OpModeRobotBase is the non-templated base class for OpModeRobot. More...

#include <wpi/framework/OpModeRobot.hpp>

Inheritance diagram for wpi::OpModeRobotBase:

Public Types
using	OpModeFactory = std::function<std::unique_ptr<OpMode>()>

Public Member Functions
void	StartCompetition () override
	Provide an alternate "main loop" via StartCompetition().
void	EndCompetition () override
	Ends the main loop in StartCompetition().
	OpModeRobotBase (wpi::units::second_t period)
	Constructor.
	OpModeRobotBase ()
	Constructor for an OpModeRobot with a default loop time of 0.02 seconds.
	OpModeRobotBase (OpModeRobotBase &&)=delete
OpModeRobotBase &	operator= (OpModeRobotBase &&)=delete
virtual void	DriverStationConnected ()
	Code that needs to know the DS state should go here.
virtual void	RobotPeriodic ()
	Function called periodically every loop, regardless of enabled state or OpMode selection.
virtual void	SimulationInit ()
	Function called once during robot initialization in simulation.
virtual void	SimulationPeriodic ()
	Function called periodically in simulation.
virtual void	DisabledInit ()
	Function called once when the robot becomes disabled.
virtual void	DisabledPeriodic ()
	Function called periodically while the robot is disabled.
virtual void	DisabledExit ()
	Function called once when the robot exits disabled state.
virtual void	NonePeriodic ()
	Function called periodically anytime when no opmode is selected, including when the Driver Station is disconnected.
void	AddPeriodic (std::function< void()> callback, wpi::units::second_t period)
	Add a callback to run at a specific period.
wpi::units::microsecond_t	GetLoopStartTime () const
	Return the system clock time in microseconds for the start of the current periodic loop.
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

Static Public Attributes
static constexpr auto	DEFAULT_PERIOD = 20_ms
	Default loop period.

Protected Member Functions
void	LoopFunc ()
	Main robot loop function.
Protected Member Functions inherited from wpi::RobotBase
	RobotBase (RobotBase &&)=default
RobotBase &	operator= (RobotBase &&)=default

Additional Inherited Members
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	IsUtility ()
	Determine if the robot is currently in Utility mode.
static bool	IsUtilityEnabled ()
	Determine if the robot is currently in Utility 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 Attributes inherited from wpi::RobotBase
NT_Listener	connListenerHandle
Static Protected Attributes inherited from wpi::RobotBase
static std::thread::id	m_threadId

Detailed Description

OpModeRobotBase is the non-templated base class for OpModeRobot.

Users should generally prefer using OpModeRobot instead of 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.

Member Typedef Documentation

◆ OpModeFactory

using wpi::OpModeRobotBase::OpModeFactory = std::function<std::unique_ptr<OpMode>()>

Constructor & Destructor Documentation

◆ OpModeRobotBase() [1/3]

wpi::OpModeRobotBase::OpModeRobotBase ( wpi::units::second_t period )

explicit

Constructor.

Parameters

period The period of the robot loop function.

◆ OpModeRobotBase() [2/3]

wpi::OpModeRobotBase::OpModeRobotBase ( )

explicit

Constructor for an OpModeRobot with a default loop time of 0.02 seconds.

◆ OpModeRobotBase() [3/3]

wpi::OpModeRobotBase::OpModeRobotBase ( OpModeRobotBase && )

delete

Member Function Documentation

◆ AddOpModeFactory() [1/2]

void wpi::OpModeRobotBase::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.

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

Parameters

factory	factory function
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

◆ AddOpModeFactory() [2/2]

void wpi::OpModeRobotBase::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.

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

Parameters

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

◆ AddPeriodic()

void wpi::OpModeRobotBase::AddPeriodic	(	std::function< void()>	callback,
		wpi::units::second_t	period )

Add a callback to run at a specific period.

Parameters

callback	The callback to run.
period	The period at which to run the callback.

◆ ClearOpModes()

void wpi::OpModeRobotBase::ClearOpModes ( )

Clears all operating mode options and publishes an empty list to the driver station.

◆ DisabledExit()

virtual void wpi::OpModeRobotBase::DisabledExit ( )

inlinevirtual

Function called once when the robot exits disabled state.

◆ DisabledInit()

virtual void wpi::OpModeRobotBase::DisabledInit ( )

inlinevirtual

Function called once when the robot becomes disabled.

◆ DisabledPeriodic()

virtual void wpi::OpModeRobotBase::DisabledPeriodic ( )

inlinevirtual

Function called periodically while the robot is disabled.

◆ DriverStationConnected()

virtual void wpi::OpModeRobotBase::DriverStationConnected ( )

inlinevirtual

Code that needs to know the DS state should go here.

Users should override this method for initialization that needs to occur after the DS is connected, such as needing the alliance information.

◆ EndCompetition()

void wpi::OpModeRobotBase::EndCompetition ( )

overridevirtual

Ends the main loop in StartCompetition().

Implements wpi::RobotBase.

◆ GetLoopStartTime()

wpi::units::microsecond_t wpi::OpModeRobotBase::GetLoopStartTime ( ) const

inline

Return the system clock time in microseconds for the start of the current periodic loop.

This is in the same time base as Timer.getMonotonicTimeStamp(), but is stable through a loop. It is updated at the beginning of every periodic callback (including the normal periodic loop).

Returns: Robot running time in microseconds, as of the start of the current periodic function.

◆ LoopFunc()

void wpi::OpModeRobotBase::LoopFunc ( )

protected

Main robot loop function.

Handles disabled state logic.

◆ NonePeriodic()

virtual void wpi::OpModeRobotBase::NonePeriodic ( )

inlinevirtual

Function called periodically anytime when no opmode is selected, including when the Driver Station is disconnected.

◆ operator=()

OpModeRobotBase & wpi::OpModeRobotBase::operator= ( OpModeRobotBase && )

delete

◆ PublishOpModes()

void wpi::OpModeRobotBase::PublishOpModes ( )

Publishes the operating mode options to the driver station.

◆ RemoveOpMode()

void wpi::OpModeRobotBase::RemoveOpMode	(	RobotMode	mode,
		std::string_view	name )

Removes an operating mode option.

It's necessary to call PublishOpModes() to make the removed mode no longer visible to the driver station.

Parameters

mode	robot mode
name	name of the operating mode

◆ RobotPeriodic()

virtual void wpi::OpModeRobotBase::RobotPeriodic ( )

inlinevirtual

Function called periodically every loop, regardless of enabled state or OpMode selection.

◆ SimulationInit()

virtual void wpi::OpModeRobotBase::SimulationInit ( )

inlinevirtual

Function called once during robot initialization in simulation.

◆ SimulationPeriodic()

virtual void wpi::OpModeRobotBase::SimulationPeriodic ( )

inlinevirtual

Function called periodically in simulation.

◆ StartCompetition()

void wpi::OpModeRobotBase::StartCompetition ( )

overridevirtual

Provide an alternate "main loop" via StartCompetition().

Implements wpi::RobotBase.

Member Data Documentation

◆ DEFAULT_PERIOD

auto wpi::OpModeRobotBase::DEFAULT_PERIOD = 20_ms

staticconstexpr

Default loop period.

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

wpi/framework/OpModeRobot.hpp

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ OpModeFactory

Constructor & Destructor Documentation

◆ OpModeRobotBase() [1/3]

◆ OpModeRobotBase() [2/3]

◆ OpModeRobotBase() [3/3]

Member Function Documentation

◆ AddOpModeFactory() [1/2]

◆ AddOpModeFactory() [2/2]

◆ AddPeriodic()

◆ ClearOpModes()

◆ DisabledExit()

◆ DisabledInit()

◆ DisabledPeriodic()

◆ DriverStationConnected()

◆ EndCompetition()

◆ GetLoopStartTime()

◆ LoopFunc()

◆ NonePeriodic()

◆ operator=()

◆ PublishOpModes()

◆ RemoveOpMode()

◆ RobotPeriodic()

◆ SimulationInit()

◆ SimulationPeriodic()

◆ StartCompetition()

Member Data Documentation

◆ DEFAULT_PERIOD