private void PrintLoopOverrunMessage()
{
DriverStation.ReportWarning($"Loop time of {Period}s overrun\n", false);
}
private static void RunRobot <Robot>() where Robot : RobotBase, new()
{
Console.WriteLine("\n********** Robot program starting **********");
Robot robot;
try
{
robot = new Robot();
}
#pragma warning disable CA1031 // Do not catch general exception types
catch (Exception ex)
#pragma warning restore CA1031 // Do not catch general exception types
{
string robotName = typeof(Robot).Name;
DriverStation.ReportError(("Unhandled exception instanciating robot "
+ robotName + " " + ex.Message), ex.StackTrace !);
DriverStation.ReportWarning("Robots should not quit, but yours did!", false);
DriverStation.ReportError("Could not instanciate robot " + robotName + "!", false);
return;
}
lock (m_runMutex)
{
m_robotCopy = robot;
}
if (IsReal)
{
try
{
File.WriteAllText("/tmp/frc_versions/FRC_Lib_Version.ini", $"C# {WPILibVersion}");
}
catch (IOException ex)
{
DriverStation.ReportError("Could not write FRC_Lib_Version.ini: " + ex.Message, ex.StackTrace !);
}
}
bool errorOnExit = false;
try
{
robot.StartCompetition();
}
#pragma warning disable CA1031 // Do not catch general exception types
catch (Exception ex)
#pragma warning restore CA1031 // Do not catch general exception types
{
Console.WriteLine(ex);
DriverStation.ReportError("Unhandled Exception: " + ex.Message, ex.StackTrace !);
errorOnExit = true;
}
finally
{
bool suppressExitWarningLocal;
lock (m_runMutex)
{
suppressExitWarningLocal = suppressExitWarning;
}
if (!suppressExitWarningLocal)
{
DriverStation.ReportWarning("Robots should not quit, but yours did!", false);
if (errorOnExit)
{
DriverStation.ReportError("The StartCompetition() method (or methods called by it) should have handled the exception above.", false);
}
else
{
DriverStation.ReportError("Unexpected return from StartCompetition() method.", false);
}
}
}
}