mirror of
https://github.com/wpilibsuite/allwpilib
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Reordered DriverStation functions in wpilibc and wpilibj to match wpilibc header (#166)
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
c93b5bedf9
commit
1bf2d58db1
@@ -19,73 +19,11 @@ const double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
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const uint32_t DriverStation::kJoystickPorts;
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/**
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* DriverStation constructor.
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*
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* This is only called once the first time GetInstance() is called
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*/
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DriverStation::DriverStation() {
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m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
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m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
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m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
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m_joystickDescriptor =
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std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
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m_joystickAxesCache = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
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m_joystickPOVsCache = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
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m_joystickButtonsCache =
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std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
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m_joystickDescriptorCache =
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std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
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// All joysticks should default to having zero axes, povs and buttons, so
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// uninitialized memory doesn't get sent to speed controllers.
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for (unsigned int i = 0; i < kJoystickPorts; i++) {
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m_joystickAxes[i].count = 0;
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m_joystickPOVs[i].count = 0;
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m_joystickButtons[i].count = 0;
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m_joystickDescriptor[i].isXbox = 0;
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m_joystickDescriptor[i].type = -1;
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m_joystickDescriptor[i].name[0] = '\0';
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m_joystickAxesCache[i].count = 0;
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m_joystickPOVsCache[i].count = 0;
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m_joystickButtonsCache[i].count = 0;
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m_joystickDescriptorCache[i].isXbox = 0;
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m_joystickDescriptorCache[i].type = -1;
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m_joystickDescriptorCache[i].name[0] = '\0';
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}
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m_task = Task("DriverStation", &DriverStation::Run, this);
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}
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DriverStation::~DriverStation() {
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m_isRunning = false;
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m_task.join();
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}
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void DriverStation::Run() {
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m_isRunning = true;
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int period = 0;
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while (m_isRunning) {
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HAL_WaitForDSData();
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GetData();
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{
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std::lock_guard<priority_mutex> lock(m_waitForDataMutex);
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m_updatedControlLoopData = true;
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}
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m_waitForDataCond.notify_all();
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if (++period >= 4) {
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MotorSafetyHelper::CheckMotors();
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period = 0;
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}
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if (m_userInDisabled) HAL_ObserveUserProgramDisabled();
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if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous();
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if (m_userInTeleop) HAL_ObserveUserProgramTeleop();
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if (m_userInTest) HAL_ObserveUserProgramTest();
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}
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}
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/**
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* Return a pointer to the singleton DriverStation.
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*
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@@ -97,171 +35,34 @@ DriverStation& DriverStation::GetInstance() {
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}
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/**
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* Copy data from the DS task for the user.
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* Report an error to the DriverStation messages window.
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*
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* If no new data exists, it will just be returned, otherwise
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* the data will be copied from the DS polling loop.
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* The error is also printed to the program console.
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*/
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void DriverStation::GetData() {
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// Get the status of all of the joysticks, and save to the cache
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for (uint8_t stick = 0; stick < kJoystickPorts; stick++) {
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HAL_GetJoystickAxes(stick, &m_joystickAxesCache[stick]);
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HAL_GetJoystickPOVs(stick, &m_joystickPOVsCache[stick]);
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HAL_GetJoystickButtons(stick, &m_joystickButtonsCache[stick]);
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HAL_GetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]);
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}
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// Obtain a write lock on the data, swap the cached data into the
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// main data arrays
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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m_joystickAxes.swap(m_joystickAxesCache);
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m_joystickPOVs.swap(m_joystickPOVsCache);
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m_joystickButtons.swap(m_joystickButtonsCache);
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m_joystickDescriptor.swap(m_joystickDescriptorCache);
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m_newControlData.give();
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void DriverStation::ReportError(std::string error) {
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HAL_SendError(1, 1, 0, error.c_str(), "", "", 1);
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}
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/**
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* Read the battery voltage.
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* Report a warning to the DriverStation messages window.
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*
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* @return The battery voltage in Volts.
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* The warning is also printed to the program console.
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*/
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float DriverStation::GetBatteryVoltage() const {
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int32_t status = 0;
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float voltage = HAL_GetVinVoltage(&status);
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wpi_setErrorWithContext(status, "getVinVoltage");
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return voltage;
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void DriverStation::ReportWarning(std::string error) {
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HAL_SendError(0, 1, 0, error.c_str(), "", "", 1);
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}
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/**
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* Reports errors related to unplugged joysticks
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* Throttles the errors so that they don't overwhelm the DS
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*/
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void DriverStation::ReportJoystickUnpluggedError(std::string message) {
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double currentTime = Timer::GetFPGATimestamp();
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if (currentTime > m_nextMessageTime) {
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ReportError(message);
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m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
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}
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}
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/**
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* Reports errors related to unplugged joysticks.
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* Report an error to the DriverStation messages window.
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*
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* Throttles the errors so that they don't overwhelm the DS.
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* The error is also printed to the program console.
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*/
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void DriverStation::ReportJoystickUnpluggedWarning(std::string message) {
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double currentTime = Timer::GetFPGATimestamp();
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if (currentTime > m_nextMessageTime) {
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ReportWarning(message);
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m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
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}
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}
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/**
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* Returns the number of axes on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of axes on the indicated joystick
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*/
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int DriverStation::GetStickAxisCount(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return 0;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return m_joystickAxes[stick].count;
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}
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/**
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* Returns the name of the joystick at the given port.
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*
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* @param stick The joystick port number
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* @return The name of the joystick at the given port
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*/
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std::string DriverStation::GetJoystickName(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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std::string retVal(m_joystickDescriptor[stick].name);
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return retVal;
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}
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/**
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* Returns the type of joystick at a given port.
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*
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* @param stick The joystick port number
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* @return The HID type of joystick at the given port
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*/
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int DriverStation::GetJoystickType(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return -1;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return static_cast<int>(m_joystickDescriptor[stick].type);
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}
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/**
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* Returns a boolean indicating if the controller is an xbox controller.
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*
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* @param stick The joystick port number
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* @return A boolean that is true if the controller is an xbox controller.
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*/
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bool DriverStation::GetJoystickIsXbox(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return false;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return static_cast<bool>(m_joystickDescriptor[stick].isXbox);
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}
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/**
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* Returns the types of Axes on a given joystick port.
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*
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* @param stick The joystick port number and the target axis
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* @return What type of axis the axis is reporting to be
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*/
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int DriverStation::GetJoystickAxisType(uint32_t stick, uint8_t axis) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return -1;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return m_joystickDescriptor[stick].axisTypes[axis];
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}
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/**
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* Returns the number of POVs on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of POVs on the indicated joystick
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*/
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int DriverStation::GetStickPOVCount(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return 0;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return m_joystickPOVs[stick].count;
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}
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/**
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* Returns the number of buttons on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of buttons on the indicated joystick
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*/
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int DriverStation::GetStickButtonCount(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return 0;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return m_joystickButtons[stick].count;
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void DriverStation::ReportError(bool is_error, int32_t code,
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const std::string& error,
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const std::string& location,
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const std::string& stack) {
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HAL_SendError(is_error, code, 0, error.c_str(), location.c_str(),
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stack.c_str(), 1);
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}
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/**
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@@ -364,6 +165,111 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button) {
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return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
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}
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/**
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* Returns the number of axes on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of axes on the indicated joystick
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*/
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int DriverStation::GetStickAxisCount(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return 0;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return m_joystickAxes[stick].count;
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}
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/**
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* Returns the number of POVs on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of POVs on the indicated joystick
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*/
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int DriverStation::GetStickPOVCount(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return 0;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return m_joystickPOVs[stick].count;
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}
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/**
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* Returns the number of buttons on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of buttons on the indicated joystick
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*/
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int DriverStation::GetStickButtonCount(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return 0;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return m_joystickButtons[stick].count;
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}
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/**
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* Returns a boolean indicating if the controller is an xbox controller.
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*
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* @param stick The joystick port number
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* @return A boolean that is true if the controller is an xbox controller.
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*/
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bool DriverStation::GetJoystickIsXbox(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return false;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return static_cast<bool>(m_joystickDescriptor[stick].isXbox);
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}
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/**
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* Returns the type of joystick at a given port.
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*
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* @param stick The joystick port number
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* @return The HID type of joystick at the given port
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*/
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int DriverStation::GetJoystickType(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return -1;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return static_cast<int>(m_joystickDescriptor[stick].type);
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}
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/**
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* Returns the name of the joystick at the given port.
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*
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* @param stick The joystick port number
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* @return The name of the joystick at the given port
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*/
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std::string DriverStation::GetJoystickName(uint32_t stick) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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std::string retVal(m_joystickDescriptor[stick].name);
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return retVal;
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}
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/**
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* Returns the types of Axes on a given joystick port.
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*
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* @param stick The joystick port number and the target axis
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* @return What type of axis the axis is reporting to be
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*/
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int DriverStation::GetJoystickAxisType(uint32_t stick, uint8_t axis) const {
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if (stick >= kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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return -1;
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}
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std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
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return m_joystickDescriptor[stick].axisTypes[axis];
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}
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/**
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* Check if the DS has enabled the robot.
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*
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@@ -430,6 +336,31 @@ bool DriverStation::IsDSAttached() const {
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return controlWord.dsAttached;
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}
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/**
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* Has a new control packet from the driver station arrived since the last time
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* this function was called?
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*
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* Warning: If you call this function from more than one place at the same time,
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* you will not get the intended behavior.
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*
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* @return True if the control data has been updated since the last call.
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*/
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bool DriverStation::IsNewControlData() const {
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return m_newControlData.tryTake() == false;
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}
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/**
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* Is the driver station attached to a Field Management System?
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*
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* @return True if the robot is competing on a field being controlled by a Field
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* Management System
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*/
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bool DriverStation::IsFMSAttached() const {
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HAL_ControlWord controlWord;
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HAL_GetControlWord(&controlWord);
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return controlWord.fmsAttached;
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}
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/**
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* Check if the FPGA outputs are enabled.
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*
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@@ -457,31 +388,6 @@ bool DriverStation::IsBrownedOut() const {
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return retVal;
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}
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/**
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* Has a new control packet from the driver station arrived since the last time
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* this function was called?
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*
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* Warning: If you call this function from more than one place at the same time,
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* you will not get the intended behavior.
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*
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* @return True if the control data has been updated since the last call.
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*/
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bool DriverStation::IsNewControlData() const {
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return m_newControlData.tryTake() == false;
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}
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/**
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* Is the driver station attached to a Field Management System?
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*
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* @return True if the robot is competing on a field being controlled by a Field
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* Management System
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*/
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bool DriverStation::IsFMSAttached() const {
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HAL_ControlWord controlWord;
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HAL_GetControlWord(&controlWord);
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return controlWord.fmsAttached;
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}
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/**
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* Return the alliance that the driver station says it is on.
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*
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@@ -568,32 +474,126 @@ double DriverStation::GetMatchTime() const {
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}
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/**
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* Report an error to the DriverStation messages window.
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* Read the battery voltage.
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*
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* The error is also printed to the program console.
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* @return The battery voltage in Volts.
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*/
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void DriverStation::ReportError(std::string error) {
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HAL_SendError(1, 1, 0, error.c_str(), "", "", 1);
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float DriverStation::GetBatteryVoltage() const {
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int32_t status = 0;
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float voltage = HAL_GetVinVoltage(&status);
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wpi_setErrorWithContext(status, "getVinVoltage");
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return voltage;
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}
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/**
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* Report a warning to the DriverStation messages window.
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* Copy data from the DS task for the user.
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*
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* The warning is also printed to the program console.
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* If no new data exists, it will just be returned, otherwise
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* the data will be copied from the DS polling loop.
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||||
*/
|
||||
void DriverStation::ReportWarning(std::string error) {
|
||||
HAL_SendError(0, 1, 0, error.c_str(), "", "", 1);
|
||||
void DriverStation::GetData() {
|
||||
// Get the status of all of the joysticks, and save to the cache
|
||||
for (uint8_t stick = 0; stick < kJoystickPorts; stick++) {
|
||||
HAL_GetJoystickAxes(stick, &m_joystickAxesCache[stick]);
|
||||
HAL_GetJoystickPOVs(stick, &m_joystickPOVsCache[stick]);
|
||||
HAL_GetJoystickButtons(stick, &m_joystickButtonsCache[stick]);
|
||||
HAL_GetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]);
|
||||
}
|
||||
// Obtain a write lock on the data, swap the cached data into the
|
||||
// main data arrays
|
||||
std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
|
||||
m_joystickAxes.swap(m_joystickAxesCache);
|
||||
m_joystickPOVs.swap(m_joystickPOVsCache);
|
||||
m_joystickButtons.swap(m_joystickButtonsCache);
|
||||
m_joystickDescriptor.swap(m_joystickDescriptorCache);
|
||||
|
||||
m_newControlData.give();
|
||||
}
|
||||
|
||||
/**
|
||||
* Report an error to the DriverStation messages window.
|
||||
* DriverStation constructor.
|
||||
*
|
||||
* The error is also printed to the program console.
|
||||
* This is only called once the first time GetInstance() is called
|
||||
*/
|
||||
void DriverStation::ReportError(bool is_error, int32_t code,
|
||||
const std::string& error,
|
||||
const std::string& location,
|
||||
const std::string& stack) {
|
||||
HAL_SendError(is_error, code, 0, error.c_str(), location.c_str(),
|
||||
stack.c_str(), 1);
|
||||
DriverStation::DriverStation() {
|
||||
m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
|
||||
m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
|
||||
m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
|
||||
m_joystickDescriptor =
|
||||
std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
|
||||
m_joystickAxesCache = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
|
||||
m_joystickPOVsCache = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
|
||||
m_joystickButtonsCache =
|
||||
std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
|
||||
m_joystickDescriptorCache =
|
||||
std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
|
||||
|
||||
// All joysticks should default to having zero axes, povs and buttons, so
|
||||
// uninitialized memory doesn't get sent to speed controllers.
|
||||
for (unsigned int i = 0; i < kJoystickPorts; i++) {
|
||||
m_joystickAxes[i].count = 0;
|
||||
m_joystickPOVs[i].count = 0;
|
||||
m_joystickButtons[i].count = 0;
|
||||
m_joystickDescriptor[i].isXbox = 0;
|
||||
m_joystickDescriptor[i].type = -1;
|
||||
m_joystickDescriptor[i].name[0] = '\0';
|
||||
|
||||
m_joystickAxesCache[i].count = 0;
|
||||
m_joystickPOVsCache[i].count = 0;
|
||||
m_joystickButtonsCache[i].count = 0;
|
||||
m_joystickDescriptorCache[i].isXbox = 0;
|
||||
m_joystickDescriptorCache[i].type = -1;
|
||||
m_joystickDescriptorCache[i].name[0] = '\0';
|
||||
}
|
||||
|
||||
m_task = Task("DriverStation", &DriverStation::Run, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Reports errors related to unplugged joysticks
|
||||
* Throttles the errors so that they don't overwhelm the DS
|
||||
*/
|
||||
void DriverStation::ReportJoystickUnpluggedError(std::string message) {
|
||||
double currentTime = Timer::GetFPGATimestamp();
|
||||
if (currentTime > m_nextMessageTime) {
|
||||
ReportError(message);
|
||||
m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Reports errors related to unplugged joysticks.
|
||||
*
|
||||
* Throttles the errors so that they don't overwhelm the DS.
|
||||
*/
|
||||
void DriverStation::ReportJoystickUnpluggedWarning(std::string message) {
|
||||
double currentTime = Timer::GetFPGATimestamp();
|
||||
if (currentTime > m_nextMessageTime) {
|
||||
ReportWarning(message);
|
||||
m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
|
||||
}
|
||||
}
|
||||
|
||||
void DriverStation::Run() {
|
||||
m_isRunning = true;
|
||||
int period = 0;
|
||||
while (m_isRunning) {
|
||||
HAL_WaitForDSData();
|
||||
GetData();
|
||||
{
|
||||
std::lock_guard<priority_mutex> lock(m_waitForDataMutex);
|
||||
m_updatedControlLoopData = true;
|
||||
}
|
||||
m_waitForDataCond.notify_all();
|
||||
|
||||
if (++period >= 4) {
|
||||
MotorSafetyHelper::CheckMotors();
|
||||
period = 0;
|
||||
}
|
||||
if (m_userInDisabled) HAL_ObserveUserProgramDisabled();
|
||||
if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous();
|
||||
if (m_userInTeleop) HAL_ObserveUserProgramTeleop();
|
||||
if (m_userInTest) HAL_ObserveUserProgramTest();
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user