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_t 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 IsTest();
    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();
    static void WriteVersionString();

    Task *m_task;
    Watchdog m_watchdog;
    DriverStation *m_ds;
private:
    static RobotBase *m_instance;
    DISALLOW_COPY_AND_ASSIGN(RobotBase);
};

#endif