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wpilibc/src/main/native/include/wpi/internal/DriverStationModeThread.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <atomic>
+#include <thread>
+
+namespace frc::internal {
+/**
+ * For internal use only.
+ */
+class DriverStationModeThread {
+ public:
+  /**
+   * For internal use only.
+   */
+  DriverStationModeThread();
+
+  ~DriverStationModeThread();
+
+  DriverStationModeThread(const DriverStationModeThread& other) = delete;
+  DriverStationModeThread(DriverStationModeThread&& other) = delete;
+  DriverStationModeThread& operator=(const DriverStationModeThread& other) =
+      delete;
+  DriverStationModeThread& operator=(DriverStationModeThread&& other) = delete;
+
+  /**
+   * 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);
+
+  /**
+   * 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);
+
+  /**
+   * 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 InTeleop(bool 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);
+
+ private:
+  std::atomic_bool m_keepAlive{false};
+  std::thread m_thread;
+  void Run();
+  bool m_userInDisabled{false};
+  bool m_userInAutonomous{false};
+  bool m_userInTeleop{false};
+  bool m_userInTest{false};
+};
+}  // namespace frc::internal