allwpilib/wpilibc/wpilibC++/include/DriverStationLCD.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.  */
/*----------------------------------------------------------------------------*/
#pragma once

#include "SensorBase.h"
#include "HAL/Semaphore.hpp"
#include <stdarg.h>

/**
 * Provide access to "LCD" on the Driver Station.
 * This is the Messages box on the DS Operation tab.
 * 
 * Buffer the printed data locally and then send it
 * when UpdateLCD is called.
 */
class DriverStationLCD : public SensorBase
{
public:
	static const uint32_t kSyncTimeout_ms = 20;
	static const uint16_t kFullDisplayTextCommand = 0x9FFF;
	static const int32_t kLineLength = 21;
	static const int32_t kNumLines = 6;
	enum Line
	{
		kMain_Line6 = 0,
		kUser_Line1 = 0,
		kUser_Line2 = 1,
		kUser_Line3 = 2,
		kUser_Line4 = 3,
		kUser_Line5 = 4,
		kUser_Line6 = 5
	};

	virtual ~DriverStationLCD();
	static DriverStationLCD *GetInstance();

	void UpdateLCD();
	void Printf(Line line, int32_t startingColumn, const char *writeFmt, ...);
	void VPrintf(Line line, int32_t startingColumn, const char *writeFmt, va_list args);
	void PrintfLine(Line line, const char *writeFmt, ...);
	void VPrintfLine(Line line, const char *writeFmt, va_list args);

	void Clear();

protected:
	DriverStationLCD();

private:
	static void InitTask(DriverStationLCD *ds);
	static DriverStationLCD *m_instance;

	DISALLOW_COPY_AND_ASSIGN(DriverStationLCD);
	char *m_textBuffer;
	MUTEX_ID m_textBufferSemaphore;
};