mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
e71f454b9d
Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
69 lines
2.6 KiB
C++
69 lines
2.6 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 "Task.h"
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class DriverStation;
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#define START_ROBOT_CLASS(_ClassName_) \
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int main() { \
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if (!HALInitialize()) { \
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std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl; \
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return -1; \
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} \
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HALReport(HALUsageReporting::kResourceType_Language, \
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HALUsageReporting::kLanguage_CPlusPlus); \
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_ClassName_* robot = new _ClassName_(); \
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RobotBase::robotSetup(robot); \
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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
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* program. Overridden Autonomous() and OperatorControl() methods are called at
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* the appropriate time as the match proceeds. In the current implementation,
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* the Autonomous code will run to completion before the OperatorControl code
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* could start. In the future the Autonomous code might be spawned as a task,
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* then killed at the end of the Autonomous period.
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*/
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class RobotBase {
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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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bool IsNewDataAvailable() const;
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static void startRobotTask(FUNCPTR factory);
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static void robotTask(FUNCPTR factory, Task* task);
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virtual void StartCompetition() = 0;
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static void robotSetup(RobotBase* robot);
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protected:
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RobotBase();
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virtual ~RobotBase();
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RobotBase(const RobotBase&) = delete;
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RobotBase& operator=(const RobotBase&) = delete;
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Task* m_task = nullptr;
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DriverStation& m_ds;
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private:
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static RobotBase* m_instance;
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};
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