mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
ef3267833f
In C++, it's not legal to call a virtual function from within a constructor, so the user override was never called (the base function is always called). See https://isocpp.org/wiki/faq/strange-inheritance#calling-virtuals-from-ctors While this is technically allowed in Java, also change Java for consistency.
60 lines
1.7 KiB
C++
60 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "TimedRobot.h"
|
|
|
|
#include <chrono>
|
|
|
|
#include <HAL/HAL.h>
|
|
|
|
using namespace frc;
|
|
|
|
/**
|
|
* Provide an alternate "main loop" via StartCompetition().
|
|
*/
|
|
void TimedRobot::StartCompetition() {
|
|
RobotInit();
|
|
|
|
// Tell the DS that the robot is ready to be enabled
|
|
HAL_ObserveUserProgramStarting();
|
|
|
|
// Loop forever, calling the appropriate mode-dependent function
|
|
m_startLoop = true;
|
|
m_loop->StartPeriodic(m_period);
|
|
while (true) {
|
|
std::this_thread::sleep_for(std::chrono::hours(24));
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set time period between calls to Periodic() functions.
|
|
*
|
|
* A timer event is queued for periodic event notification. Each time the
|
|
* interrupt occurs, the event will be immediately requeued for the same time
|
|
* interval.
|
|
*
|
|
* @param period Period in seconds.
|
|
*/
|
|
void TimedRobot::SetPeriod(double period) {
|
|
m_period = period;
|
|
|
|
if (m_startLoop) {
|
|
m_loop->StartPeriodic(m_period);
|
|
}
|
|
}
|
|
|
|
TimedRobot::TimedRobot() {
|
|
m_loop = std::make_unique<Notifier>(&TimedRobot::LoopFunc, this);
|
|
|
|
// HAL_Report(HALUsageReporting::kResourceType_Framework,
|
|
// HALUsageReporting::kFramework_Periodic);
|
|
HAL_Report(HALUsageReporting::kResourceType_Framework,
|
|
HALUsageReporting::kFramework_Iterative);
|
|
}
|
|
|
|
TimedRobot::~TimedRobot() { m_loop->Stop(); }
|