wpilibc/sim/src/RobotBase.cpp

/*----------------------------------------------------------------------------*/
/* 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.                                                               */
/*----------------------------------------------------------------------------*/

#include "RobotBase.h"

#include "RobotState.h"
#include "SmartDashboard/SmartDashboard.h"
#include "Utility.h"

using namespace frc;

/**
 * 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());
  SmartDashboard::init();
  time_sub = 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(); }