mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
d69803804f
Reverted to old driverstation and joystick code because we're not ready for windows drive station yet updated paths to reflect new wpilib organization fixed name of gazebo topic (if you want /gazebo/frc/time use ~/time) included network tables in wpilibJavaSim Added ds script, and improved frcsim script always start gazebo with verbose Change-Id: I3c54b7000019a5985079a88200896a8069e69b86
55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "Base.h"
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#include "DriverStation.h"
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#include "simulation/simTime.h"
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#include "simulation/MainNode.h"
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#define START_ROBOT_CLASS(_ClassName_) \
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int main() \
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{ \
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(new _ClassName_())->StartCompetition(); \
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return 0; \
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}
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/**
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* Implement a Robot Program framework.
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* The RobotBase class is intended to be subclassed by a user creating a robot program.
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* Overridden Autonomous() and OperatorControl() methods are called at the appropriate time
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* as the match proceeds. In the current implementation, the Autonomous code will run to
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* completion before the OperatorControl code could start. In the future the Autonomous code
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* might be spawned as a task, then killed at the end of the Autonomous period.
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*/
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class RobotBase
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{
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friend class RobotDeleter;
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public:
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static RobotBase &getInstance();
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static void setInstance(RobotBase* robot);
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bool IsEnabled() const;
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bool IsDisabled() const;
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bool IsAutonomous() const;
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bool IsOperatorControl() const;
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bool IsTest() const;
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virtual void StartCompetition() = 0;
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protected:
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RobotBase();
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virtual ~RobotBase() = default;
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RobotBase(const RobotBase&) = delete;
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RobotBase& operator=(const RobotBase&) = delete;
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DriverStation &m_ds;
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transport::SubscriberPtr time_sub;
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private:
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static RobotBase *m_instance;
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};
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