TimedRobot implements the IterativeRobotBase robot program framework. More...

#include <wpi/framework/TimedRobot.hpp>

Inheritance diagram for wpi::TimedRobot:

Public Member Functions
void	StartCompetition () override
	Provide an alternate "main loop" via StartCompetition().
void	EndCompetition () override
	Ends the main loop in StartCompetition().
	TimedRobot (wpi::units::second_t period=DEFAULT_PERIOD)
	Constructor for TimedRobot.
	TimedRobot (wpi::units::hertz_t frequency)
	Constructor for TimedRobot.
	TimedRobot (TimedRobot &&)=default
TimedRobot &	operator= (TimedRobot &&)=default
	~TimedRobot () override
wpi::units::microsecond_t	GetLoopStartTime () const
	Return the system clock time in microseconds for the start of the current periodic loop.
void	AddPeriodic (std::function< void()> callback, wpi::units::second_t period, wpi::units::second_t offset=0_s)
	Add a callback to run at a specific period with a starting time offset.
Public Member Functions inherited from wpi::IterativeRobotBase
virtual void	DriverStationConnected ()
	Code that needs to know the DS state should go here.
virtual void	SimulationInit ()
	Robot-wide simulation initialization code should go here.
virtual void	DisabledInit ()
	Initialization code for disabled mode should go here.
virtual void	AutonomousInit ()
	Initialization code for autonomous mode should go here.
virtual void	TeleopInit ()
	Initialization code for teleop mode should go here.
virtual void	UtilityInit ()
	Initialization code for utility mode should go here.
virtual void	RobotPeriodic ()
	Periodic code for all modes should go here.
virtual void	SimulationPeriodic ()
	Periodic simulation code should go here.
virtual void	DisabledPeriodic ()
	Periodic code for disabled mode should go here.
virtual void	AutonomousPeriodic ()
	Periodic code for autonomous mode should go here.
virtual void	TeleopPeriodic ()
	Periodic code for teleop mode should go here.
virtual void	UtilityPeriodic ()
	Periodic code for utility mode should go here.
virtual void	DisabledExit ()
	Exit code for disabled mode should go here.
virtual void	AutonomousExit ()
	Exit code for autonomous mode should go here.
virtual void	TeleopExit ()
	Exit code for teleop mode should go here.
virtual void	UtilityExit ()
	Exit code for utility mode should go here.
wpi::units::second_t	GetPeriod () const
	Gets time period between calls to Periodic() functions.
void	PrintWatchdogEpochs ()
	Prints list of epochs added so far and their times.
	IterativeRobotBase (wpi::units::second_t period)
	Constructor for IterativeRobotBase.
	~IterativeRobotBase () override=default
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 Attributes
wpi::hal::Handle< HAL_NotifierHandle, HAL_DestroyNotifier >	m_notifier
std::chrono::microseconds	m_startTime
Protected Attributes inherited from wpi::RobotBase
NT_Listener	connListenerHandle

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 Member Functions inherited from wpi::IterativeRobotBase
	IterativeRobotBase (IterativeRobotBase &&)=default
IterativeRobotBase &	operator= (IterativeRobotBase &&)=default
void	LoopFunc ()
	Loop function.
Protected Member Functions inherited from wpi::RobotBase
	RobotBase (RobotBase &&)=default
RobotBase &	operator= (RobotBase &&)=default
Static Protected Attributes inherited from wpi::RobotBase
static std::thread::id	m_threadId

Detailed Description

TimedRobot implements the IterativeRobotBase robot program framework.

The TimedRobot class is intended to be subclassed by a user creating a robot program.

Periodic() functions from the base class are called on an interval by a Notifier instance.

Constructor & Destructor Documentation

◆ TimedRobot() [1/3]

wpi::TimedRobot::TimedRobot ( wpi::units::second_t period = DEFAULT_PERIOD )

explicit

Constructor for TimedRobot.

Parameters

period The period of the robot loop function.

◆ TimedRobot() [2/3]

wpi::TimedRobot::TimedRobot ( wpi::units::hertz_t frequency )

explicit

Constructor for TimedRobot.

Parameters

frequency The frequency of the robot loop function.

◆ TimedRobot() [3/3]

wpi::TimedRobot::TimedRobot ( TimedRobot && )

default

◆ ~TimedRobot()

wpi::TimedRobot::~TimedRobot ( )

override

Member Function Documentation

◆ AddPeriodic()

void wpi::TimedRobot::AddPeriodic	(	std::function< void()>	callback,
		wpi::units::second_t	period,
		wpi::units::second_t	offset = 0_s )

Add a callback to run at a specific period with a starting time offset.

This is scheduled on TimedRobot's Notifier, so TimedRobot and the callback run synchronously. Interactions between them are thread-safe.

Parameters

callback	The callback to run.
period	The period at which to run the callback.
offset	The offset from the common starting time. This is useful for scheduling a callback in a different timeslot relative to TimedRobot.

◆ EndCompetition()

void wpi::TimedRobot::EndCompetition ( )

overridevirtual

Ends the main loop in StartCompetition().

Implements wpi::RobotBase.

◆ GetLoopStartTime()

wpi::units::microsecond_t wpi::TimedRobot::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.

◆ operator=()

TimedRobot & wpi::TimedRobot::operator= ( TimedRobot && )

default

◆ StartCompetition()

void wpi::TimedRobot::StartCompetition ( )

overridevirtual

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

Implements wpi::RobotBase.

Member Data Documentation

◆ DEFAULT_PERIOD

auto wpi::TimedRobot::DEFAULT_PERIOD = 20_ms

staticconstexpr

Default loop period.

◆ m_notifier

wpi::hal::Handle<HAL_NotifierHandle, HAL_DestroyNotifier> wpi::TimedRobot::m_notifier

protected

◆ m_startTime

std::chrono::microseconds wpi::TimedRobot::m_startTime

protected

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

wpi/framework/TimedRobot.hpp

Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TimedRobot() [1/3]

◆ TimedRobot() [2/3]

◆ TimedRobot() [3/3]

◆ ~TimedRobot()

Member Function Documentation

◆ AddPeriodic()

◆ EndCompetition()

◆ GetLoopStartTime()

◆ operator=()

◆ StartCompetition()

Member Data Documentation

◆ DEFAULT_PERIOD

◆ m_notifier

◆ m_startTime