mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +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.
199 lines
6.2 KiB
C++
199 lines
6.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 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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#include "IterativeRobotBase.h"
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#include <cstdio>
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#include <HAL/HAL.h>
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#include <wpi/raw_ostream.h>
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#include "Commands/Scheduler.h"
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#include "LiveWindow/LiveWindow.h"
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#include "SmartDashboard/SmartDashboard.h"
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using namespace frc;
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/**
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* Robot-wide initialization code should go here.
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*
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* Users should override this method for default Robot-wide initialization which
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* will be called when the robot is first powered on. It will be called exactly
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* one time.
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*
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* Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
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* indicators will be off until RobotInit() exits. Code in RobotInit() that
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* waits for enable will cause the robot to never indicate that the code is
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* ready, causing the robot to be bypassed in a match.
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*/
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void IterativeRobotBase::RobotInit() {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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}
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/**
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* Initialization code for disabled mode should go here.
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*
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* Users should override this method for initialization code which will be
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* called each time
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* the robot enters disabled mode.
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*/
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void IterativeRobotBase::DisabledInit() {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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}
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/**
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* Initialization code for autonomous mode should go here.
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*
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* Users should override this method for initialization code which will be
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* called each time the robot enters autonomous mode.
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*/
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void IterativeRobotBase::AutonomousInit() {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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}
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/**
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* Initialization code for teleop mode should go here.
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*
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* Users should override this method for initialization code which will be
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* called each time the robot enters teleop mode.
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*/
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void IterativeRobotBase::TeleopInit() {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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}
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/**
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* Initialization code for test mode should go here.
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*
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* Users should override this method for initialization code which will be
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* called each time the robot enters test mode.
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*/
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void IterativeRobotBase::TestInit() {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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}
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/**
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* Periodic code for all modes should go here.
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*
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* This function is called each time a new packet is received from the driver
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* station.
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*/
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void IterativeRobotBase::RobotPeriodic() {
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static bool firstRun = true;
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if (firstRun) {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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firstRun = false;
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}
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}
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/**
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* Periodic code for disabled mode should go here.
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*
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* Users should override this method for code which will be called each time a
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* new packet is received from the driver station and the robot is in disabled
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* mode.
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*/
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void IterativeRobotBase::DisabledPeriodic() {
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static bool firstRun = true;
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if (firstRun) {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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firstRun = false;
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}
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}
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/**
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* Periodic code for autonomous mode should go here.
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*
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* Users should override this method for code which will be called each time a
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* new packet is received from the driver station and the robot is in autonomous
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* mode.
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*/
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void IterativeRobotBase::AutonomousPeriodic() {
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static bool firstRun = true;
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if (firstRun) {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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firstRun = false;
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}
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}
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/**
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* Periodic code for teleop mode should go here.
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*
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* Users should override this method for code which will be called each time a
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* new packet is received from the driver station and the robot is in teleop
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* mode.
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*/
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void IterativeRobotBase::TeleopPeriodic() {
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static bool firstRun = true;
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if (firstRun) {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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firstRun = false;
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}
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}
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/**
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* Periodic code for test mode should go here.
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*
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* Users should override this method for code which will be called each time a
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* new packet is received from the driver station and the robot is in test mode.
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*/
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void IterativeRobotBase::TestPeriodic() {
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static bool firstRun = true;
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if (firstRun) {
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wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
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firstRun = false;
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}
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}
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void IterativeRobotBase::LoopFunc() {
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// Call the appropriate function depending upon the current robot mode
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if (IsDisabled()) {
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// Call DisabledInit() if we are now just entering disabled mode from
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// either a different mode or from power-on.
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if (m_lastMode != Mode::kDisabled) {
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LiveWindow::GetInstance()->SetEnabled(false);
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DisabledInit();
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m_lastMode = Mode::kDisabled;
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}
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HAL_ObserveUserProgramDisabled();
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DisabledPeriodic();
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} else if (IsAutonomous()) {
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// Call AutonomousInit() if we are now just entering autonomous mode from
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// either a different mode or from power-on.
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if (m_lastMode != Mode::kAutonomous) {
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LiveWindow::GetInstance()->SetEnabled(false);
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AutonomousInit();
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m_lastMode = Mode::kAutonomous;
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}
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HAL_ObserveUserProgramAutonomous();
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AutonomousPeriodic();
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} else if (IsOperatorControl()) {
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// Call TeleopInit() if we are now just entering teleop mode from
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// either a different mode or from power-on.
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if (m_lastMode != Mode::kTeleop) {
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LiveWindow::GetInstance()->SetEnabled(false);
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TeleopInit();
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m_lastMode = Mode::kTeleop;
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Scheduler::GetInstance()->SetEnabled(true);
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}
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HAL_ObserveUserProgramTeleop();
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TeleopPeriodic();
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} else {
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// Call TestInit() if we are now just entering test mode from
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// either a different mode or from power-on.
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if (m_lastMode != Mode::kTest) {
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LiveWindow::GetInstance()->SetEnabled(true);
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TestInit();
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m_lastMode = Mode::kTest;
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}
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HAL_ObserveUserProgramTest();
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TestPeriodic();
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}
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RobotPeriodic();
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SmartDashboard::UpdateValues();
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LiveWindow::GetInstance()->UpdateValues();
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}
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