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Moved C++ comments from source files to headers (#1111)

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Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
2018-05-31 20:47:15 -07:00
committed by Peter Johnson
parent d9971a705a
commit 8c680a26f8
234 changed files with 9936 additions and 9309 deletions
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286
wpilibc/src/main/native/include/DriverStation.h
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@@ -37,41 +37,229 @@ class DriverStation : public ErrorBase, public RobotStateInterface {
enum MatchType { kNone, kPractice, kQualification, kElimination };
~DriverStation() override;
/**
* Return a reference to the singleton DriverStation.
*
* @return Reference to the DS instance
*/
static DriverStation& GetInstance();
/**
* Report an error to the DriverStation messages window.
*
* The error is also printed to the program console.
*/
static void ReportError(const wpi::Twine& error);
/**
* Report a warning to the DriverStation messages window.
*
* The warning is also printed to the program console.
*/
static void ReportWarning(const wpi::Twine& error);
/**
* Report an error to the DriverStation messages window.
*
* The error is also printed to the program console.
*/
static void ReportError(bool isError, int code, const wpi::Twine& error,
const wpi::Twine& location, const wpi::Twine& stack);
static constexpr int kJoystickPorts = 6;
/**
* The state of one joystick button. Button indexes begin at 1.
*
* @param stick The joystick to read.
* @param button The button index, beginning at 1.
* @return The state of the joystick button.
*/
bool GetStickButton(int stick, int button);
/**
* Whether one joystick button was pressed since the last check. Button
* indexes begin at 1.
*
* @param stick The joystick to read.
* @param button The button index, beginning at 1.
* @return Whether the joystick button was pressed since the last check.
*/
bool GetStickButtonPressed(int stick, int button);
/**
* Whether one joystick button was released since the last check. Button
* indexes begin at 1.
*
* @param stick The joystick to read.
* @param button The button index, beginning at 1.
* @return Whether the joystick button was released since the last check.
*/
bool GetStickButtonReleased(int stick, int button);
/**
* Get the value of the axis on a joystick.
*
* This depends on the mapping of the joystick connected to the specified
* port.
*
* @param stick The joystick to read.
* @param axis The analog axis value to read from the joystick.
* @return The value of the axis on the joystick.
*/
double GetStickAxis(int stick, int axis);
/**
* Get the state of a POV on the joystick.
*
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
int GetStickPOV(int stick, int pov);
/**
* The state of the buttons on the joystick.
*
* @param stick The joystick to read.
* @return The state of the buttons on the joystick.
*/
int GetStickButtons(int stick) const;
/**
* 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 GetStickAxisCount(int stick) const;
/**
* 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 GetStickPOVCount(int stick) const;
/**
* 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 GetStickButtonCount(int stick) const;
/**
* 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 GetJoystickIsXbox(int stick) const;
/**
* 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 GetJoystickType(int stick) const;
/**
* 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 GetJoystickName(int stick) const;
/**
* 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 GetJoystickAxisType(int stick, int axis) const;
/**
* Check if the DS has enabled the robot.
*
* @return True if the robot is enabled and the DS is connected
*/
bool IsEnabled() const override;
/**
* Check if the robot is disabled.
*
* @return True if the robot is explicitly disabled or the DS is not connected
*/
bool IsDisabled() const override;
/**
* Check if the DS is commanding autonomous mode.
*
* @return True if the robot is being commanded to be in autonomous mode
*/
bool IsAutonomous() const override;
/**
* Check if the DS is commanding teleop mode.
*
* @return True if the robot is being commanded to be in teleop mode
*/
bool IsOperatorControl() const override;
/**
* Check if the DS is commanding test mode.
*
* @return True if the robot is being commanded to be in test mode
*/
bool IsTest() const override;
/**
* Check if the DS is attached.
*
* @return True if the DS is connected to the robot
*/
bool IsDSAttached() const;
/**
* 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 intended behavior.
*
* @return True if the control data has been updated since the last call.
*/
bool IsNewControlData() const;
/**
* Is the driver station attached to a Field Management System?
*
* @return True if the robot is competing on a field being controlled by a
* Field Management System
*/
bool IsFMSAttached() const;
/**
* Check if the FPGA outputs are enabled.
*
* The outputs may be disabled if the robot is disabled or e-stopped, the
* watchdog has expired, or if the roboRIO browns out.
*
* @return True if the FPGA outputs are enabled.
* @deprecated Use RobotController static class method
*/
WPI_DEPRECATED("Use RobotController static class method")
bool IsSysActive() const;
/**
* Check if the system is browned out.
*
* @return True if the system is browned out
* @deprecated Use RobotController static class method
*/
WPI_DEPRECATED("Use RobotController static class method")
bool IsBrownedOut() const;
@@ -81,11 +269,75 @@ class DriverStation : public ErrorBase, public RobotStateInterface {
int GetMatchNumber() const;
int GetReplayNumber() const;
/**
* Return the alliance that the driver station says it is on.
*
* This could return kRed or kBlue.
*
* @return The Alliance enum (kRed, kBlue or kInvalid)
*/
Alliance GetAlliance() const;
/**
* Return the driver station location on the field.
*
* This could return 1, 2, or 3.
*
* @return The location of the driver station (1-3, 0 for invalid)
*/
int GetLocation() const;
/**
* 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.
*/
void WaitForData();
/**
* Wait until a new packet comes from the driver station, or wait for a
* timeout.
*
* If the timeout is less then or equal to 0, wait indefinitely.
*
* Timeout is in milliseconds
*
* 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.
*
* @param timeout Timeout time in seconds
*
* @return true if new data, otherwise false
*/
bool WaitForData(double timeout);
/**
* 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)
*/
double GetMatchTime() const;
/**
* Read the battery voltage.
*
* @return The battery voltage in Volts.
*/
double GetBatteryVoltage() const;
/**
@@ -124,15 +376,49 @@ class DriverStation : public ErrorBase, public RobotStateInterface {
void InTest(bool entering) { m_userInTest = entering; }
protected:
/**
* 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 GetData();
private:
/**
* DriverStation constructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation();
/**
* Reports errors related to unplugged joysticks.
*
* Throttles the errors so that they don't overwhelm the DS.
*/
void ReportJoystickUnpluggedError(const wpi::Twine& message);
/**
* Reports errors related to unplugged joysticks.
*
* Throttles the errors so that they don't overwhelm the DS.
*/
void ReportJoystickUnpluggedWarning(const wpi::Twine& message);
void Run();
/**
* Gets ControlWord data from the cache. If 50ms has passed, or the force
* parameter is set, the cached data is updated. Otherwise the data is just
* copied from the cache.
*
* @param force True to force an update to the cache, otherwise update if 50ms
* have passed.
* @param controlWord Structure to put the return control word data into.
*/
void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
void SendMatchData();
// Joystick User Data