/// <summary>
/// Starting point for robot applications. You can provide either an assembly, or a type.
/// If passed a type, it takes priority.
/// </summary>
/// <param name="robotAssembly">The assembly the main robot class is located in.</param>
/// <param name="robotType">The main robot class type</param>
public static void Main(Assembly robotAssembly, Type robotType = null)
{
try
{
InitializeHardwareConfiguration();
}
catch (Exception e)
{
Console.WriteLine("Static Robot Initialization Failed.");
Console.WriteLine(e);
Environment.Exit(1);
}
Report(ResourceType.kResourceType_Language, Instances.kLanguage_DotNet);
string robotName = "";
string robotAssemblyName = "";
//Find the robot code class
try
{
//If we were passed an assembly but not a type
if (robotType == null && robotAssembly != null)
{
//Load the first non abstract class inheriting from RobotBase we can find.
robotAssemblyName = robotAssembly.GetName().Name;
var robotClasses =
(from t in robotAssembly.GetTypes()
where typeof (RobotBase).IsAssignableFrom(t) && !t.IsAbstract && !t.IsInterface
select t)
.ToList();
if (robotClasses.Count == 0)
throw new Exception(
"Could not find base robot class. Are you sure the assembly got passed correctly to the main function?");
robotName = robotClasses[0].FullName;
s_robot = (RobotBase) (Activator.CreateInstance(robotAssemblyName, robotName)).Unwrap();
}
else
{
//If not type or assembly throw an exception
if (robotType == null)
{
throw new Exception("Both robotAssembly and robotType cannot be null.");
}
//Otherwise just initialize the type we were passed.
s_robot = (RobotBase) (Activator.CreateInstance(robotType));
}
s_robot.Prestart();
}
catch (Exception ex)
{
DriverStation.ReportError("ERROR Unhandled exception instantiating robot " + robotName + " " + ex + " at " + ex.StackTrace, false);
Console.Error.WriteLine("WARNING: Robots don't quit!");
Console.Error.WriteLine("Error: Could not instantiate robot " + robotName + "!");
Environment.Exit(1);
return;
}
//Write to the version file.
if (HALType == HALTypes.RoboRIO)
{
string file = "/tmp/frc_versions/FRC_Lib_Version.ini";
try
{
if (File.Exists(file))
File.Delete(file);
var version = Assembly.GetExecutingAssembly().GetName().Version;
File.WriteAllText(file, "RobotDotNet V" + version);
}
catch (IOException ex)
{
Console.WriteLine(ex.StackTrace);
}
}
bool errorOnExit = false;
try
{
s_robot.StartCompetition();
}
catch (Exception ex)
{
DriverStation.ReportError("ERROR Unhandled exception" + ex, false);
errorOnExit = true;
}
finally
{
Console.Error.WriteLine("WARNING: Robots don't quit!");
if (errorOnExit)
{
Console.Error.WriteLine("---> The StartCompetition() method (or methods called by it) should have handled the exception above.");
}
else
{
Console.Error.WriteLine("---> Unexpected return fom the StartCompetition() method.");
}
DriverStation.ReportError("ERROR StartCompetition() returned", false);
Environment.Exit(1);
}
}