
4.5 KiB
C++
148 lines
4.5 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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#include "SampleRobot.h"
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#include "DriverStation.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "Timer.h"
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#include "SmartDashboard/SmartDashboard.h"
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#include "LiveWindow/LiveWindow.h"
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#include "networktables/NetworkTable.h"
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SampleRobot::SampleRobot() : m_robotMainOverridden(true) {}
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/**
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* Robot-wide initialization code should go here.
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*
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* Programmers should override this method for default Robot-wide initialization
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* which will
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* be called each time the robot enters the disabled state.
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*/
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void SampleRobot::RobotInit() {
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printf("Default %s() method... Override me!\n", __FUNCTION__);
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}
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/**
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* Disabled should go here.
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* Programmers should override this method to run code that should run while the
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* field is
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* disabled.
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*/
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void SampleRobot::Disabled() {
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printf("Default %s() method... Override me!\n", __FUNCTION__);
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}
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/**
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* Autonomous should go here.
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* Programmers should override this method to run code that should run while the
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* field is
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* in the autonomous period. This will be called once each time the robot enters
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* the
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* autonomous state.
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*/
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void SampleRobot::Autonomous() {
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printf("Default %s() method... Override me!\n", __FUNCTION__);
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}
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/**
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* Operator control (tele-operated) code should go here.
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* Programmers should override this method to run code that should run while the
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* field is
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* in the Operator Control (tele-operated) period. This is called once each time
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* the robot
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* enters the teleop state.
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*/
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void SampleRobot::OperatorControl() {
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printf("Default %s() method... Override me!\n", __FUNCTION__);
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}
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/**
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* Test program should go here.
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* Programmers should override this method to run code that executes while the
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* robot is
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* in test mode. This will be called once whenever the robot enters test mode
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*/
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void SampleRobot::Test() {
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printf("Default %s() method... Override me!\n", __FUNCTION__);
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}
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/**
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* Robot main program for free-form programs.
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*
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* This should be overridden by user subclasses if the intent is to not use the
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* Autonomous() and
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* OperatorControl() methods. In that case, the program is responsible for
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* sensing when to run
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* the autonomous and operator control functions in their program.
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*
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* This method will be called immediately after the constructor is called. If it
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* has not been
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* overridden by a user subclass (i.e. the default version runs), then the
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* Autonomous() and
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* OperatorControl() methods will be called.
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*/
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void SampleRobot::RobotMain() { m_robotMainOverridden = false; }
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/**
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* Start a competition.
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* This code needs to track the order of the field starting to ensure that
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* everything happens
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* in the right order. Repeatedly run the correct method, either Autonomous or
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* OperatorControl
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* or Test when the robot is enabled. After running the correct method, wait for
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* some state to
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* change, either the other mode starts or the robot is disabled. Then go back
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* and wait for the
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* robot to be enabled again.
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*/
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void SampleRobot::StartCompetition() {
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LiveWindow *lw = LiveWindow::GetInstance();
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HALReport(HALUsageReporting::kResourceType_Framework,
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HALUsageReporting::kFramework_Sample);
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SmartDashboard::init();
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NetworkTable::GetTable("LiveWindow")
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->GetSubTable("~STATUS~")
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->PutBoolean("LW Enabled", false);
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RobotMain();
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if (!m_robotMainOverridden) {
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// first and one-time initialization
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lw->SetEnabled(false);
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RobotInit();
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while (true) {
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if (IsDisabled()) {
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m_ds.InDisabled(true);
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Disabled();
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m_ds.InDisabled(false);
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while (IsDisabled()) m_ds.WaitForData();
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} else if (IsAutonomous()) {
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m_ds.InAutonomous(true);
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Autonomous();
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m_ds.InAutonomous(false);
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while (IsAutonomous() && IsEnabled()) m_ds.WaitForData();
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} else if (IsTest()) {
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lw->SetEnabled(true);
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m_ds.InTest(true);
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Test();
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m_ds.InTest(false);
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while (IsTest() && IsEnabled()) m_ds.WaitForData();
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lw->SetEnabled(false);
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} else {
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m_ds.InOperatorControl(true);
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OperatorControl();
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m_ds.InOperatorControl(false);
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while (IsOperatorControl() && IsEnabled()) m_ds.WaitForData();
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}
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}
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}
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}
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