| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
|
| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
|
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
|
| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
| 5 | /*----------------------------------------------------------------------------*/
|
| 6 |
|
| 7 | #ifndef ROBOT_H_
|
| 8 | #define ROBOT_H_
|
| 9 |
|
| 10 | #include "Base.h"
|
| 11 | #include "Task.h"
|
| 12 | #include "Watchdog.h"
|
| 13 |
|
| 14 | class DriverStation;
|
| 15 |
|
| 16 | #define START_ROBOT_CLASS(_ClassName_) \
|
| 17 | RobotBase *FRC_userClassFactory() \
|
| 18 | { \
|
| 19 | return new _ClassName_(); \
|
| 20 | } \
|
| 21 | extern "C" { \
|
| 22 | INT32 FRC_UserProgram_StartupLibraryInit() \
|
| 23 | { \
|
| 24 | RobotBase::startRobotTask((FUNCPTR)FRC_userClassFactory); \
|
| 25 | return 0; \
|
| 26 | } \
|
| 27 | }
|
| 28 |
|
| 29 | /**
|
| 30 | * Implement a Robot Program framework.
|
| 31 | * The RobotBase class is intended to be subclassed by a user creating a robot program.
|
| 32 | * Overridden Autonomous() and OperatorControl() methods are called at the appropriate time
|
| 33 | * as the match proceeds. In the current implementation, the Autonomous code will run to
|
| 34 | * completion before the OperatorControl code could start. In the future the Autonomous code
|
| 35 | * might be spawned as a task, then killed at the end of the Autonomous period.
|
| 36 | */
|
| 37 | class RobotBase {
|
| 38 | friend class RobotDeleter;
|
| 39 | public:
|
| 40 | static RobotBase &getInstance();
|
| 41 | static void setInstance(RobotBase* robot);
|
| 42 |
|
| 43 | bool IsEnabled();
|
| 44 | bool IsDisabled();
|
| 45 | bool IsAutonomous();
|
| 46 | bool IsOperatorControl();
|
| 47 | bool IsTest();
|
| 48 | bool IsSystemActive();
|
| 49 | bool IsNewDataAvailable();
|
| 50 | Watchdog &GetWatchdog();
|
| 51 | static void startRobotTask(FUNCPTR factory);
|
| 52 | static void robotTask(FUNCPTR factory, Task *task);
|
| 53 |
|
| 54 | protected:
|
| 55 | virtual ~RobotBase();
|
| 56 | virtual void StartCompetition() = 0;
|
| 57 | RobotBase();
|
| 58 |
|
| 59 | Task *m_task;
|
| 60 | Watchdog m_watchdog;
|
| 61 | DriverStation *m_ds;
|
| 62 |
|
| 63 | private:
|
| 64 | static RobotBase *m_instance;
|
| 65 | DISALLOW_COPY_AND_ASSIGN(RobotBase);
|
| 66 | };
|
| 67 |
|
| 68 | #endif
|
| 69 |
|