mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
221011494d
* Update MSVC arguments * Fix json allocator * Fix simulation diamond * Bump gtest * Remove empty varargs in unit tests * Replace test case with test suite * Remove deprecation warning in optional * Remove need for NOMIXMAX to be defined in wpilib headers
143 lines
4.0 KiB
C++
143 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2008-2019 FIRST. 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 the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <thread>
|
|
|
|
#include <wpi/raw_ostream.h>
|
|
|
|
#include "frc/Base.h"
|
|
|
|
namespace frc {
|
|
|
|
class DriverStation;
|
|
|
|
int RunHALInitialization();
|
|
|
|
template <class Robot>
|
|
int StartRobot() {
|
|
int halInit = RunHALInitialization();
|
|
if (halInit != 0) {
|
|
return halInit;
|
|
}
|
|
static Robot robot;
|
|
robot.StartCompetition();
|
|
|
|
return 0;
|
|
}
|
|
|
|
#define START_ROBOT_CLASS(_ClassName_) \
|
|
WPI_DEPRECATED("Call frc::StartRobot<" #_ClassName_ \
|
|
">() in your own main() instead of using the " \
|
|
"START_ROBOT_CLASS(" #_ClassName_ ") macro.") \
|
|
int StartRobotClassImpl() { return frc::StartRobot<_ClassName_>(); } \
|
|
int main() { return StartRobotClassImpl(); }
|
|
|
|
/**
|
|
* 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 {
|
|
public:
|
|
/**
|
|
* Determine if the Robot is currently enabled.
|
|
*
|
|
* @return True if the Robot is currently enabled by the field controls.
|
|
*/
|
|
bool IsEnabled() const;
|
|
|
|
/**
|
|
* Determine if the Robot is currently disabled.
|
|
*
|
|
* @return True if the Robot is currently disabled by the field controls.
|
|
*/
|
|
bool IsDisabled() const;
|
|
|
|
/**
|
|
* Determine if the robot is currently in Autonomous mode.
|
|
*
|
|
* @return True if the robot is currently operating Autonomously as determined
|
|
* by the field controls.
|
|
*/
|
|
bool IsAutonomous() const;
|
|
|
|
/**
|
|
* Determine if the robot is currently in Operator Control mode.
|
|
*
|
|
* @return True if the robot is currently operating in Tele-Op mode as
|
|
* determined by the field controls.
|
|
*/
|
|
bool IsOperatorControl() const;
|
|
|
|
/**
|
|
* Determine if the robot is currently in Test mode.
|
|
*
|
|
* @return True if the robot is currently running tests as determined by the
|
|
* field controls.
|
|
*/
|
|
bool IsTest() const;
|
|
|
|
/**
|
|
* Indicates if new data is available from the driver station.
|
|
*
|
|
* @return Has new data arrived over the network since the last time this
|
|
* function was called?
|
|
*/
|
|
bool IsNewDataAvailable() const;
|
|
|
|
/**
|
|
* Gets the ID of the main robot thread.
|
|
*/
|
|
static std::thread::id GetThreadId();
|
|
|
|
virtual void StartCompetition() = 0;
|
|
|
|
static constexpr bool IsReal() {
|
|
#ifdef __FRC_ROBORIO__
|
|
return true;
|
|
#else
|
|
return false;
|
|
#endif
|
|
}
|
|
|
|
static constexpr bool IsSimulation() { return !IsReal(); }
|
|
|
|
protected:
|
|
/**
|
|
* Constructor for a generic robot program.
|
|
*
|
|
* User code should be placed in the constructor that runs before the
|
|
* Autonomous or Operator Control period starts. The constructor will run to
|
|
* completion before Autonomous is entered.
|
|
*
|
|
* This must be used to ensure that the communications code starts. In the
|
|
* future it would be nice to put this code into it's own task that loads on
|
|
* boot so ensure that it runs.
|
|
*/
|
|
RobotBase();
|
|
|
|
virtual ~RobotBase();
|
|
|
|
// m_ds isn't moved in these because DriverStation is a singleton; every
|
|
// instance of RobotBase has a reference to the same object.
|
|
RobotBase(RobotBase&&) noexcept;
|
|
RobotBase& operator=(RobotBase&&) noexcept;
|
|
|
|
DriverStation& m_ds;
|
|
|
|
static std::thread::id m_threadId;
|
|
};
|
|
|
|
} // namespace frc
|