int main(void) {
// unit tests
int resu=TestPeriodic();
if (resu) printf("periodic test OK !\n");
else printf("periodic test failed !\n");
return !resu;
}
/**
* 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();
}
}
