mirror of
https://github.com/wpilibsuite/allwpilib
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WPILib Reorganization
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
This commit is contained in:
Fredric Silberberg
659
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
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659
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -0,0 +1,659 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import java.nio.ByteBuffer;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
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import edu.wpi.first.wpilibj.communication.HALControlWord;
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import edu.wpi.first.wpilibj.communication.HALAllianceStationID;
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import edu.wpi.first.wpilibj.hal.HALUtil;
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import edu.wpi.first.wpilibj.hal.PowerJNI;
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/**
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* Provide access to the network communication data to / from the Driver
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* Station.
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*/
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public class DriverStation implements RobotState.Interface {
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/**
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* Number of Joystick Ports
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*/
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public static final int kJoystickPorts = 6;
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private class HALJoystickButtons {
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public int buttons;
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public byte count;
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}
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/**
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* The robot alliance that the robot is a part of
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*/
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public enum Alliance {
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Red, Blue, Invalid
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}
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private static final double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
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private double m_nextMessageTime = 0.0;
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private static class DriverStationTask implements Runnable {
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private DriverStation m_ds;
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DriverStationTask(DriverStation ds) {
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m_ds = ds;
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}
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public void run() {
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m_ds.task();
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}
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} /* DriverStationTask */
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private static DriverStation instance = new DriverStation();
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private short[][] m_joystickAxes =
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new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickAxes];
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private short[][] m_joystickPOVs =
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new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs];
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private HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts];
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private int[] m_joystickIsXbox = new int[kJoystickPorts];
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private int[] m_joystickType = new int[kJoystickPorts];
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private String[] m_joystickName = new String[kJoystickPorts];
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private int[][] m_joystickAxisType =
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new int[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickAxes];
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private Thread m_thread;
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private final Object m_dataSem;
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private volatile boolean m_thread_keepalive = true;
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private boolean m_userInDisabled = false;
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private boolean m_userInAutonomous = false;
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private boolean m_userInTeleop = false;
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private boolean m_userInTest = false;
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private boolean m_newControlData;
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private final long m_packetDataAvailableMutex;
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private final long m_packetDataAvailableSem;
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/**
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* Gets an instance of the DriverStation
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*
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* @return The DriverStation.
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*/
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public static DriverStation getInstance() {
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return DriverStation.instance;
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}
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/**
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* DriverStation constructor.
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*
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* The single DriverStation instance is created statically with the instance
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* static member variable.
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*/
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protected DriverStation() {
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m_dataSem = new Object();
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for (int i = 0; i < kJoystickPorts; i++) {
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m_joystickButtons[i] = new HALJoystickButtons();
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}
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m_packetDataAvailableMutex = HALUtil.initializeMutexNormal();
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m_packetDataAvailableSem = HALUtil.initializeMultiWait();
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FRCNetworkCommunicationsLibrary.setNewDataSem(m_packetDataAvailableSem);
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m_thread = new Thread(new DriverStationTask(this), "FRCDriverStation");
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m_thread.setPriority((Thread.NORM_PRIORITY + Thread.MAX_PRIORITY) / 2);
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m_thread.start();
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}
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/**
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* Kill the thread
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*/
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public void release() {
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m_thread_keepalive = false;
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}
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/**
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* Provides the service routine for the DS polling thread.
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*/
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private void task() {
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int safetyCounter = 0;
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while (m_thread_keepalive) {
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HALUtil.takeMultiWait(m_packetDataAvailableSem, m_packetDataAvailableMutex);
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synchronized (this) {
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getData();
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}
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synchronized (m_dataSem) {
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m_dataSem.notifyAll();
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}
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if (++safetyCounter >= 4) {
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MotorSafetyHelper.checkMotors();
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safetyCounter = 0;
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}
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if (m_userInDisabled) {
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FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramDisabled();
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}
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if (m_userInAutonomous) {
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FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramAutonomous();
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}
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if (m_userInTeleop) {
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FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTeleop();
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}
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if (m_userInTest) {
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FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTest();
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}
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}
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}
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/**
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* Wait for new data from the driver station.
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*/
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public void waitForData() {
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waitForData(0);
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}
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/**
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* Wait for new data or for timeout, which ever comes first. If timeout is 0,
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* wait for new data only.
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*
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* @param timeout The maximum time in milliseconds to wait.
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*/
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public void waitForData(long timeout) {
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synchronized (m_dataSem) {
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try {
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m_dataSem.wait(timeout);
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} catch (InterruptedException ex) {
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}
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}
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}
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/**
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* Copy data from the DS task for the user. If no new data exists, it will
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* just be returned, otherwise the data will be copied from the DS polling
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* loop.
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*/
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protected synchronized void getData() {
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// Get the status of all of the joysticks
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for (byte stick = 0; stick < kJoystickPorts; stick++) {
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m_joystickAxes[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick);
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m_joystickPOVs[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs(stick);
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ByteBuffer countBuffer = ByteBuffer.allocateDirect(1);
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m_joystickButtons[stick].buttons =
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FRCNetworkCommunicationsLibrary.HALGetJoystickButtons((byte) stick, countBuffer);
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m_joystickButtons[stick].count = countBuffer.get();
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}
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m_newControlData = true;
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}
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/**
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* Read the battery voltage.
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*
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* @return The battery voltage in Volts.
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*/
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public double getBatteryVoltage() {
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return PowerJNI.getVinVoltage();
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}
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/**
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* Reports errors related to unplugged joysticks Throttles the errors so that
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* they don't overwhelm the DS
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*/
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private void reportJoystickUnpluggedError(String message) {
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double currentTime = Timer.getFPGATimestamp();
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if (currentTime > m_nextMessageTime) {
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reportError(message, false);
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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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* Get the value of the axis on a joystick. This depends on the mapping of the
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* joystick connected to the specified port.
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*
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* @param stick The joystick to read.
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* @param axis The analog axis value to read from the joystick.
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* @return The value of the axis on the joystick.
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*/
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public synchronized double getStickAxis(int stick, int axis) {
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if (stick < 0 || stick >= kJoystickPorts) {
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throw new RuntimeException("Joystick index is out of range, should be 0-5");
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}
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if (axis < 0 || axis >= FRCNetworkCommunicationsLibrary.kMaxJoystickAxes) {
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throw new RuntimeException("Joystick axis is out of range");
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}
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if (axis >= m_joystickAxes[stick].length) {
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reportJoystickUnpluggedError("WARNING: Joystick axis " + axis + " on port " + stick
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+ " not available, check if controller is plugged in\n");
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return 0.0;
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}
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byte value = (byte) m_joystickAxes[stick][axis];
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if (value < 0) {
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return value / 128.0;
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} else {
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return value / 127.0;
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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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public synchronized int getStickAxisCount(int stick) {
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if (stick < 0 || stick >= kJoystickPorts) {
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throw new RuntimeException("Joystick index is out of range, should be 0-5");
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}
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return m_joystickAxes[stick].length;
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}
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/**
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* Get the state of a POV on the joystick.
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*
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* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
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*/
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public synchronized int getStickPOV(int stick, int pov) {
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if (stick < 0 || stick >= kJoystickPorts) {
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throw new RuntimeException("Joystick index is out of range, should be 0-5");
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}
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if (pov < 0 || pov >= FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs) {
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throw new RuntimeException("Joystick POV is out of range");
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}
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if (pov >= m_joystickPOVs[stick].length) {
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reportJoystickUnpluggedError("WARNING: Joystick POV " + pov + " on port " + stick
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+ " not available, check if controller is plugged in\n");
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return -1;
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}
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return m_joystickPOVs[stick][pov];
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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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public synchronized int getStickPOVCount(int stick) {
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if (stick < 0 || stick >= kJoystickPorts) {
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throw new RuntimeException("Joystick index is out of range, should be 0-5");
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}
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return m_joystickPOVs[stick].length;
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}
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/**
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* The state of the buttons on the joystick.
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*
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* @param stick The joystick to read.
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* @return The state of the buttons on the joystick.
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*/
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public synchronized int getStickButtons(final int stick) {
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if (stick < 0 || stick >= kJoystickPorts) {
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throw new RuntimeException("Joystick index is out of range, should be 0-3");
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}
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return m_joystickButtons[stick].buttons;
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}
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/**
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* The state of one joystick button. Button indexes begin at 1.
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*
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* @param stick The joystick to read.
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* @param button The button index, beginning at 1.
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* @return The state of the joystick button.
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*/
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public synchronized boolean getStickButton(final int stick, byte button) {
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if (stick < 0 || stick >= kJoystickPorts) {
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throw new RuntimeException("Joystick index is out of range, should be 0-3");
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}
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if (button > m_joystickButtons[stick].count) {
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reportJoystickUnpluggedError("WARNING: Joystick Button " + button + " on port " + stick
|
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+ " not available, check if controller is plugged in\n");
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return false;
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}
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if (button <= 0) {
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reportJoystickUnpluggedError("ERROR: Button indexes begin at 1 in WPILib for C++ and Java\n");
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return false;
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}
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return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
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}
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/**
|
||||
* Gets the number of buttons on a joystick
|
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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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public synchronized int getStickButtonCount(int stick) {
|
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if (stick < 0 || stick >= kJoystickPorts) {
|
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throw new RuntimeException("Joystick index is out of range, should be 0-5");
|
||||
}
|
||||
|
||||
|
||||
return m_joystickButtons[stick].count;
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the value of isXbox on a joystick
|
||||
*
|
||||
* @param stick The joystick port number
|
||||
* @return A boolean that returns the value of isXbox
|
||||
*/
|
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public synchronized boolean getJoystickIsXbox(int stick) {
|
||||
|
||||
if (stick < 0 || stick >= kJoystickPorts) {
|
||||
throw new RuntimeException("Joystick index is out of range, should be 0-5");
|
||||
}
|
||||
// TODO: Remove this when calling for descriptor on empty stick no longer
|
||||
// crashes
|
||||
if (1 > m_joystickButtons[stick].count && 1 > m_joystickAxes[stick].length) {
|
||||
reportJoystickUnpluggedError("WARNING: Joystick on port " + stick
|
||||
+ " not available, check if controller is plugged in\n");
|
||||
return false;
|
||||
}
|
||||
boolean retVal = false;
|
||||
if (FRCNetworkCommunicationsLibrary.HALGetJoystickIsXbox((byte) stick) == 1) {
|
||||
retVal = true;
|
||||
}
|
||||
return retVal;
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the value of type on a joystick
|
||||
*
|
||||
* @param stick The joystick port number
|
||||
* @return The value of type
|
||||
*/
|
||||
public synchronized int getJoystickType(int stick) {
|
||||
|
||||
if (stick < 0 || stick >= kJoystickPorts) {
|
||||
throw new RuntimeException("Joystick index is out of range, should be 0-5");
|
||||
}
|
||||
// TODO: Remove this when calling for descriptor on empty stick no longer
|
||||
// crashes
|
||||
if (1 > m_joystickButtons[stick].count && 1 > m_joystickAxes[stick].length) {
|
||||
reportJoystickUnpluggedError("WARNING: Joystick on port " + stick
|
||||
+ " not available, check if controller is plugged in\n");
|
||||
return -1;
|
||||
}
|
||||
return FRCNetworkCommunicationsLibrary.HALGetJoystickType((byte) stick);
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the name of the joystick at a port
|
||||
*
|
||||
* @param stick The joystick port number
|
||||
* @return The value of name
|
||||
*/
|
||||
public synchronized String getJoystickName(int stick) {
|
||||
|
||||
if (stick < 0 || stick >= kJoystickPorts) {
|
||||
throw new RuntimeException("Joystick index is out of range, should be 0-5");
|
||||
}
|
||||
// TODO: Remove this when calling for descriptor on empty stick no longer
|
||||
// crashes
|
||||
if (1 > m_joystickButtons[stick].count && 1 > m_joystickAxes[stick].length) {
|
||||
reportJoystickUnpluggedError("WARNING: Joystick on port " + stick
|
||||
+ " not available, check if controller is plugged in\n");
|
||||
return "";
|
||||
}
|
||||
return FRCNetworkCommunicationsLibrary.HALGetJoystickName((byte) stick);
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets a value indicating whether the Driver Station requires the robot to be
|
||||
* enabled.
|
||||
*
|
||||
* @return True if the robot is enabled, false otherwise.
|
||||
*/
|
||||
public boolean isEnabled() {
|
||||
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
|
||||
return controlWord.getEnabled() && controlWord.getDSAttached();
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets a value indicating whether the Driver Station requires the robot to be
|
||||
* disabled.
|
||||
*
|
||||
* @return True if the robot should be disabled, false otherwise.
|
||||
*/
|
||||
public boolean isDisabled() {
|
||||
return !isEnabled();
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets a value indicating whether the Driver Station requires the robot to be
|
||||
* running in autonomous mode.
|
||||
*
|
||||
* @return True if autonomous mode should be enabled, false otherwise.
|
||||
*/
|
||||
public boolean isAutonomous() {
|
||||
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
|
||||
return controlWord.getAutonomous();
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets a value indicating whether the Driver Station requires the robot to be
|
||||
* running in test mode.
|
||||
*$
|
||||
* @return True if test mode should be enabled, false otherwise.
|
||||
*/
|
||||
public boolean isTest() {
|
||||
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
|
||||
return controlWord.getTest();
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets a value indicating whether the Driver Station requires the robot to be
|
||||
* running in operator-controlled mode.
|
||||
*
|
||||
* @return True if operator-controlled mode should be enabled, false
|
||||
* otherwise.
|
||||
*/
|
||||
public boolean isOperatorControl() {
|
||||
return !(isAutonomous() || isTest());
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets a value indicating whether the FPGA outputs are enabled. The outputs
|
||||
* may be disabled if the robot is disabled or e-stopped, the watdhog has
|
||||
* expired, or if the roboRIO browns out.
|
||||
*
|
||||
* @return True if the FPGA outputs are enabled.
|
||||
*/
|
||||
public boolean isSysActive() {
|
||||
return FRCNetworkCommunicationsLibrary.HALGetSystemActive();
|
||||
}
|
||||
|
||||
/**
|
||||
* Check if the system is browned out.
|
||||
*$
|
||||
* @return True if the system is browned out
|
||||
*/
|
||||
public boolean isBrownedOut() {
|
||||
return FRCNetworkCommunicationsLibrary.HALGetBrownedOut();
|
||||
}
|
||||
|
||||
/**
|
||||
* Has a new control packet from the driver station arrived since the last
|
||||
* time this function was called?
|
||||
*$
|
||||
* @return True if the control data has been updated since the last call.
|
||||
*/
|
||||
public synchronized boolean isNewControlData() {
|
||||
boolean result = m_newControlData;
|
||||
m_newControlData = false;
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the current alliance from the FMS
|
||||
*$
|
||||
* @return the current alliance
|
||||
*/
|
||||
public Alliance getAlliance() {
|
||||
HALAllianceStationID allianceStationID =
|
||||
FRCNetworkCommunicationsLibrary.HALGetAllianceStation();
|
||||
if (allianceStationID == null) {
|
||||
return Alliance.Invalid;
|
||||
}
|
||||
|
||||
switch (allianceStationID) {
|
||||
case Red1:
|
||||
case Red2:
|
||||
case Red3:
|
||||
return Alliance.Red;
|
||||
|
||||
case Blue1:
|
||||
case Blue2:
|
||||
case Blue3:
|
||||
return Alliance.Blue;
|
||||
|
||||
default:
|
||||
return Alliance.Invalid;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the location of the team's driver station controls.
|
||||
*
|
||||
* @return the location of the team's driver station controls: 1, 2, or 3
|
||||
*/
|
||||
public int getLocation() {
|
||||
HALAllianceStationID allianceStationID =
|
||||
FRCNetworkCommunicationsLibrary.HALGetAllianceStation();
|
||||
if (allianceStationID == null) {
|
||||
return 0;
|
||||
}
|
||||
switch (allianceStationID) {
|
||||
case Red1:
|
||||
case Blue1:
|
||||
return 1;
|
||||
|
||||
case Red2:
|
||||
case Blue2:
|
||||
return 2;
|
||||
|
||||
case Blue3:
|
||||
case Red3:
|
||||
return 3;
|
||||
|
||||
default:
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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
|
||||
*/
|
||||
public boolean isFMSAttached() {
|
||||
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
|
||||
return controlWord.getFMSAttached();
|
||||
}
|
||||
|
||||
public boolean isDSAttached() {
|
||||
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
|
||||
return controlWord.getDSAttached();
|
||||
}
|
||||
|
||||
/**
|
||||
* Return the approximate match time 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) in seconds
|
||||
*/
|
||||
public double getMatchTime() {
|
||||
return FRCNetworkCommunicationsLibrary.HALGetMatchTime();
|
||||
}
|
||||
|
||||
/**
|
||||
* Report error to Driver Station. Also prints error to System.err Optionally
|
||||
* appends Stack trace to error message
|
||||
*$
|
||||
* @param printTrace If true, append stack trace to error string
|
||||
*/
|
||||
public static void reportError(String error, boolean printTrace) {
|
||||
String errorString = error;
|
||||
if (printTrace) {
|
||||
errorString += " at ";
|
||||
StackTraceElement[] traces = Thread.currentThread().getStackTrace();
|
||||
for (int i = 2; i < traces.length; i++) {
|
||||
errorString += traces[i].toString() + "\n";
|
||||
}
|
||||
}
|
||||
System.err.println(errorString);
|
||||
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
|
||||
if (controlWord.getDSAttached()) {
|
||||
FRCNetworkCommunicationsLibrary.HALSetErrorData(errorString);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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
|
||||
*/
|
||||
public void InDisabled(boolean 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
|
||||
*/
|
||||
public void InAutonomous(boolean 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
|
||||
*/
|
||||
public void InOperatorControl(boolean 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
|
||||
*/
|
||||
public void InTest(boolean entering) {
|
||||
m_userInTest = entering;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user