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https://github.com/wpilibsuite/allwpilib
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70 lines
2.0 KiB
C++
70 lines
2.0 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 "frc/TimedRobot.h"
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#include <stdint.h>
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#include <hal/HAL.h>
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#include "frc/Timer.h"
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#include "frc/Utility.h"
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#include "frc/WPIErrors.h"
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using namespace frc;
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void TimedRobot::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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m_expirationTime = Timer::GetFPGATimestamp() + m_period;
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UpdateAlarm();
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// Loop forever, calling the appropriate mode-dependent function
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while (true) {
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int32_t status = 0;
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uint64_t curTime = HAL_WaitForNotifierAlarm(m_notifier, &status);
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if (curTime == 0 || status != 0) break;
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m_expirationTime += m_period;
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UpdateAlarm();
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// Call callback
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LoopFunc();
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}
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}
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double TimedRobot::GetPeriod() const { return m_period; }
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TimedRobot::TimedRobot(double period) : IterativeRobotBase(period) {
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int32_t status = 0;
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m_notifier = HAL_InitializeNotifier(&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_Report(HALUsageReporting::kResourceType_Framework,
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HALUsageReporting::kFramework_Timed);
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}
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TimedRobot::~TimedRobot() {
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int32_t status = 0;
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HAL_StopNotifier(m_notifier, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_CleanNotifier(m_notifier, &status);
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}
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void TimedRobot::UpdateAlarm() {
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int32_t status = 0;
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HAL_UpdateNotifierAlarm(
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m_notifier, static_cast<uint64_t>(m_expirationTime * 1e6), &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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