This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/RobotBase.h b/azaleasource/WPILibCProgramming/trunk/WPILib/RobotBase.h
new file mode 100644
index 0000000..1d93585
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/RobotBase.h
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef ROBOT_H_
+#define ROBOT_H_
+
+#include "Base.h"
+#include "Task.h"
+#include "Watchdog.h"
+
+class DriverStation;
+
+#define START_ROBOT_CLASS(_ClassName_) \
+ RobotBase *FRC_userClassFactory() \
+ { \
+ return new _ClassName_(); \
+ } \
+ extern "C" { \
+ INT32 FRC_UserProgram_StartupLibraryInit() \
+ { \
+ RobotBase::startRobotTask((FUNCPTR)FRC_userClassFactory); \
+ 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();
+ bool IsDisabled();
+ bool IsAutonomous();
+ bool IsOperatorControl();
+ bool IsTest();
+ bool IsSystemActive();
+ bool IsNewDataAvailable();
+ Watchdog &GetWatchdog();
+ static void startRobotTask(FUNCPTR factory);
+ static void robotTask(FUNCPTR factory, Task *task);
+
+protected:
+ virtual ~RobotBase();
+ virtual void StartCompetition() = 0;
+ RobotBase();
+
+ Task *m_task;
+ Watchdog m_watchdog;
+ DriverStation *m_ds;
+
+private:
+ static RobotBase *m_instance;
+ DISALLOW_COPY_AND_ASSIGN(RobotBase);
+};
+
+#endif
+