wpi::RobotBase Class Reference

Implement a Robot Program framework. More...

#include <wpi/framework/RobotBase.hpp>

Inheritance diagram for wpi::RobotBase:

Public Member Functions
virtual void	StartCompetition ()=0
	Start the main robot code.
virtual void	EndCompetition ()=0
	Ends the main loop in StartCompetition().
	RobotBase ()
	Constructor for a generic robot program.
virtual	~RobotBase ()=default

Static Public Member Functions
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
	RobotBase (RobotBase &&)=default
RobotBase &	operator= (RobotBase &&)=default

Protected Attributes
NT_Listener	connListenerHandle

Static Protected Attributes
static std::thread::id	m_threadId

Detailed Description

Implement a Robot Program framework.

The RobotBase class is intended to be subclassed to create a robot program. The user must implement StartCompetition() which will be called once and is not expected to exit. The user must also implement EndCompetition(), which signals to the code in StartCompetition() that it should exit.

It is not recommended to subclass this class directly - instead subclass IterativeRobotBase or TimedRobot.

Constructor & Destructor Documentation

RobotBase() [1/2]

wpi::RobotBase::RobotBase

(

)

Constructor for a generic robot program.

User code can be placed in the constructor that runs before the Autonomous or Operator Control period starts. The constructor will run to completion before Autonomous is entered.

This must be used to ensure that the communications code starts. In the future it would be nice to put this code into it's own task that loads on boot so ensure that it runs.

~RobotBase()

virtual wpi::RobotBase::~RobotBase ( )

virtualdefault

RobotBase() [2/2]

wpi::RobotBase::RobotBase ( RobotBase && )

protecteddefault

Member Function Documentation

EndCompetition()

virtual void wpi::RobotBase::EndCompetition ( )

pure virtual

Ends the main loop in StartCompetition().

Implemented in wpi::OpModeRobotBase, and wpi::TimedRobot.

GetOpMode()

std::string wpi::RobotBase::GetOpMode ( )

static

Gets the currently selected operating mode of the driver station.

Note this does not mean the robot is enabled; use IsEnabled() for that.

Returns

Operating mode string; may return a string not in the list of options, so callers should be prepared to handle that case

GetOpModeId()

int64_t wpi::RobotBase::GetOpModeId ( )

static

Gets the currently selected operating mode of the driver station.

Note this does not mean the robot is enabled; use IsEnabled() for that.

Returns

the unique ID provided by the DriverStation::AddOpMode() function; may return 0 or a unique ID not added, so callers should be prepared to handle that case

GetRuntimeType()

RuntimeType wpi::RobotBase::GetRuntimeType ( )

static

Get the current runtime type.

Returns

Current runtime type.

GetThreadId()

std::thread::id wpi::RobotBase::GetThreadId ( )

static

Returns the main thread ID.

Returns

The main thread ID.

IsAutonomous()

bool wpi::RobotBase::IsAutonomous ( )

static

Determine if the robot is currently in Autonomous mode.

Returns

True if the robot is currently operating Autonomously as determined by the Driver Station.

IsAutonomousEnabled()

bool wpi::RobotBase::IsAutonomousEnabled ( )

static

Determine if the robot is currently in Autonomous mode and enabled.

Returns

True if the robot us currently operating Autonomously while enabled as determined by the Driver Station.

IsDisabled()

bool wpi::RobotBase::IsDisabled ( )

static

Determine if the Robot is currently disabled.

Returns

True if the Robot is currently disabled by the Driver Station.

IsEnabled()

bool wpi::RobotBase::IsEnabled ( )

static

Determine if the Robot is currently enabled.

Returns

True if the Robot is currently enabled by the Driver Station.

IsReal()

constexpr bool wpi::RobotBase::IsReal ( )

inlinestaticconstexpr

Get if the robot is real.

Returns

If the robot is running in the real world.

IsSimulation()

constexpr bool wpi::RobotBase::IsSimulation ( )

inlinestaticconstexpr

Get if the robot is a simulation.

Returns

If the robot is running in simulation.

IsTeleop()

bool wpi::RobotBase::IsTeleop ( )

static

Determine if the robot is currently in Operator Control mode.

Returns

True if the robot is currently operating in Tele-Op mode as determined by the Driver Station.

IsTeleopEnabled()

bool wpi::RobotBase::IsTeleopEnabled ( )

static

Determine if the robot is current in Operator Control mode and enabled.

Returns

True if the robot is currently operating in Tele-Op mode while enabled as determined by the Driver Station.

IsTest()

bool wpi::RobotBase::IsTest ( )

static

Determine if the robot is currently in Test mode.

Returns

True if the robot is currently running in Test mode as determined by the Driver Station.

IsTestEnabled()

bool wpi::RobotBase::IsTestEnabled ( )

static

Determine if the robot is current in Test mode and enabled.

Returns

True if the robot is currently operating in Test mode while enabled as determined by the Driver Station.

operator=()

RobotBase & wpi::RobotBase::operator= ( RobotBase && )

protecteddefault

StartCompetition()

virtual void wpi::RobotBase::StartCompetition ( )

pure virtual

Start the main robot code.

This function will be called once and should not exit until signalled by EndCompetition()

Implemented in wpi::OpModeRobotBase, and wpi::TimedRobot.

Member Data Documentation

connListenerHandle

NT_Listener wpi::RobotBase::connListenerHandle

protected

m_threadId

std::thread::id wpi::RobotBase::m_threadId

staticprotected

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

• wpi/framework/RobotBase.hpp