RobotBase.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef ROBOT_H_
#define ROBOT_H_

#include "Base.h"
#include "Task.h"
#include "Watchdog.h"

class DriverStation;

#define START_ROBOT_CLASS(_ClassName_) \
        RobotBase *FRC_userClassFactory() \
        { \
                return new _ClassName_(); \
        } \
        extern "C" { \
                INT32 FRC_UserProgram_StartupLibraryInit() \
                { \
                        RobotBase::startRobotTask((FUNCPTR)FRC_userClassFactory); \
                        return 0; \
                } \
        }

class RobotBase {
        friend class RobotDeleter;
public:
        static RobotBase &getInstance();
        static void setInstance(RobotBase* robot);

        bool IsEnabled();
        bool IsDisabled();
        bool IsAutonomous();
        bool IsOperatorControl();
        bool IsSystemActive();
        bool IsNewDataAvailable();
        Watchdog &GetWatchdog();
        static void startRobotTask(FUNCPTR factory);
        static void robotTask(FUNCPTR factory, Task *task);

protected:
        virtual ~RobotBase();
        virtual void StartCompetition() = 0;
        RobotBase();

        Task *m_task;
        Watchdog m_watchdog;
        DriverStation *m_ds;

private:
        static RobotBase *m_instance;
        DISALLOW_COPY_AND_ASSIGN(RobotBase);
};

#endif