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FRC2016-old/wpilib/cpp/current/include/RobotBase.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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 "Base.h"
#include "Task.h"
class DriverStation;
#define START_ROBOT_CLASS(_ClassName_) \
int main() { \
if (!HALInitialize()) { \
std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl; \
return -1; \
} \
HALReport(HALUsageReporting::kResourceType_Language, \
HALUsageReporting::kLanguage_CPlusPlus); \
_ClassName_ *robot = new _ClassName_(); \
RobotBase::robotSetup(robot); \
return 0; \
}
/**
* 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() const;
bool IsDisabled() const;
bool IsAutonomous() const;
bool IsOperatorControl() const;
bool IsTest() const;
bool IsNewDataAvailable() const;
static void startRobotTask(FUNCPTR factory);
static void robotTask(FUNCPTR factory, Task *task);
virtual void StartCompetition() = 0;
static void robotSetup(RobotBase *robot);
protected:
RobotBase();
virtual ~RobotBase();
RobotBase(const RobotBase&) = delete;
RobotBase& operator=(const RobotBase&) = delete;
Task *m_task = nullptr;
DriverStation &m_ds;
private:
static RobotBase *m_instance;
};