void bhs_MutexRobot::StartCompetition() { printf("start competition\n"); // first and one-time initialization RobotInit(); // loop forever, calling the appropriate mode-dependent function while (semTake(m_periodSem, WAIT_FOREVER) == OK) { // 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) { DisabledInit(); m_disabledInitialized = true; // reset the initialization flags for the other modes m_autonomousInitialized = false; m_teleopInitialized = false; } } else if (IsAutonomous()) { if (!m_autonomousInitialized) { AutonomousInit(); m_autonomousInitialized = true; m_disabledInitialized = false; m_teleopInitialized = false; } AutonomousPeriodic(); } else { if (!m_teleopInitialized) { TeleopInit(); m_teleopInitialized = true; m_disabledInitialized = false; m_autonomousInitialized = false; } TeleopPeriodic(); } } printf("end competition\n"); }
/** * 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" 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() { printf("RobotIterativeBase StartCompetition() Commenced\n"); // first and one-time initialization RobotInit(); // loop forever, calling the appropriate mode-dependent function 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) { DisabledInit(); m_disabledInitialized = true; // reset the initialization flags for the other modes m_autonomousInitialized = false; m_teleopInitialized = false; printf("Disabled_Init() completed\n"); } if (NextPeriodReady()) { DisabledPeriodic(); } DisabledContinuous(); } 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) { // KBS NOTE: old code reset all PWMs and relays to "safe values" // whenever entering autonomous mode, before calling // "Autonomous_Init()" AutonomousInit(); m_autonomousInitialized = true; // reset the initialization flags for the other modes m_disabledInitialized = false; m_teleopInitialized = false; printf("Autonomous_Init() completed\n"); } if (NextPeriodReady()) { AutonomousPeriodic(); } AutonomousContinuous(); } else { // call TeleopInit() if we are now just entering teleop mode from // either a different mode or from power-on if (!m_teleopInitialized) { TeleopInit(); m_teleopInitialized = true; // reset the initialization flags for the other modes m_disabledInitialized = false; m_autonomousInitialized = false; printf("Teleop_Init() completed\n"); } if (NextPeriodReady()) { TeleopPeriodic(); } TeleopContinuous(); } } printf("RobotIterativeBase StartCompetition() Ended\n"); }