void DriverStation::Run() {
int period = 0;
while (true) {
{
std::unique_lock<priority_mutex> lock(m_packetDataAvailableMutex);
m_packetDataAvailableCond.wait(lock);
}
GetData();
m_waitForDataCond.notify_all();
if (++period >= 4) {
MotorSafetyHelper::CheckMotors();
period = 0;
}
if (m_userInDisabled) HALNetworkCommunicationObserveUserProgramDisabled();
if (m_userInAutonomous) HALNetworkCommunicationObserveUserProgramAutonomous();
if (m_userInTeleop) HALNetworkCommunicationObserveUserProgramTeleop();
if (m_userInTest) HALNetworkCommunicationObserveUserProgramTest();
}
}
void DriverStation::Run()
{
int period = 0;
while (true)
{
takeMultiWait(m_packetDataAvailableMultiWait, m_packetDataAvailableMutex, 0);
GetData();
giveMultiWait(m_waitForDataSem);
if (++period >= 4)
{
MotorSafetyHelper::CheckMotors();
period = 0;
}
if (m_userInDisabled)
HALNetworkCommunicationObserveUserProgramDisabled();
if (m_userInAutonomous)
HALNetworkCommunicationObserveUserProgramAutonomous();
if (m_userInTeleop)
HALNetworkCommunicationObserveUserProgramTeleop();
if (m_userInTest)
HALNetworkCommunicationObserveUserProgramTest();
}
}
/**
* Provide an alternate "main loop" via StartCompetition().
*
* This specific StartCompetition() implements "main loop" behaviour synced with the DS packets
*/
void IterativeRobot::StartCompetition()
{
HALReport(HALUsageReporting::kResourceType_Framework, HALUsageReporting::kFramework_Iterative);
LiveWindow *lw = LiveWindow::GetInstance();
// first and one-time initialization
SmartDashboard::init();
NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
RobotInit();
// We call this now (not in Prestart like default) so that the robot
// won't enable until the initialization has finished. This is useful
// because otherwise it's sometimes possible to enable the robot
// before the code is ready.
HALNetworkCommunicationObserveUserProgramStarting();
// loop forever, calling the appropriate mode-dependent function
lw->SetEnabled(false);
while (true)
{
// Call the appropriate function depending upon the current robot mode
if (IsDisabled())
{
// call DisabledInit() if we are now just entering disabled mode from
// either a different mode or from power-on
if(!m_disabledInitialized)
{
lw->SetEnabled(false);
DisabledInit();
m_disabledInitialized = true;
// reset the initialization flags for the other modes
m_autonomousInitialized = false;
m_teleopInitialized = false;
m_testInitialized = false;
}
HALNetworkCommunicationObserveUserProgramDisabled();
DisabledPeriodic();
}
else if (IsAutonomous())
{
// call AutonomousInit() if we are now just entering autonomous mode from
// either a different mode or from power-on
if(!m_autonomousInitialized)
{
lw->SetEnabled(false);
AutonomousInit();
m_autonomousInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_teleopInitialized = false;
m_testInitialized = false;
}
HALNetworkCommunicationObserveUserProgramAutonomous();
AutonomousPeriodic();
}
else if (IsTest())
{
// call TestInit() if we are now just entering test mode from
// either a different mode or from power-on
if(!m_testInitialized)
{
lw->SetEnabled(true);
TestInit();
m_testInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_autonomousInitialized = false;
m_teleopInitialized = false;
}
HALNetworkCommunicationObserveUserProgramTest();
TestPeriodic();
}
else
{
// call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on
if(!m_teleopInitialized)
{
lw->SetEnabled(false);
TeleopInit();
m_teleopInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_autonomousInitialized = false;
m_testInitialized = false;
Scheduler::GetInstance()->SetEnabled(true);
}
HALNetworkCommunicationObserveUserProgramTeleop();
TeleopPeriodic();
}
// wait for driver station data so the loop doesn't hog the CPU
m_ds->WaitForData();
}
}
