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User code: - OpModeRobot used as the robot base class - LinearOpMode and PeriodicOpMode are provided opmode base classes - In Java, annotations can be used to automatically register opmode classes Additional user code functionality: - OpMode (string) is available in addition to the overall auto/teleop/test robot mode - OpMode does not indicate enable (enable/disable is still separate) - The HAL API uses integer UIDs; these are exposed at the user API level as well for faster checks - User code creates opmodes on startup (these have name, category, description, etc). DS: - DS will present opmode selection lists for auto and teleop for match/practice. During a match, the DS will automatically activate the selected opmode in the corresponding match period. - For testing, an overall mode is selected (e.g. teleop/auto/test) and a single opmode is selected Future work: - Command framework support/integration - Python annotation support - Unit tests (needs race-free DS sim updates) - Porting of examples Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
46 lines
1.3 KiB
C++
46 lines
1.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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namespace wpi {
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/**
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* Top-level interface for opmode classes. Users should generally extend one of
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* the abstract implementations of this interface (e.g. PeriodicOpMode or
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* LinearOpMode) rather than directly implementing this interface.
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*/
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class OpMode {
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public:
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/**
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* The object is destroyed when the opmode is no longer selected on the DS or
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* after OpModeRun() returns.
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*/
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virtual ~OpMode() = default;
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/**
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* This function is called periodically while the opmode is selected on the DS
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* (robot is disabled). Code that should only run once when the opmode is
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* selected should go in the opmode constructor.
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*/
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virtual void DisabledPeriodic() {}
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/**
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* This function is called when the opmode starts (robot is enabled).
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*
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* @param opModeId opmode unique ID
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*/
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virtual void OpModeRun(int64_t opModeId) = 0;
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/**
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* This function is called asynchronously when the robot is disabled, to
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* request the opmode return from OpModeRun().
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*/
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virtual void OpModeStop() = 0;
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};
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} // namespace wpi
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