mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
111 lines
3.4 KiB
C++
111 lines
3.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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 "RobotBase.h"
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#include <cstdio>
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#include <HAL/HAL.h>
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#include <networktables/NetworkTableInstance.h>
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#include "CameraServerShared.h"
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#include "DriverStation.h"
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#include "HLUsageReporting.h"
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#include "Internal/HardwareHLReporting.h"
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#include "LiveWindow/LiveWindow.h"
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#include "RobotState.h"
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#include "SmartDashboard/SmartDashboard.h"
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#include "Utility.h"
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#include "WPIErrors.h"
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#include "WPILibVersion.h"
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using namespace frc;
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std::thread::id RobotBase::m_threadId;
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namespace {
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class WPILibCameraServerShared : public frc::CameraServerShared {
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public:
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void ReportUsbCamera(int id) override {
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HAL_Report(HALUsageReporting::kResourceType_PCVideoServer, id);
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}
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void ReportAxisCamera(int id) override {
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HAL_Report(HALUsageReporting::kResourceType_AxisCamera, id);
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}
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void ReportVideoServer(int id) override {
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HAL_Report(HALUsageReporting::kResourceType_PCVideoServer, id);
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}
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void SetCameraServerError(wpi::StringRef error) override {
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wpi_setGlobalWPIErrorWithContext(CameraServerError, error);
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}
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void SetVisionRunnerError(wpi::StringRef error) override {
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wpi_setGlobalErrorWithContext(-1, error);
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}
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void ReportDriverStationError(wpi::StringRef error) override {
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DriverStation::ReportError(error);
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}
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std::pair<std::thread::id, bool> GetRobotMainThreadId() const override {
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return std::make_pair(RobotBase::GetThreadId(), true);
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}
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};
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} // namespace
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static void SetupCameraServerShared() {
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SetCameraServerShared(std::make_unique<WPILibCameraServerShared>());
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}
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bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); }
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bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
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bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
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bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
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bool RobotBase::IsTest() const { return m_ds.IsTest(); }
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bool RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); }
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std::thread::id RobotBase::GetThreadId() { return m_threadId; }
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RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
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if (!HAL_Initialize(500, 0)) {
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wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
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wpi::errs().flush();
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std::terminate();
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}
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m_threadId = std::this_thread::get_id();
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RobotState::SetImplementation(DriverStation::GetInstance());
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HLUsageReporting::SetImplementation(new HardwareHLReporting());
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SetupCameraServerShared();
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auto inst = nt::NetworkTableInstance::GetDefault();
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inst.SetNetworkIdentity("Robot");
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inst.StartServer("/home/lvuser/networktables.ini");
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SmartDashboard::init();
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std::FILE* file = nullptr;
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file = std::fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
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if (file != nullptr) {
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std::fputs("C++ ", file);
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std::fputs(GetWPILibVersion(), file);
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std::fclose(file);
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}
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// First and one-time initialization
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inst.GetTable("LiveWindow")
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->GetSubTable(".status")
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->GetEntry("LW Enabled")
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.SetBoolean(false);
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LiveWindow::GetInstance()->SetEnabled(false);
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}
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