wpilibc/simulation/include/RobotBase.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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 "Base.h"
#include "DriverStation.h"
#include "simulation/simTime.h"
#include "simulation/MainNode.h"

#define START_ROBOT_CLASS(_ClassName_) \
	int main() \
	{ \
		(new _ClassName_())->StartCompetition(); \
		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() 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;
  transport::SubscriberPtr time_sub;

private:
	static RobotBase *m_instance;
};