Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/src/RobotBase.cpp b/wpilibc/Athena/src/RobotBase.cpp
new file mode 100644
index 0000000..2bd1d13
--- /dev/null
+++ b/wpilibc/Athena/src/RobotBase.cpp
@@ -0,0 +1,129 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotBase.h"
+
+#include "DriverStation.h"
+#include "RobotState.h"
+#include "HLUsageReporting.h"
+#include "Internal/HardwareHLReporting.h"
+#include "Utility.h"
+#include "networktables/NetworkTable.h"
+#include <cstring>
+#include "HAL/HAL.hpp"
+#include <cstdio>
+
+RobotBase *RobotBase::m_instance = nullptr;
+
+void RobotBase::setInstance(RobotBase *robot) {
+ wpi_assert(m_instance == nullptr);
+ m_instance = robot;
+}
+
+RobotBase &RobotBase::getInstance() { return *m_instance; }
+
+void RobotBase::robotSetup(RobotBase *robot) {
+ robot->StartCompetition();
+}
+
+/**
+ * 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::RobotBase() : m_ds(DriverStation::GetInstance()) {
+ RobotState::SetImplementation(DriverStation::GetInstance());
+ HLUsageReporting::SetImplementation(new HardwareHLReporting());
+
+ RobotBase::setInstance(this);
+
+ NetworkTable::SetNetworkIdentity("Robot");
+
+ FILE *file = nullptr;
+ file = fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
+
+ if (file != nullptr) {
+ fputs("2016 C++ Beta5.0", file);
+ fclose(file);
+ }
+}
+
+/**
+ * Free the resources for a RobotBase class.
+ * This includes deleting all classes that might have been allocated as
+ * Singletons to they
+ * would never be deleted except here.
+ */
+RobotBase::~RobotBase() {
+ SensorBase::DeleteSingletons();
+ delete m_task;
+ m_task = nullptr;
+ m_instance = nullptr;
+}
+
+/**
+ * Determine if the Robot is currently enabled.
+ * @return True if the Robot is currently enabled by the field controls.
+ */
+bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); }
+
+/**
+ * Determine if the Robot is currently disabled.
+ * @return True if the Robot is currently disabled by the field controls.
+ */
+bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
+
+/**
+ * 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 RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
+
+/**
+ * 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 RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
+
+/**
+ * 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 RobotBase::IsTest() const { return m_ds.IsTest(); }
+
+/**
+ * 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 RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); }
+
+/**
+ * This class exists for the sole purpose of getting its destructor called when
+ * the module unloads.
+ * Before the module is done unloading, we need to delete the RobotBase derived
+ * singleton. This should delete
+ * the other remaining singletons that were registered. This should also stop
+ * all tasks that are using
+ * the Task class.
+ */
+class RobotDeleter {
+ public:
+ RobotDeleter() {}
+ ~RobotDeleter() { delete &RobotBase::getInstance(); }
+};
+static RobotDeleter g_robotDeleter;