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/simulation/src/RobotBase.cpp b/wpilibc/simulation/src/RobotBase.cpp
new file mode 100644
index 0000000..1fa5ac7
--- /dev/null
+++ b/wpilibc/simulation/src/RobotBase.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 "RobotBase.h"
+#include "RobotState.h"
+#include "Utility.h"
+
+#include <cstring>
+
+RobotBase* RobotBase::m_instance = nullptr;
+
+void RobotBase::setInstance(RobotBase* robot)
+{
+ wpi_assert(m_instance == nullptr);
+ m_instance = robot;
+}
+
+RobotBase &RobotBase::getInstance()
+{
+ return *m_instance;
+}
+
+/**
+ * Constructor for a generic robot program.
+ * User code should be placed in the constuctor 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());
+ transport::SubscriberPtr time_pub = MainNode::Subscribe("time", &wpilib::internal::time_callback);
+}
+
+/**
+ * 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 Autnomous 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();
+}
+
+/**
+ * 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()
+ {
+ delete &RobotBase::getInstance();
+ }
+};
+static RobotDeleter g_robotDeleter;