Initial checkin of unified hierarchy of WPILib 2015

2026-07-06 03:31:43 +00:00 · 2013-12-15 18:30:16 -05:00
commit 3178911eef
1560 changed files with 410007 additions and 0 deletions
--- a/wpilibc/src/main/include/DriverStation.h
+++ b/wpilibc/src/main/include/DriverStation.h
@@ -0,0 +1,133 @@
+/*----------------------------------------------------------------------------*/
+/* 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 __DRIVER_STATION_H__
+#define __DRIVER_STATION_H__
+
+#include "Dashboard.h"
+#include "DriverStationEnhancedIO.h"
+#include "SensorBase.h"
+#include "Task.h"
+
+struct FRCCommonControlData;
+class AnalogChannel;
+
+/**
+ * Provide access to the network communication data to / from the Driver Station.
+ */
+class DriverStation : public SensorBase
+{
+public:
+	enum Alliance {kRed, kBlue, kInvalid};
+
+	virtual ~DriverStation();
+	static DriverStation *GetInstance();
+
+	static const uint32_t kBatteryModuleNumber = 1;
+	static const uint32_t kBatteryChannel = 8;
+	static const uint32_t kJoystickPorts = 4;
+	static const uint32_t kJoystickAxes = 6;
+
+	float GetStickAxis(uint32_t stick, uint32_t axis);
+	short GetStickButtons(uint32_t stick);
+
+	float GetAnalogIn(uint32_t channel);
+	bool GetDigitalIn(uint32_t channel);
+	void SetDigitalOut(uint32_t channel, bool value);
+	bool GetDigitalOut(uint32_t channel);
+
+	bool IsEnabled();
+	bool IsDisabled();
+    bool IsAutonomous();
+	bool IsOperatorControl();
+    bool IsTest();
+	bool IsNewControlData();
+	bool IsFMSAttached();
+
+	uint32_t GetPacketNumber();
+	Alliance GetAlliance();
+	uint32_t GetLocation();
+	void WaitForData();
+	double GetMatchTime();
+	float GetBatteryVoltage();
+	uint16_t GetTeamNumber();
+
+	// Get the default dashboard packers. These instances stay around even after
+	// a call to SetHigh|LowPriorityDashboardPackerToUse() changes which packer
+	// is in use. You can restore the default high priority packer by calling
+	// SetHighPriorityDashboardPackerToUse(&GetHighPriorityDashboardPacker()).
+	Dashboard& GetHighPriorityDashboardPacker() { return m_dashboardHigh; }
+	Dashboard& GetLowPriorityDashboardPacker() { return m_dashboardLow; }
+
+	// Get/set the dashboard packers to use. This can sideline or restore the
+	// default packers. Initializing SmartDashboard changes the high priority
+	// packer in use so beware that the default packer will then be idle. These
+	// methods support any kind of DashboardBase, e.g. a Dashboard or a
+	// SmartDashboard.
+	DashboardBase* GetHighPriorityDashboardPackerInUse() { return m_dashboardInUseHigh; }
+	DashboardBase* GetLowPriorityDashboardPackerInUse() { return m_dashboardInUseLow; }
+	void SetHighPriorityDashboardPackerToUse(DashboardBase* db) { m_dashboardInUseHigh = db; }
+	void SetLowPriorityDashboardPackerToUse(DashboardBase* db) { m_dashboardInUseLow = db; }
+
+	DriverStationEnhancedIO& GetEnhancedIO() { return m_enhancedIO; }
+
+	void IncrementUpdateNumber() { m_updateNumber++; }
+	MUTEX_ID GetUserStatusDataSem() { return m_statusDataSemaphore; }
+
+	/** Only to be used to tell the Driver Station what code you claim to be executing
+	 *   for diagnostic purposes only
+	 * @param entering If true, starting disabled code; if false, leaving disabled code */
+	void InDisabled(bool entering) {m_userInDisabled=entering;}
+	/** Only to be used to tell the Driver Station what code you claim to be executing
+	 *   for diagnostic purposes only
+	 * @param entering If true, starting autonomous code; if false, leaving autonomous code */
+	void InAutonomous(bool entering) {m_userInAutonomous=entering;}
+    /** Only to be used to tell the Driver Station what code you claim to be executing
+     *   for diagnostic purposes only
+     * @param entering If true, starting teleop code; if false, leaving teleop code */
+    void InOperatorControl(bool entering) {m_userInTeleop=entering;}
+    /** Only to be used to tell the Driver Station what code you claim to be executing
+     *   for diagnostic purposes only
+     * @param entering If true, starting test code; if false, leaving test code */
+    void InTest(bool entering) {m_userInTest=entering;}
+
+protected:
+	DriverStation();
+
+	void GetData();
+	void SetData();
+
+private:
+	static void InitTask(DriverStation *ds);
+	static DriverStation *m_instance;
+	static uint8_t m_updateNumber;
+	///< TODO: Get rid of this and use the semaphore signaling
+	static constexpr float kUpdatePeriod = 0.02;
+
+	void Run();
+
+	struct FRCCommonControlData *m_controlData;
+	uint8_t m_digitalOut;
+	AnalogChannel *m_batteryChannel;
+	MUTEX_ID m_statusDataSemaphore;
+	Task m_task;
+	Dashboard m_dashboardHigh;  // the default dashboard packers
+	Dashboard m_dashboardLow;
+	DashboardBase* m_dashboardInUseHigh;  // the current dashboard packers in use
+	DashboardBase* m_dashboardInUseLow;
+	SEMAPHORE_ID m_newControlData;
+	MUTEX_ID m_packetDataAvailableSem;
+	DriverStationEnhancedIO m_enhancedIO;
+	MULTIWAIT_ID m_waitForDataSem;
+	double m_approxMatchTimeOffset;
+	bool m_userInDisabled;
+	bool m_userInAutonomous;
+    bool m_userInTeleop;
+    bool m_userInTest;
+};
+
+#endif
+