/**
* Start a competition.
* This code needs to track the order of the field starting to ensure that everything happens
* in the right order. Repeatedly run the correct method, either Autonomous or OperatorControl
* or Test when the robot is enabled. After running the correct method, wait for some state to
* change, either the other mode starts or the robot is disabled. Then go back and wait for the
* robot to be enabled again.
*/
void SampleRobot::StartCompetition()
{
LiveWindow *lw = LiveWindow::GetInstance();
SmartDashboard::init();
NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
RobotMain();
if (!m_robotMainOverridden)
{
// first and one-time initialization
lw->SetEnabled(false);
RobotInit();
while (true)
{
if (IsDisabled())
{
m_ds.InDisabled(true);
Disabled();
m_ds.InDisabled(false);
while (IsDisabled()) sleep(1); //m_ds.WaitForData();
}
else if (IsAutonomous())
{
m_ds.InAutonomous(true);
Autonomous();
m_ds.InAutonomous(false);
while (IsAutonomous() && IsEnabled()) sleep(1); //m_ds.WaitForData();
}
else if (IsTest())
{
lw->SetEnabled(true);
m_ds.InTest(true);
Test();
m_ds.InTest(false);
while (IsTest() && IsEnabled()) sleep(1); //m_ds.WaitForData();
lw->SetEnabled(false);
}
else
{
m_ds.InOperatorControl(true);
OperatorControl();
m_ds.InOperatorControl(false);
while (IsOperatorControl() && IsEnabled()) sleep(1); //m_ds.WaitForData();
}
}
}
}
/**
* Provide an alternate "main loop" via StartCompetition().
*
* This specific StartCompetition() implements "main loop" behavior like that of the FRC
* control system in 2008 and earlier, with a primary (slow) loop that is
* called periodically, and a "fast loop" (a.k.a. "spin loop") that is
* called as fast as possible with no delay between calls.
*/
void IterativeRobot::StartCompetition()
{
LiveWindow *lw = LiveWindow::GetInstance();
// first and one-time initialization
SmartDashboard::init();
NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
RobotInit();
// 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;
}
if (NextPeriodReady())
{
// TODO: 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;
}
if (NextPeriodReady())
{
// TODO: 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;
}
if (NextPeriodReady())
{
// TODO: 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);
}
if (NextPeriodReady())
{
// TODO: HALNetworkCommunicationObserveUserProgramTeleop();
TeleopPeriodic();
}
}
// wait for driver station data so the loop doesn't hog the CPU
m_ds.WaitForData();
}
}
/**
* 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();
}
}
/**
* Provide an alternate "main loop" via StartCompetition().
*
* This specific StartCompetition() implements "main loop" behaviour synced with
* the DS packets.
*/
void IterativeRobot::StartCompetition() {
HAL_Report(HALUsageReporting::kResourceType_Framework,
HALUsageReporting::kFramework_Iterative);
LiveWindow* lw = LiveWindow::GetInstance();
// first and one-time initialization
NetworkTable::GetTable("LiveWindow")
->GetSubTable("~STATUS~")
->PutBoolean("LW Enabled", false);
RobotInit();
// Tell the DS that the robot is ready to be enabled
HAL_ObserveUserProgramStarting();
// loop forever, calling the appropriate mode-dependent function
lw->SetEnabled(false);
while (true) {
// wait for driver station data so the loop doesn't hog the CPU
m_ds.WaitForData();
// 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;
}
HAL_ObserveUserProgramDisabled();
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;
}
HAL_ObserveUserProgramAutonomous();
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;
}
HAL_ObserveUserProgramTest();
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);
}
HAL_ObserveUserProgramTeleop();
TeleopPeriodic();
}
RobotPeriodic();
}
}
