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(); } }