OpModeRobot implements the opmode-based robot program framework. More...

#include <wpi/framework/OpModeRobot.hpp>

Inheritance diagram for wpi::OpModeRobot< Derived >:

Public Member Functions
template<ConstructibleOpMode< Derived > T>
void	AddOpMode (RobotMode mode, std::string_view name, std::string_view group, std::string_view description, const wpi::util::Color &textColor, const wpi::util::Color &backgroundColor)
	Adds an operating mode option.
template<ConstructibleOpMode< Derived > T>
void	AddOpMode (RobotMode mode, std::string_view name, std::string_view group={}, std::string_view description={})
	Adds an operating mode option.
Public Member Functions inherited from wpi::OpModeRobotBase
void	StartCompetition () override
	Provide an alternate "main loop" via StartCompetition().
void	EndCompetition () override
	Ends the main loop in StartCompetition().
	OpModeRobotBase ()=default
	Constructor.
	OpModeRobotBase (OpModeRobotBase &&)=delete
OpModeRobotBase &	operator= (OpModeRobotBase &&)=delete
virtual void	DriverStationConnected ()
	Function called exactly once after the DS is connected.
virtual void	NonePeriodic ()
	Function called periodically anytime when no opmode is selected, including when the Driver Station is disconnected.
void	AddOpModeFactory (OpModeFactory factory, RobotMode mode, std::string_view name, std::string_view group, std::string_view description, const wpi::util::Color &textColor, const wpi::util::Color &backgroundColor)
	Adds an operating mode option using a factory function that creates the opmode.
void	AddOpModeFactory (OpModeFactory factory, RobotMode mode, std::string_view name, std::string_view group={}, std::string_view description={})
	Adds an operating mode option using a factory function that creates the opmode.
void	RemoveOpMode (RobotMode mode, std::string_view name)
	Removes an operating mode option.
void	PublishOpModes ()
	Publishes the operating mode options to the driver station.
void	ClearOpModes ()
	Clears all operating mode options and publishes an empty list to the driver station.
Public Member Functions inherited from wpi::RobotBase
	RobotBase ()
	Constructor for a generic robot program.
virtual	~RobotBase ()=default

Additional Inherited Members
Public Types inherited from wpi::OpModeRobotBase
using	OpModeFactory = std::function<std::unique_ptr<OpMode>()>
Static Public Member Functions inherited from wpi::RobotBase
static bool	IsEnabled ()
	Determine if the Robot is currently enabled.
static bool	IsDisabled ()
	Determine if the Robot is currently disabled.
static bool	IsAutonomous ()
	Determine if the robot is currently in Autonomous mode.
static bool	IsAutonomousEnabled ()
	Determine if the robot is currently in Autonomous mode and enabled.
static bool	IsTeleop ()
	Determine if the robot is currently in Operator Control mode.
static bool	IsTeleopEnabled ()
	Determine if the robot is current in Operator Control mode and enabled.
static bool	IsTest ()
	Determine if the robot is currently in Test mode.
static bool	IsTestEnabled ()
	Determine if the robot is current in Test mode and enabled.
static int64_t	GetOpModeId ()
	Gets the currently selected operating mode of the driver station.
static std::string	GetOpMode ()
	Gets the currently selected operating mode of the driver station.
static std::thread::id	GetThreadId ()
	Returns the main thread ID.
static RuntimeType	GetRuntimeType ()
	Get the current runtime type.
static constexpr bool	IsReal ()
	Get if the robot is real.
static constexpr bool	IsSimulation ()
	Get if the robot is a simulation.
Protected Member Functions inherited from wpi::RobotBase
	RobotBase (RobotBase &&)=default
RobotBase &	operator= (RobotBase &&)=default
Protected Attributes inherited from wpi::RobotBase
NT_Listener	connListenerHandle
Static Protected Attributes inherited from wpi::RobotBase
static std::thread::id	m_threadId

Detailed Description

template<typename Derived>
class wpi::OpModeRobot< Derived >

OpModeRobot implements the opmode-based robot program framework.

The OpModeRobot class is intended to be subclassed by a user creating a robot program. Users must provide their derived class as a template parameter to this class.

Opmodes are constructed when selected on the driver station, and destroyed when the robot is disabled after being enabled or a different opmode is selected. When no opmode is selected, NonePeriodic() is called. The DriverStationConnected() function is called the first time the driver station connects to the robot.

Template Parameters

Derived derived class

Member Function Documentation

◆ AddOpMode() [1/2]

template<typename Derived>

template<ConstructibleOpMode< Derived > T>

void wpi::OpModeRobot< Derived >::AddOpMode	(	RobotMode	mode,
		std::string_view	name,
		std::string_view	group,
		std::string_view	description,
		const wpi::util::Color &	textColor,
		const wpi::util::Color &	backgroundColor )

inline

Adds an operating mode option.

It's necessary to call PublishOpModes() to make the added modes visible to the driver station.

Template Parameters

T	opmode class; must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument of this class's type (the latter is preferred).

Parameters

mode	robot mode
name	name of the operating mode
group	group of the operating mode
description	description of the operating mode
textColor	text color
backgroundColor	background color

◆ AddOpMode() [2/2]

template<typename Derived>

template<ConstructibleOpMode< Derived > T>

void wpi::OpModeRobot< Derived >::AddOpMode	(	RobotMode	mode,
		std::string_view	name,
		std::string_view	group = {},
		std::string_view	description = {} )

inline

Adds an operating mode option.

It's necessary to call PublishOpModes() to make the added modes visible to the driver station.

Template Parameters

T	opmode class; must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument of this class's type (the latter is preferred).

Parameters

mode	robot mode
name	name of the operating mode
group	group of the operating mode
description	description of the operating mode

The documentation for this class was generated from the following file:

wpi/framework/OpModeRobot.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AddOpMode() [1/2]

◆ AddOpMode() [2/2]