wpilibc/sim/include/RobotBase.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2017. 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 <cstdio>

#include "Base.h"
#include "DriverStation.h"
#include "simulation/MainNode.h"
#include "simulation/simTime.h"

#define START_ROBOT_CLASS(_ClassName_)                               \
  int main() {                                                       \
    static _ClassName_ robot;                                        \
    std::printf("\n********** Robot program starting **********\n"); \
    robot.StartCompetition();                                        \
  }

namespace frc {

/**
 * 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 {
 public:
  bool IsEnabled() const;
  bool IsDisabled() const;
  bool IsAutonomous() const;
  bool IsOperatorControl() const;
  bool IsTest() const;
  virtual void StartCompetition() = 0;

 protected:
  RobotBase();
  virtual ~RobotBase() = default;

  RobotBase(const RobotBase&) = delete;
  RobotBase& operator=(const RobotBase&) = delete;

  DriverStation& m_ds;
  gazebo::transport::SubscriberPtr time_sub;
};

}  // namespace frc