mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
78 lines
2.3 KiB
C++
78 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "Base.h"
|
|
#include "Task.h"
|
|
|
|
class DriverStation;
|
|
|
|
#ifdef __vxworks
|
|
#define START_ROBOT_CLASS(_ClassName_) \
|
|
RobotBase *FRC_userClassFactory() \
|
|
{ \
|
|
cout << "Instantiating " #_ClassName_ "...\n";\
|
|
RobotBase* rb= new _ClassName_();\
|
|
cout << "...Instantiated " #_ClassName_ "\n";\
|
|
return rb;\
|
|
} \
|
|
extern "C" { \
|
|
int32_t FRC_UserProgram_StartupLibraryInit() \
|
|
{ \
|
|
RobotBase::startRobotTask((FUNCPTR)FRC_userClassFactory); \
|
|
return 0; \
|
|
} \
|
|
}
|
|
#else
|
|
#define START_ROBOT_CLASS(_ClassName_) \
|
|
int main() \
|
|
{ \
|
|
if (!HALInitialize()){std::cerr<<"FATAL ERROR: HAL could not be initialized"<<std::endl;return -1;} \
|
|
HALNetworkCommunicationObserveUserProgramStarting(); \
|
|
HALReport(HALUsageReporting::kResourceType_Language, HALUsageReporting::kLanguage_CPlusPlus); \
|
|
(new _ClassName_())->StartCompetition(); \
|
|
return 0; \
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* Implement a Robot Program framework.
|
|
* The RobotBase class is intended to be subclassed by a user creating a robot program.
|
|
* Overridden Autonomous() and OperatorControl() methods are called at the appropriate time
|
|
* as the match proceeds. In the current implementation, the Autonomous code will run to
|
|
* completion before the OperatorControl code could start. In the future the Autonomous code
|
|
* might be spawned as a task, then killed at the end of the Autonomous period.
|
|
*/
|
|
class RobotBase
|
|
{
|
|
friend class RobotDeleter;
|
|
public:
|
|
static RobotBase &getInstance();
|
|
static void setInstance(RobotBase* robot);
|
|
|
|
bool IsEnabled();
|
|
bool IsDisabled();
|
|
bool IsAutonomous();
|
|
bool IsOperatorControl();
|
|
bool IsTest();
|
|
bool IsNewDataAvailable();
|
|
static void startRobotTask(FUNCPTR factory);
|
|
static void robotTask(FUNCPTR factory, Task *task);
|
|
virtual void StartCompetition() = 0;
|
|
|
|
protected:
|
|
virtual ~RobotBase();
|
|
RobotBase();
|
|
|
|
Task *m_task;
|
|
DriverStation *m_ds;
|
|
|
|
private:
|
|
static RobotBase *m_instance;
|
|
|
|
DISALLOW_COPY_AND_ASSIGN(RobotBase);
|
|
};
|