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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
57 lines
1.7 KiB
C++
57 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#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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