/**
*
* Start the robot code.
* This function starts the robot code running by spawning a task. Currently tasks seemed to be
* started by LVRT without setting the VX_FP_TASK flag so floating point context is not saved on
* interrupts. Therefore the program experiences hard to debug and unpredictable results. So the
* LVRT code starts this function, and it, in turn, starts the actual user program.
*/
void RobotBase::startRobotTask(FUNCPTR factory)
{
#ifdef SVN_REV
if (strlen(SVN_REV))
{
printf("WPILib was compiled from SVN revision %s\n", SVN_REV);
}
else
{
printf("WPILib was compiled from a location that is not source controlled.\n");
}
#else
printf("WPILib was compiled without -D'SVN_REV=nnnn'\n");
#endif
// Check for startup code already running
int32_t oldId = taskNameToId(const_cast<char*>("FRC_RobotTask"));
if (oldId != ERROR)
{
// Find the startup code module.
char moduleName[256];
moduleNameFindBySymbolName("FRC_UserProgram_StartupLibraryInit", moduleName);
MODULE_ID startupModId = moduleFindByName(moduleName);
if (startupModId != NULL)
{
// Remove the startup code.
unldByModuleId(startupModId, 0);
printf("!!! Error: Default code was still running... It was unloaded for you... Please try again.\n");
return;
}
// This case should no longer get hit.
printf("!!! Error: Other robot code is still running... Unload it and then try again.\n");
return;
}
// Let the framework know that we are starting a new user program so the Driver Station can disable.
FRC_NetworkCommunication_observeUserProgramStarting();
// Let the Usage Reporting framework know that there is a C++ program running
nUsageReporting::report(nUsageReporting::kResourceType_Language, nUsageReporting::kLanguage_CPlusPlus);
RobotBase::WriteVersionString();
// Start robot task
// This is done to ensure that the C++ robot task is spawned with the floating point
// context save parameter.
Task *task = new Task("RobotTask", (FUNCPTR)RobotBase::robotTask, Task::kDefaultPriority, 64000);
task->Start((int32_t)factory, (int32_t)task);
}
/******************************************************************************
** Function: CFE_PSP_GetCFETextSegmentInfo
**
** Purpose:
** This function returns the start and end address of the CFE text segment.
** It may not be implemented on all architectures.
**
** Arguments:
** (none)
**
** Return:
** (none)
*/
int32 CFE_PSP_GetCFETextSegmentInfo(void *PtrToCFESegment, uint32 *SizeOfCFESegment)
{
int32 return_code;
uint32 Address;
STATUS status;
MODULE_ID cFEModuleId;
MODULE_INFO cFEModuleInfo;
if ( SizeOfCFESegment == NULL )
{
return_code = CFE_PSP_ERROR;
}
else
{
cFEModuleId = moduleFindByName(CFE_MODULE_NAME);
if ( cFEModuleId == NULL )
{
return_code = CFE_PSP_ERROR;
}
else
{
status = moduleInfoGet(cFEModuleId, &cFEModuleInfo);
if ( status != ERROR )
{
Address = (uint32)(cFEModuleInfo.segInfo.textAddr);
memcpy(PtrToCFESegment,&Address,sizeof(PtrToCFESegment));
*SizeOfCFESegment = (uint32)(cFEModuleInfo.segInfo.textSize);
return_code = CFE_PSP_SUCCESS;
}
else
{
return_code = CFE_PSP_SUCCESS;
}
}
}
return(return_code);
}
ACE_SHLIB_HANDLE vxworks_modulefind(char *name)
{
return moduleFindByName(name);
}
