refactored HAL library

builds two libraries, Athena and Desktop. Simulation should use Desktop, Robots should use Athena Also: - copied Driverstation and Joystick from Devices into Sim - Descreased dependency of pthreads in JNI. - removed Simulation ifdef from non simulation - added missing decprecated attribute for msvc - removed usage reporting from sim - removed unused pom.xml and constexpr Change-Id: If8eb540f9434dce17c77a245fda6985713e80b2d
2026-07-01 02:41:48 +00:00 · 2015-08-19 11:12:54 -04:00
parent 43960b9bca
commit 4514e4489a
27 changed files with 1240 additions and 1041 deletions
--- a/wpilibc/wpilibC++Sim/src/DriverStation.cpp
+++ b/wpilibc/wpilibC++Sim/src/DriverStation.cpp
@@ -1,81 +1,227 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* 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.  */
 /*----------------------------------------------------------------------------*/

 #include "DriverStation.h"
+#include "AnalogInput.h"
 #include "Timer.h"
-#include "simulation/MainNode.h"
-//#include "MotorSafetyHelper.h"
+#include "NetworkCommunication/FRCComm.h"
+#include "MotorSafetyHelper.h"
 #include "Utility.h"
 #include "WPIErrors.h"
 #include <string.h>
 #include "Log.hpp"
-#include "boost/mem_fn.hpp"

 // set the logging level
 TLogLevel dsLogLevel = logDEBUG;
+const double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;

 #define DS_LOG(level) \
-    if (level > dsLogLevel) ; \
-    else Log().Get(level)
+  if (level > dsLogLevel) ; \
+  else Log().Get(level)

-const uint32_t DriverStation::kBatteryChannel;
 const uint32_t DriverStation::kJoystickPorts;
-const uint32_t DriverStation::kJoystickAxes;
-const float DriverStation::kUpdatePeriod = 0.02;
-uint8_t DriverStation::m_updateNumber = 0;

 /**
- * DriverStation contructor.
+ * DriverStation constructor.
 *
 * This is only called once the first time GetInstance() is called
 */
 DriverStation::DriverStation() {
-	state = msgs::DriverStationPtr(new msgs::DriverStation());
-	stateSub = MainNode::Subscribe("~/ds/state",
-		                   &DriverStation::stateCallback, this);
-	// TODO: for loop + boost bind
-	joysticks[0] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
-	joysticksSub[0] =  MainNode::Subscribe("~/ds/joysticks/0",
-		                           &DriverStation::joystickCallback0, this);
-	joysticks[1] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
-	joysticksSub[1] =  MainNode::Subscribe("~/ds/joysticks/1",
-		                           &DriverStation::joystickCallback1, this);
-	joysticks[2] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
-	joysticksSub[2] =  MainNode::Subscribe("~/ds/joysticks/2",
-		                           &DriverStation::joystickCallback2, this);
-	joysticks[3] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
-	joysticksSub[3] =  MainNode::Subscribe("~/ds/joysticks/5",
-	                                   &DriverStation::joystickCallback3, this);
-	joysticks[4] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
-	joysticksSub[4] =  MainNode::Subscribe("~/ds/joysticks/4",
-	                                   &DriverStation::joystickCallback4, this);
-	joysticks[5] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
-	joysticksSub[5] =  MainNode::Subscribe("~/ds/joysticks/5",
-	                                   &DriverStation::joystickCallback5, this);
+  // 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';
+  }
+  // Register that semaphore with the network communications task.
+  // It will signal when new packet data is available.
+  HALSetNewDataSem(m_packetDataAvailableCond.native_handle());

-	AddToSingletonList();
+  AddToSingletonList();
+
+}
+
+void DriverStation::Run() {
+  int period = 0;
+  while (true) {
+    {
+      std::unique_lock<priority_mutex> lock(m_packetDataAvailableMutex);
+      m_packetDataAvailableCond.wait(lock);
+    }
+    GetData();
+    m_waitForDataCond.notify_all();
+
+    if (++period >= 4) {
+      MotorSafetyHelper::CheckMotors();
+      period = 0;
+    }
+    if (m_userInDisabled) HALNetworkCommunicationObserveUserProgramDisabled();
+    if (m_userInAutonomous) HALNetworkCommunicationObserveUserProgramAutonomous();
+    if (m_userInTeleop) HALNetworkCommunicationObserveUserProgramTeleop();
+    if (m_userInTest) HALNetworkCommunicationObserveUserProgramTest();
+  }
 }

 /**
- * Return a pointer to the singleton DriverStation.
+ * Return a reference to the singleton DriverStation.
+ * @return Pointer to the DS instance
 */
-DriverStation* DriverStation::GetInstance()
-{
-	static DriverStation instance;
-	return &instance;
+DriverStation &DriverStation::GetInstance() {
+  static DriverStation instance;
+  return instance;
 }

 /**
- * Read the battery voltage. Hardcoded to 12 volts for Simulation.
+ * Copy data from the DS task for the user.
+ * If no new data exists, it will just be returned, otherwise
+ * the data will be copied from the DS polling loop.
+ */
+void DriverStation::GetData() {
+  // Get the status of all of the joysticks
+  for (uint8_t stick = 0; stick < kJoystickPorts; stick++) {
+    HALGetJoystickAxes(stick, &m_joystickAxes[stick]);
+    HALGetJoystickPOVs(stick, &m_joystickPOVs[stick]);
+    HALGetJoystickButtons(stick, &m_joystickButtons[stick]);
+    HALGetJoystickDescriptor(stick, &m_joystickDescriptor[stick]);
+  }
+  m_newControlData.give();
+}
+
+/**
+ * Read the battery voltage.
 *
- * @return The battery voltage.
+ * @return The battery voltage in Volts.
 */
-float DriverStation::GetBatteryVoltage() const
-{
-	return 12.0; // 12 volts all the time!
+float DriverStation::GetBatteryVoltage() const {
+  int32_t status = 0;
+  float voltage = getVinVoltage(&status);
+  wpi_setErrorWithContext(status, "getVinVoltage");
+
+  return voltage;
+}
+
+/**
+ * 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;
+  }
+}
+
+/**
+ * Returns the number of axes on a given joystick port
+ *
+ * @param stick The joystick port number
+ * @return The number of axes on the indicated joystick
+ */
+int DriverStation::GetStickAxisCount(uint32_t stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }
+  HALJoystickAxes joystickAxes;
+  HALGetJoystickAxes(stick, &joystickAxes);
+  return joystickAxes.count;
+}
+
+/**
+ * Returns the name of the joystick at the given port
+ *
+ * @param stick The joystick port number
+ * @return The name of the joystick at the given port
+ */
+std::string DriverStation::GetJoystickName(uint32_t stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+  }
+  std::string retVal(m_joystickDescriptor[0].name);
+  return retVal;
+}
+
+/**
+ * Returns the type of joystick at a given port
+ *
+ * @param stick The joystick port number
+ * @return The HID type of joystick at the given port
+ */
+int DriverStation::GetJoystickType(uint32_t stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return -1;
+  }
+  return (int)m_joystickDescriptor[stick].type;
+}
+
+/**
+ * Returns a boolean indicating if the controller is an xbox controller.
+ *
+ * @param stick The joystick port number
+ * @return A boolean that is true if the controller is an xbox controller.
+ */
+bool DriverStation::GetJoystickIsXbox(uint32_t stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return false;
+  }
+  return (bool)m_joystickDescriptor[stick].isXbox;
+}
+
+/**
+ * Returns the types of Axes on a given joystick port
+ *
+ * @param stick The joystick port number and the target axis
+ * @return What type of axis the axis is reporting to be
+ */
+int DriverStation::GetJoystickAxisType(uint32_t stick, uint8_t axis) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return -1;
+  }
+  return m_joystickDescriptor[stick].axisTypes[axis];
+}
+
+/**
+ * Returns the number of POVs on a given joystick port
+ *
+ * @param stick The joystick port number
+ * @return The number of POVs on the indicated joystick
+ */
+int DriverStation::GetStickPOVCount(uint32_t stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }
+  HALJoystickPOVs joystickPOVs;
+  HALGetJoystickPOVs(stick, &joystickPOVs);
+  return joystickPOVs.count;
+}
+
+/**
+ * Returns the number of buttons on a given joystick port
+ *
+ * @param stick The joystick port number
+ * @return The number of buttons on the indicated joystick
+ */
+int DriverStation::GetStickButtonCount(uint32_t stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }
+  HALJoystickButtons joystickButtons;
+  HALGetJoystickButtons(stick, &joystickButtons);
+  return joystickButtons.count;
 }

 /**
@@ -86,285 +232,287 @@ float DriverStation::GetBatteryVoltage() const
 * @param axis The analog axis value to read from the joystick.
 * @return The value of the axis on the joystick.
 */
-float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
-{
-	if (axis < 0 || axis > (kJoystickAxes - 1))
-	{
-		wpi_setWPIError(BadJoystickAxis);
-		return 0.0;
-	}
-	if (stick < 0 || stick > 5)
-	{
-		wpi_setWPIError(BadJoystickIndex);
-		return 0.0;
-	}
+float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis) {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }

-	std::unique_lock<std::recursive_mutex> lock(m_joystickMutex);
-	if (joysticks[stick] == nullptr || axis >= joysticks[stick]->axes().size())
-	{
-		return 0.0;
-	}
-	return joysticks[stick]->axes(axis);
+  if (axis >= m_joystickAxes[stick].count) {
+    if (axis >= kMaxJoystickAxes) {
+      wpi_setWPIError(BadJoystickAxis);
+    }
+    else {
+      ReportJoystickUnpluggedError(
+          "WARNING: Joystick Axis missing, check if all controllers are "
+          "plugged in\n");
+    }
+    return 0.0f;
+  }
+
+  int8_t value = m_joystickAxes[stick].axes[axis];
+
+  if (value < 0) {
+    return value / 128.0f;
+  } else {
+    return value / 127.0f;
+  }
 }

 /**
- * The state of a specific button (1 - 12) on the joystick.
- * This method only works in simulation, but is more efficient than GetStickButtons.
+ * Get the state of a POV on the joystick.
 *
- * @param stick The joystick to read.
- * @param button The button number to check.
- * @return If the button is pressed.
+ * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
 */
-bool DriverStation::GetStickButton(uint32_t stick, uint32_t button)
-{
-    if (stick < 0 || stick >= 6)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "stick must be between 0 and 5");
-		return false;
-	}
+int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return -1;
+  }

-	std::unique_lock<std::recursive_mutex> lock(m_joystickMutex);
-	if (joysticks[stick] == nullptr || button >= joysticks[stick]->buttons().size())
-	{
-		return false;
-	}
-	return joysticks[stick]->buttons(button-1);
+  if (pov >= m_joystickPOVs[stick].count) {
+    if (pov >= kMaxJoystickPOVs) {
+      wpi_setWPIError(BadJoystickAxis);
+    }
+    else {
+      ReportJoystickUnpluggedError(
+          "WARNING: Joystick POV missing, check if all controllers are plugged "
+          "in\n");
+    }
+    return -1;
+  }
+
+  return m_joystickPOVs[stick].povs[pov];
 }

 /**
 * The state of the buttons on the joystick.
- * 12 buttons (4 msb are unused) from the joystick.
 *
 * @param stick The joystick to read.
 * @return The state of the buttons on the joystick.
 */
-short DriverStation::GetStickButtons(uint32_t stick)
-{
-    if (stick < 0 || stick >= 6)
-	{
-		wpi_setWPIErrorWithContext(ParameterOutOfRange, "stick must be between 0 and 5");
-		return false;
-	}
-	short btns = 0, btnid;
+uint32_t DriverStation::GetStickButtons(uint32_t stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }

-	std::unique_lock<std::recursive_mutex> lock(m_joystickMutex);
-	msgs::FRCJoystickPtr joy = joysticks[stick];
-	for (btnid = 0; btnid < joy->buttons().size() && btnid < 12; btnid++)
-	{
-		if (joysticks[stick]->buttons(btnid))
-		{
-			btns |= (1 << btnid);
-		}
-	}
-	return btns;
+  return m_joystickButtons[stick].buttons;
 }

-// 5V divided by 10 bits
-#define kDSAnalogInScaling ((float)(5.0 / 1023.0))
-
 /**
- * Get an analog voltage from the Driver Station.
- * The analog values are returned as voltage values for the Driver Station analog inputs.
- * These inputs are typically used for advanced operator interfaces consisting of potentiometers
- * or resistor networks representing values on a rotary switch.
+ * The state of one joystick button. Button indexes begin at 1.
 *
- * @param channel The analog input channel on the driver station to read from. Valid range is 1 - 4.
- * @return The analog voltage on the input.
+ * @param stick The joystick to read.
+ * @param button The button index, beginning at 1.
+ * @return The state of the joystick button.
 */
-float DriverStation::GetAnalogIn(uint32_t channel)
-{
-	wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetAnalogIn");
-	return 0.0;
+bool DriverStation::GetStickButton(uint32_t stick, uint8_t button) {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return false;
+  }
+
+  if (button > m_joystickButtons[stick].count) {
+    ReportJoystickUnpluggedError(
+        "WARNING: Joystick Button missing, check if all controllers are "
+        "plugged in\n");
+    return false;
+  }
+  if (button == 0) {
+    ReportJoystickUnpluggedError(
+        "ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
+    return false;
+  }
+  return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
 }

 /**
- * Get values from the digital inputs on the Driver Station.
- * Return digital values from the Drivers Station. These values are typically used for buttons
- * and switches on advanced operator interfaces.
- * @param channel The digital input to get. Valid range is 1 - 8.
+ * Check if the DS has enabled the robot
+ * @return True if the robot is enabled and the DS is connected
 */
-bool DriverStation::GetDigitalIn(uint32_t channel)
-{
-	wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetDigitalIn");
-	return false;
+bool DriverStation::IsEnabled() const {
+  HALControlWord controlWord;
+  memset(&controlWord, 0, sizeof(controlWord));
+  HALGetControlWord(&controlWord);
+  return controlWord.enabled && controlWord.dsAttached;
 }

 /**
- * Set a value for the digital outputs on the Driver Station.
- *
- * Control digital outputs on the Drivers Station. These values are typically used for
- * giving feedback on a custom operator station such as LEDs.
- *
- * @param channel The digital output to set. Valid range is 1 - 8.
- * @param value The state to set the digital output.
+ * Check if the robot is disabled
+ * @return True if the robot is explicitly disabled or the DS is not connected
 */
-void DriverStation::SetDigitalOut(uint32_t channel, bool value)
-{
-    wpi_setWPIErrorWithContext(UnsupportedInSimulation, "SetDigitalOut");
+bool DriverStation::IsDisabled() const {
+  HALControlWord controlWord;
+  memset(&controlWord, 0, sizeof(controlWord));
+  HALGetControlWord(&controlWord);
+  return !(controlWord.enabled && controlWord.dsAttached);
 }

 /**
- * Get a value that was set for the digital outputs on the Driver Station.
- * @param channel The digital ouput to monitor. Valid range is 1 through 8.
- * @return A digital value being output on the Drivers Station.
+ * Check if the DS is commanding autonomous mode
+ * @return True if the robot is being commanded to be in autonomous mode
 */
-bool DriverStation::GetDigitalOut(uint32_t channel)
-{
-	wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetDigitalOut");
-	return false;
+bool DriverStation::IsAutonomous() const {
+  HALControlWord controlWord;
+  memset(&controlWord, 0, sizeof(controlWord));
+  HALGetControlWord(&controlWord);
+  return controlWord.autonomous;
 }

-bool DriverStation::IsEnabled() const
-{
-	std::unique_lock<std::recursive_mutex> lock(m_stateMutex);
-    return state != nullptr ? state->enabled() : false;
+/**
+ * Check if the DS is commanding teleop mode
+ * @return True if the robot is being commanded to be in teleop mode
+ */
+bool DriverStation::IsOperatorControl() const {
+  HALControlWord controlWord;
+  memset(&controlWord, 0, sizeof(controlWord));
+  HALGetControlWord(&controlWord);
+  return !(controlWord.autonomous || controlWord.test);
 }

-bool DriverStation::IsDisabled() const
-{
-    return !IsEnabled();
+/**
+ * Check if the DS is commanding test mode
+ * @return True if the robot is being commanded to be in test mode
+ */
+bool DriverStation::IsTest() const {
+  HALControlWord controlWord;
+  HALGetControlWord(&controlWord);
+  return controlWord.test;
 }

-bool DriverStation::IsAutonomous() const
-{
-	std::unique_lock<std::recursive_mutex> lock(m_stateMutex);
-    return state != nullptr ?
-      state->state() == msgs::DriverStation_State_AUTO : false;
+/**
+ * Check if the DS is attached
+ * @return True if the DS is connected to the robot
+ */
+bool DriverStation::IsDSAttached() const {
+  HALControlWord controlWord;
+  memset(&controlWord, 0, sizeof(controlWord));
+  HALGetControlWord(&controlWord);
+  return controlWord.dsAttached;
 }

-bool DriverStation::IsOperatorControl() const
-{
-    return !(IsAutonomous() || IsTest());
+/**
+ * @return always true in simulation
+ */
+bool DriverStation::IsSysActive() const {
+  return true;
 }

-bool DriverStation::IsTest() const
-{
-	std::unique_lock<std::recursive_mutex> lock(m_stateMutex);
-    return state != nullptr ?
-      state->state() == msgs::DriverStation_State_TEST : false;
+/**
+ * @return always false in simulation
+ */
+bool DriverStation::IsSysBrownedOut() const {
+  return false;
+}
+
+/**
+ * Has a new control packet from the driver station arrived since the last time
+ * this function was called?
+ * Warning: If you call this function from more than one place at the same time,
+ * you will not get the get the intended behaviour.
+ * @return True if the control data has been updated since the last call.
+ */
+bool DriverStation::IsNewControlData() const {
+  return m_newControlData.tryTake() == false;
 }

 /**
 * Is the driver station attached to a Field Management System?
- * Note: This does not work with the Blue DS.
- * @return True if the robot is competing on a field being controlled by a Field Management System
+ * @return True if the robot is competing on a field being controlled by a Field
+ * Management System
 */
-bool DriverStation::IsFMSAttached() const
-{
-    return false; // No FMS in simulation
+bool DriverStation::IsFMSAttached() const {
+  HALControlWord controlWord;
+  HALGetControlWord(&controlWord);
+  return controlWord.fmsAttached;
 }

 /**
 * Return the alliance that the driver station says it is on.
 * This could return kRed or kBlue
- * @return The Alliance enum
+ * @return The Alliance enum (kRed, kBlue or kInvalid)
 */
-DriverStation::Alliance DriverStation::GetAlliance() const
-{
-	// if (m_controlData->dsID_Alliance == 'R') return kRed;
-	// if (m_controlData->dsID_Alliance == 'B') return kBlue;
-	// wpi_assert(false);
-    return kInvalid; // TODO: Support alliance colors
+DriverStation::Alliance DriverStation::GetAlliance() const {
+  HALAllianceStationID allianceStationID;
+  HALGetAllianceStation(&allianceStationID);
+  switch (allianceStationID) {
+    case kHALAllianceStationID_red1:
+    case kHALAllianceStationID_red2:
+    case kHALAllianceStationID_red3:
+      return kRed;
+    case kHALAllianceStationID_blue1:
+    case kHALAllianceStationID_blue2:
+    case kHALAllianceStationID_blue3:
+      return kBlue;
+    default:
+      return kInvalid;
+  }
 }

 /**
 * Return the driver station location on the field
 * This could return 1, 2, or 3
- * @return The location of the driver station
+ * @return The location of the driver station (1-3, 0 for invalid)
 */
-uint32_t DriverStation::GetLocation() const
-{
-    return -1; // TODO: Support locations
+uint32_t DriverStation::GetLocation() const {
+  HALAllianceStationID allianceStationID;
+  HALGetAllianceStation(&allianceStationID);
+  switch (allianceStationID) {
+    case kHALAllianceStationID_red1:
+    case kHALAllianceStationID_blue1:
+      return 1;
+    case kHALAllianceStationID_red2:
+    case kHALAllianceStationID_blue2:
+      return 2;
+    case kHALAllianceStationID_red3:
+    case kHALAllianceStationID_blue3:
+      return 3;
+    default:
+      return 0;
+  }
 }

 /**
 * Wait until a new packet comes from the driver station
 * This blocks on a semaphore, so the waiting is efficient.
- * This is a good way to delay processing until there is new driver station data to act on
+ * This is a good way to delay processing until there is new driver station data
+ * to act on
 */
-void DriverStation::WaitForData()
-{
-	std::unique_lock<std::mutex> lock(m_waitForDataMutex);
-	m_waitForDataCond.wait(lock);
+void DriverStation::WaitForData() {
+  std::unique_lock<priority_mutex> lock(m_waitForDataMutex);
+  m_waitForDataCond.wait(lock);
 }

 /**
 * Return the approximate match time
- * The FMS does not currently send the official match time to the robots
- * This returns the time since the enable signal sent from the Driver Station
- * At the beginning of autonomous, the time is reset to 0.0 seconds
- * At the beginning of teleop, the time is reset to +15.0 seconds
- * If the robot is disabled, this returns 0.0 seconds
- * Warning: This is not an official time (so it cannot be used to argue with referees)
- * @return Match time in seconds since the beginning of autonomous
+ * The FMS does not send an official match time to the robots, but does send an
+ * approximate match time.
+ * The value will count down the time remaining in the current period (auto or
+ * teleop).
+ * Warning: This is not an official time (so it cannot be used to dispute ref
+ * calls or guarantee that a function
+ * will trigger before the match ends)
+ * The Practice Match function of the DS approximates the behaviour seen on the
+ * field.
+ * @return Time remaining in current match period (auto or teleop)
 */
-double DriverStation::GetMatchTime() const
-{
-	if (m_approxMatchTimeOffset < 0.0)
-		return 0.0;
-	return Timer::GetFPGATimestamp() - m_approxMatchTimeOffset;
+double DriverStation::GetMatchTime() const {
+  float matchTime;
+  HALGetMatchTime(&matchTime);
+  return (double)matchTime;
 }

 /**
 * Report an error to the DriverStation messages window.
 * The error is also printed to the program console.
 */
-void DriverStation::ReportError(std::string error)
-{
-	std::cout << error << std::endl;
-}
+void DriverStation::ReportError(std::string error) {
+  std::cout << error << std::endl;

-/**
- * Return the team number that the Driver Station is configured for
- * @return The team number
- */
-uint16_t DriverStation::GetTeamNumber() const
-{
-    return 348;
-}
-
-void DriverStation::stateCallback(const msgs::ConstDriverStationPtr &msg)
-{
-    {
-		std::unique_lock<std::recursive_mutex> lock(m_stateMutex);
-    	*state = *msg;
-	}
-    m_waitForDataCond.notify_all();
-}
-
-void DriverStation::joystickCallback(const msgs::ConstFRCJoystickPtr &msg,
-                                     int i)
-{
-	std::unique_lock<std::recursive_mutex> lock(m_joystickMutex);
-    *(joysticks[i]) = *msg;
-}
-
-void DriverStation::joystickCallback0(const msgs::ConstFRCJoystickPtr &msg)
-{
-    joystickCallback(msg, 0);
-}
-
-void DriverStation::joystickCallback1(const msgs::ConstFRCJoystickPtr &msg)
-{
-    joystickCallback(msg, 1);
-}
-
-void DriverStation::joystickCallback2(const msgs::ConstFRCJoystickPtr &msg)
-{
-    joystickCallback(msg, 2);
-}
-
-void DriverStation::joystickCallback3(const msgs::ConstFRCJoystickPtr &msg)
-{
-    joystickCallback(msg, 3);
-}
-
-void DriverStation::joystickCallback4(const msgs::ConstFRCJoystickPtr &msg)
-{
-    joystickCallback(msg, 4);
-}
-
-void DriverStation::joystickCallback5(const msgs::ConstFRCJoystickPtr &msg)
-{
-    joystickCallback(msg, 5);
+  HALControlWord controlWord;
+  HALGetControlWord(&controlWord);
+  if (controlWord.dsAttached) {
+    HALSetErrorData(error.c_str(), error.size(), 0);
+  }
 }