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/SampleRobot.cpp b/wpilibc/Athena/src/SampleRobot.cpp
new file mode 100644
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+++ b/wpilibc/Athena/src/SampleRobot.cpp
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+/*----------------------------------------------------------------------------*/
+/* 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 "SampleRobot.h"
+
+#include "DriverStation.h"
+#include "Timer.h"
+#include "SmartDashboard/SmartDashboard.h"
+#include "LiveWindow/LiveWindow.h"
+#include "networktables/NetworkTable.h"
+
+SampleRobot::SampleRobot() : m_robotMainOverridden(true) {}
+
+/**
+ * Robot-wide initialization code should go here.
+ *
+ * Users should override this method for default Robot-wide initialization which
+ * will be called when the robot is first powered on. It will be called exactly
+ * one time.
+ *
+ * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
+ * indicators will be off until RobotInit() exits. Code in RobotInit() that
+ * waits for enable will cause the robot to never indicate that the code is
+ * ready, causing the robot to be bypassed in a match.
+ */
+void SampleRobot::RobotInit() {
+ printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Disabled should go here.
+ * Programmers should override this method to run code that should run while the
+ * field is
+ * disabled.
+ */
+void SampleRobot::Disabled() {
+ printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Autonomous should go here.
+ * Programmers should override this method to run code that should run while the
+ * field is
+ * in the autonomous period. This will be called once each time the robot enters
+ * the
+ * autonomous state.
+ */
+void SampleRobot::Autonomous() {
+ printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Operator control (tele-operated) code should go here.
+ * Programmers should override this method to run code that should run while the
+ * field is
+ * in the Operator Control (tele-operated) period. This is called once each time
+ * the robot
+ * enters the teleop state.
+ */
+void SampleRobot::OperatorControl() {
+ printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Test program should go here.
+ * Programmers should override this method to run code that executes while the
+ * robot is
+ * in test mode. This will be called once whenever the robot enters test mode
+ */
+void SampleRobot::Test() {
+ printf("Default %s() method... Override me!\n", __FUNCTION__);
+}
+
+/**
+ * Robot main program for free-form programs.
+ *
+ * This should be overridden by user subclasses if the intent is to not use the
+ * Autonomous() and
+ * OperatorControl() methods. In that case, the program is responsible for
+ * sensing when to run
+ * the autonomous and operator control functions in their program.
+ *
+ * This method will be called immediately after the constructor is called. If it
+ * has not been
+ * overridden by a user subclass (i.e. the default version runs), then the
+ * Autonomous() and
+ * OperatorControl() methods will be called.
+ */
+void SampleRobot::RobotMain() { m_robotMainOverridden = false; }
+
+/**
+ * Start a competition.
+ * This code needs to track the order of the field starting to ensure that
+ * everything happens
+ * in the right order. Repeatedly run the correct method, either Autonomous or
+ * OperatorControl
+ * or Test when the robot is enabled. After running the correct method, wait for
+ * some state to
+ * change, either the other mode starts or the robot is disabled. Then go back
+ * and wait for the
+ * robot to be enabled again.
+ */
+void SampleRobot::StartCompetition() {
+ LiveWindow *lw = LiveWindow::GetInstance();
+
+ HALReport(HALUsageReporting::kResourceType_Framework,
+ HALUsageReporting::kFramework_Sample);
+
+ SmartDashboard::init();
+ NetworkTable::GetTable("LiveWindow")
+ ->GetSubTable("~STATUS~")
+ ->PutBoolean("LW Enabled", false);
+
+ RobotInit();
+
+ // Tell the DS that the robot is ready to be enabled
+ HALNetworkCommunicationObserveUserProgramStarting();
+
+ RobotMain();
+
+ if (!m_robotMainOverridden) {
+ // first and one-time initialization
+ lw->SetEnabled(false);
+
+ while (true) {
+ if (IsDisabled()) {
+ m_ds.InDisabled(true);
+ Disabled();
+ m_ds.InDisabled(false);
+ while (IsDisabled()) m_ds.WaitForData();
+ } else if (IsAutonomous()) {
+ m_ds.InAutonomous(true);
+ Autonomous();
+ m_ds.InAutonomous(false);
+ while (IsAutonomous() && IsEnabled()) m_ds.WaitForData();
+ } else if (IsTest()) {
+ lw->SetEnabled(true);
+ m_ds.InTest(true);
+ Test();
+ m_ds.InTest(false);
+ while (IsTest() && IsEnabled()) m_ds.WaitForData();
+ lw->SetEnabled(false);
+ } else {
+ m_ds.InOperatorControl(true);
+ OperatorControl();
+ m_ds.InOperatorControl(false);
+ while (IsOperatorControl() && IsEnabled()) m_ds.WaitForData();
+ }
+ }
+ }
+}