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[wpilib] Split DriverStation into smaller classes (#8628)

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This commit is contained in:
Thad House
2026-04-18 19:56:45 -07:00
committed by GitHub
parent 58ad633ae2
commit ab2aef2c29
108 changed files with 4406 additions and 3211 deletions
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26
commandsv2/src/main/java/org/wpilib/command2/CommandScheduler.java
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@@ -23,7 +23,8 @@ import java.util.WeakHashMap;
import java.util.function.BiConsumer;
import java.util.function.Consumer;
import org.wpilib.command2.Command.InterruptionBehavior;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.driverstation.RobotState;
import org.wpilib.event.EventLoop;
import org.wpilib.framework.RobotBase;
import org.wpilib.framework.TimedRobot;
@@ -175,7 +176,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
*/
private void schedule(Command command) {
if (command == null) {
DriverStation.reportWarning("Tried to schedule a null command", true);
DriverStationErrors.reportWarning("Tried to schedule a null command", true);
return;
}
if (m_inRunLoop) {
@@ -189,7 +190,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
// run when disabled, or the command is already scheduled.
if (m_disabled
|| isScheduled(command)
|| DriverStation.isDisabled() && !command.runsWhenDisabled()) {
|| RobotState.isDisabled() && !command.runsWhenDisabled()) {
return;
}
@@ -269,7 +270,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
m_watchdog.addEpoch("buttons.run()");
m_inRunLoop = true;
boolean isDisabled = DriverStation.isDisabled();
boolean isDisabled = RobotState.isDisabled();
// Run scheduled commands, remove finished commands.
for (Iterator<Command> iterator = m_scheduledCommands.iterator(); iterator.hasNext(); ) {
Command command = iterator.next();
@@ -337,11 +338,12 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
public void registerSubsystem(Subsystem... subsystems) {
for (Subsystem subsystem : subsystems) {
if (subsystem == null) {
DriverStation.reportWarning("Tried to register a null subsystem", true);
DriverStationErrors.reportWarning("Tried to register a null subsystem", true);
continue;
}
if (m_subsystems.containsKey(subsystem)) {
DriverStation.reportWarning("Tried to register an already-registered subsystem", true);
DriverStationErrors.reportWarning(
"Tried to register an already-registered subsystem", true);
continue;
}
m_subsystems.put(subsystem, null);
@@ -379,11 +381,12 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
*/
public void setDefaultCommand(Subsystem subsystem, Command defaultCommand) {
if (subsystem == null) {
DriverStation.reportWarning("Tried to set a default command for a null subsystem", true);
DriverStationErrors.reportWarning(
"Tried to set a default command for a null subsystem", true);
return;
}
if (defaultCommand == null) {
DriverStation.reportWarning("Tried to set a null default command", true);
DriverStationErrors.reportWarning("Tried to set a null default command", true);
return;
}
@@ -394,7 +397,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
}
if (defaultCommand.getInterruptionBehavior() == InterruptionBehavior.kCancelIncoming) {
DriverStation.reportWarning(
DriverStationErrors.reportWarning(
"Registering a non-interruptible default command!\n"
+ "This will likely prevent any other commands from requiring this subsystem.",
true);
@@ -413,7 +416,8 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
*/
public void removeDefaultCommand(Subsystem subsystem) {
if (subsystem == null) {
DriverStation.reportWarning("Tried to remove a default command for a null subsystem", true);
DriverStationErrors.reportWarning(
"Tried to remove a default command for a null subsystem", true);
return;
}
@@ -458,7 +462,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
*/
private void cancel(Command command, Optional<Command> interruptor) {
if (command == null) {
DriverStation.reportWarning("Tried to cancel a null command", true);
DriverStationErrors.reportWarning("Tried to cancel a null command", true);
return;
}
if (m_endingCommands.contains(command)) {

2
commandsv2/src/main/java/org/wpilib/command2/WaitUntilCommand.java
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@@ -39,7 +39,7 @@ public class WaitUntilCommand extends Command {
* wait.
*
* @param time the match time after which to end, in seconds
* @see org.wpilib.driverstation.DriverStation#getMatchTime()
* @see org.wpilib.driverstation.MatchState#getMatchTime()
*/
public WaitUntilCommand(double time) {
this(() -> Timer.getMatchTime() < time);

2
commandsv2/src/main/java/org/wpilib/command2/button/CommandGenericHID.java
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@@ -7,8 +7,8 @@ package org.wpilib.command2.button;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.POVDirection;
import org.wpilib.event.EventLoop;
import org.wpilib.math.util.Pair;

2
commandsv2/src/main/java/org/wpilib/command2/button/POVButton.java
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@@ -6,8 +6,8 @@ package org.wpilib.command2.button;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.POVDirection;
/**
* A {@link Trigger} that gets its state from a POV on a {@link GenericHID}.

10
commandsv2/src/main/java/org/wpilib/command2/button/RobotModeTriggers.java
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@@ -4,7 +4,7 @@
package org.wpilib.command2.button;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.RobotState;
/**
* A class containing static {@link Trigger} factories for running callbacks when the robot mode
@@ -20,7 +20,7 @@ public final class RobotModeTriggers {
* @return A trigger that is true when the robot is enabled in autonomous mode.
*/
public static Trigger autonomous() {
return new Trigger(DriverStation::isAutonomousEnabled);
return new Trigger(RobotState::isAutonomousEnabled);
}
/**
@@ -29,7 +29,7 @@ public final class RobotModeTriggers {
* @return A trigger that is true when the robot is enabled in teleop mode.
*/
public static Trigger teleop() {
return new Trigger(DriverStation::isTeleopEnabled);
return new Trigger(RobotState::isTeleopEnabled);
}
/**
@@ -38,7 +38,7 @@ public final class RobotModeTriggers {
* @return A trigger that is true when the robot is disabled.
*/
public static Trigger disabled() {
return new Trigger(DriverStation::isDisabled);
return new Trigger(RobotState::isDisabled);
}
/**
@@ -47,6 +47,6 @@ public final class RobotModeTriggers {
* @return A trigger that is true when the robot is enabled in test mode.
*/
public static Trigger test() {
return new Trigger(DriverStation::isTestEnabled);
return new Trigger(RobotState::isTestEnabled);
}
}

6
commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
View File

@@ -12,7 +12,7 @@
#include "wpi/commands2/CommandPtr.hpp"
#include "wpi/commands2/Subsystem.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/framework/RobotBase.hpp"
#include "wpi/framework/TimedRobot.hpp"
#include "wpi/hal/UsageReporting.hpp"
@@ -99,7 +99,7 @@ void CommandScheduler::Schedule(Command* command) {
RequireUngrouped(command);
if (m_impl->disabled || m_impl->scheduledCommands.contains(command) ||
(wpi::DriverStation::IsDisabled() && !command->RunsWhenDisabled())) {
(wpi::RobotState::IsDisabled() && !command->RunsWhenDisabled())) {
return;
}
@@ -181,7 +181,7 @@ void CommandScheduler::Run() {
loopCache->Poll();
m_watchdog.AddEpoch("buttons.Run()");
bool isDisabled = wpi::DriverStation::IsDisabled();
bool isDisabled = wpi::RobotState::IsDisabled();
// create a new set to avoid iterator invalidation.
for (Command* command : wpi::util::SmallSet(m_impl->scheduledCommands)) {
if (!IsScheduled(command)) {

22
commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
View File

@@ -16,51 +16,51 @@ Trigger CommandGenericHID::Button(int button, wpi::EventLoop* loop) const {
return Trigger(loop, [this, button] { return m_hid.GetRawButton(button); });
}
Trigger CommandGenericHID::POV(wpi::DriverStation::POVDirection angle,
Trigger CommandGenericHID::POV(wpi::POVDirection angle,
wpi::EventLoop* loop) const {
return POV(0, angle, loop);
}
Trigger CommandGenericHID::POV(int pov, wpi::DriverStation::POVDirection angle,
Trigger CommandGenericHID::POV(int pov, wpi::POVDirection angle,
wpi::EventLoop* loop) const {
return Trigger(loop,
[this, pov, angle] { return m_hid.GetPOV(pov) == angle; });
}
Trigger CommandGenericHID::POVUp(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::UP, loop);
return POV(wpi::POVDirection::UP, loop);
}
Trigger CommandGenericHID::POVUpRight(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::UP_RIGHT, loop);
return POV(wpi::POVDirection::UP_RIGHT, loop);
}
Trigger CommandGenericHID::POVRight(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::RIGHT, loop);
return POV(wpi::POVDirection::RIGHT, loop);
}
Trigger CommandGenericHID::POVDownRight(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::DOWN_RIGHT, loop);
return POV(wpi::POVDirection::DOWN_RIGHT, loop);
}
Trigger CommandGenericHID::POVDown(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::DOWN, loop);
return POV(wpi::POVDirection::DOWN, loop);
}
Trigger CommandGenericHID::POVDownLeft(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::DOWN_LEFT, loop);
return POV(wpi::POVDirection::DOWN_LEFT, loop);
}
Trigger CommandGenericHID::POVLeft(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::LEFT, loop);
return POV(wpi::POVDirection::LEFT, loop);
}
Trigger CommandGenericHID::POVUpLeft(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::UP_LEFT, loop);
return POV(wpi::POVDirection::UP_LEFT, loop);
}
Trigger CommandGenericHID::POVCenter(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::CENTER, loop);
return POV(wpi::POVDirection::CENTER, loop);
}
Trigger CommandGenericHID::AxisLessThan(int axis, double threshold,

10
commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp
View File

@@ -4,22 +4,22 @@
#include "wpi/commands2/button/RobotModeTriggers.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
using namespace wpi::cmd;
Trigger RobotModeTriggers::Autonomous() {
return Trigger{&wpi::DriverStation::IsAutonomousEnabled};
return Trigger{&wpi::RobotState::IsAutonomousEnabled};
}
Trigger RobotModeTriggers::Teleop() {
return Trigger{&wpi::DriverStation::IsTeleopEnabled};
return Trigger{&wpi::RobotState::IsTeleopEnabled};
}
Trigger RobotModeTriggers::Disabled() {
return Trigger{&wpi::DriverStation::IsDisabled};
return Trigger{&wpi::RobotState::IsDisabled};
}
Trigger RobotModeTriggers::Test() {
return Trigger{&wpi::DriverStation::IsTestEnabled};
return Trigger{&wpi::RobotState::IsTestEnabled};
}

7
commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp
View File

@@ -6,8 +6,9 @@
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/POVDirection.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
namespace wpi::cmd {
@@ -56,7 +57,7 @@ class CommandGenericHID {
* @param angle POV angle.
* @return a Trigger instance based around this angle of a POV on the HID.
*/
Trigger POV(wpi::DriverStation::POVDirection angle,
Trigger POV(wpi::POVDirection angle,
wpi::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
@@ -70,7 +71,7 @@ class CommandGenericHID {
* @param angle POV angle.
* @return a Trigger instance based around this angle of a POV on the HID.
*/
Trigger POV(int pov, wpi::DriverStation::POVDirection angle,
Trigger POV(int pov, wpi::POVDirection angle,
wpi::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;

4
commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp
View File

@@ -5,8 +5,8 @@
#pragma once
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/POVDirection.hpp"
namespace wpi::cmd {
/**
@@ -26,7 +26,7 @@ class POVButton : public Trigger {
* @param angle The angle of the POV corresponding to a button press.
* @param povNumber The number of the POV on the joystick.
*/
POVButton(wpi::GenericHID* joystick, wpi::DriverStation::POVDirection angle,
POVButton(wpi::GenericHID* joystick, wpi::POVDirection angle,
int povNumber = 0)
: Trigger([joystick, angle, povNumber] {
return joystick->GetPOV(povNumber) == angle;

6
commandsv2/src/main/python/commands2/commandscheduler.py
View File

@@ -9,7 +9,7 @@ from typing import Any, Callable, Dict, Iterable, List, Optional, Set, Union
import hal
from typing_extensions import Self
from wpilib import (
DriverStation,
RobotState,
EventLoop,
RobotBase,
TimedRobot,
@@ -192,7 +192,7 @@ class CommandScheduler(Sendable):
if self.isScheduled(command):
return
if DriverStation.isDisabled() and not command.runsWhenDisabled():
if RobotState.isDisabled() and not command.runsWhenDisabled():
return
requirements = command.getRequirements()
@@ -250,7 +250,7 @@ class CommandScheduler(Sendable):
self._watchdog.addEpoch("buttons.run()")
self._inRunLoop = True
isDisabled = DriverStation.isDisabled()
isDisabled = RobotState.isDisabled()
# Run scheduled commands, remove finished commands.
for command in self._scheduledCommands.copy():

4
commandsv2/src/test/java/org/wpilib/command2/CommandTestBase.java
View File

@@ -10,7 +10,7 @@ import static org.mockito.Mockito.when;
import java.util.Set;
import org.junit.jupiter.api.BeforeEach;
import org.wpilib.command2.Command.InterruptionBehavior;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.RobotState;
import org.wpilib.simulation.DriverStationSim;
/** Basic setup for all {@link Command tests}. */
@@ -33,7 +33,7 @@ public class CommandTestBase {
DriverStationSim.setEnabled(enabled);
DriverStationSim.notifyNewData();
while (DriverStation.isEnabled() != enabled) {
while (RobotState.isEnabled() != enabled) {
try {
Thread.sleep(1);
} catch (InterruptedException exception) {

8
commandsv2/src/test/native/cpp/wpi/command/POVButtonTest.cpp
View File

@@ -10,8 +10,8 @@
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/RunCommand.hpp"
#include "wpi/commands2/WaitUntilCommand.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/Joystick.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/simulation/JoystickSim.hpp"
using namespace wpi::cmd;
@@ -19,7 +19,7 @@ class POVButtonTest : public CommandTestBase {};
TEST_F(POVButtonTest, SetPOV) {
wpi::sim::JoystickSim joysim(1);
joysim.SetPOV(wpi::DriverStation::POVDirection::UP);
joysim.SetPOV(wpi::POVDirection::UP);
joysim.NotifyNewData();
auto& scheduler = CommandScheduler::GetInstance();
@@ -28,11 +28,11 @@ TEST_F(POVButtonTest, SetPOV) {
WaitUntilCommand command([&finished] { return finished; });
wpi::Joystick joy(1);
POVButton(&joy, wpi::DriverStation::POVDirection::RIGHT).OnTrue(&command);
POVButton(&joy, wpi::POVDirection::RIGHT).OnTrue(&command);
scheduler.Run();
EXPECT_FALSE(scheduler.IsScheduled(&command));
joysim.SetPOV(wpi::DriverStation::POVDirection::RIGHT);
joysim.SetPOV(wpi::POVDirection::RIGHT);
joysim.NotifyNewData();
scheduler.Run();

2
commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp
View File

@@ -6,7 +6,7 @@
#include "../CommandTestBase.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/simulation/DriverStationSim.hpp"

6
commandsv3/src/main/java/org/wpilib/command3/OpModeFetcher.java
View File

@@ -6,7 +6,7 @@ package org.wpilib.command3;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.RobotState;
/**
* Helper class for fetching information about the current opmode. This is a package-private class
@@ -52,12 +52,12 @@ abstract class OpModeFetcher {
static final class DriverStationOpModeFetcher extends OpModeFetcher {
@Override
public long getOpModeId() {
return DriverStation.getOpModeId();
return RobotState.getOpModeId();
}
@Override
public String getOpModeName() {
return DriverStation.getOpMode();
return RobotState.getOpMode();
}
}
}

2
commandsv3/src/main/java/org/wpilib/command3/button/CommandGenericHID.java
View File

@@ -8,8 +8,8 @@ import java.util.HashMap;
import java.util.Map;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.POVDirection;
import org.wpilib.event.EventLoop;
import org.wpilib.math.util.Pair;

2
commandsv3/src/main/java/org/wpilib/command3/button/POVButton.java
View File

@@ -7,8 +7,8 @@ package org.wpilib.command3.button;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.POVDirection;
/** A {@link Trigger} that gets its state from a POV on a {@link GenericHID}. */
public class POVButton extends Trigger {

10
commandsv3/src/main/java/org/wpilib/command3/button/RobotModeTriggers.java
View File

@@ -5,7 +5,7 @@
package org.wpilib.command3.button;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.RobotState;
/**
* A class containing static {@link Trigger} factories for running callbacks when the robot mode
@@ -21,7 +21,7 @@ public final class RobotModeTriggers {
* @return A trigger that is true when the robot is enabled in autonomous mode.
*/
public static Trigger autonomous() {
return new Trigger(DriverStation::isAutonomousEnabled);
return new Trigger(RobotState::isAutonomousEnabled);
}
/**
@@ -30,7 +30,7 @@ public final class RobotModeTriggers {
* @return A trigger that is true when the robot is enabled in teleop mode.
*/
public static Trigger teleop() {
return new Trigger(DriverStation::isTeleopEnabled);
return new Trigger(RobotState::isTeleopEnabled);
}
/**
@@ -39,7 +39,7 @@ public final class RobotModeTriggers {
* @return A trigger that is true when the robot is disabled.
*/
public static Trigger disabled() {
return new Trigger(DriverStation::isDisabled);
return new Trigger(RobotState::isDisabled);
}
/**
@@ -48,6 +48,6 @@ public final class RobotModeTriggers {
* @return A trigger that is true when the robot is enabled in test mode.
*/
public static Trigger test() {
return new Trigger(DriverStation::isTestEnabled);
return new Trigger(RobotState::isTestEnabled);
}
}

10
robotpyExamples/DigitalCommunication/robot.py
View File

@@ -31,19 +31,19 @@ class MyRobot(wpilib.TimedRobot):
def robotPeriodic(self):
setAlliance = False
alliance = wpilib.DriverStation.getAlliance()
alliance = wpilib.MatchState.getAlliance()
if alliance:
setAlliance = alliance == wpilib.DriverStation.Alliance.RED
setAlliance = alliance == wpilib.Alliance.RED
# pull alliance port high if on red alliance, pull low if on blue alliance
self.allianceOutput.set(setAlliance)
# pull enabled port high if enabled, low if disabled
self.enabledOutput.set(wpilib.DriverStation.isEnabled())
self.enabledOutput.set(wpilib.RobotState.isEnabled())
# pull auto port high if in autonomous, low if in teleop (or disabled)
self.autonomousOutput.set(wpilib.DriverStation.isAutonomous())
self.autonomousOutput.set(wpilib.RobotState.isAutonomous())
# pull alert port high if match time remaining is between 30 and 25 seconds
matchTime = wpilib.DriverStation.getMatchTime()
matchTime = wpilib.MatchState.getMatchTime()
self.alertOutput.set(30 >= matchTime >= 25)

10
robotpyExamples/I2CCommunication/robot.py
View File

@@ -41,15 +41,15 @@ class MyRobot(wpilib.TimedRobot):
# For example, "RET043" would indicate that the robot is on the red
# alliance, enabled in teleop mode, with 43 seconds left in the match.
allianceString = "U"
alliance = wpilib.DriverStation.getAlliance()
alliance = wpilib.MatchState.getAlliance()
if alliance is not None:
allianceString = (
"R" if alliance == wpilib.DriverStation.Alliance.RED else "B"
"R" if alliance == wpilib.Alliance.RED else "B"
)
enabledString = "E" if wpilib.DriverStation.isEnabled() else "D"
autoString = "A" if wpilib.DriverStation.isAutonomous() else "T"
matchTime = wpilib.DriverStation.getMatchTime()
enabledString = "E" if wpilib.RobotState.isEnabled() else "D"
autoString = "A" if wpilib.RobotState.isAutonomous() else "T"
matchTime = wpilib.MatchState.getMatchTime()
stateMessage = f"{allianceString}{enabledString}{autoString}{matchTime:03f}"

10
romiVendordep/src/main/java/org/wpilib/romi/OnBoardIO.java
View File

@@ -4,7 +4,7 @@
package org.wpilib.romi;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.hardware.discrete.DigitalInput;
import org.wpilib.hardware.discrete.DigitalOutput;
import org.wpilib.system.Timer;
@@ -84,7 +84,7 @@ public class OnBoardIO {
double currentTime = Timer.getTimestamp();
if (currentTime > m_nextMessageTime) {
DriverStation.reportError("Button B was not configured", true);
DriverStationErrors.reportError("Button B was not configured", true);
m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
}
return false;
@@ -102,7 +102,7 @@ public class OnBoardIO {
double currentTime = Timer.getTimestamp();
if (currentTime > m_nextMessageTime) {
DriverStation.reportError("Button C was not configured", true);
DriverStationErrors.reportError("Button C was not configured", true);
m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
}
return false;
@@ -119,7 +119,7 @@ public class OnBoardIO {
} else {
double currentTime = Timer.getTimestamp();
if (currentTime > m_nextMessageTime) {
DriverStation.reportError("Green LED was not configured", true);
DriverStationErrors.reportError("Green LED was not configured", true);
m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
}
}
@@ -136,7 +136,7 @@ public class OnBoardIO {
} else {
double currentTime = Timer.getTimestamp();
if (currentTime > m_nextMessageTime) {
DriverStation.reportError("Red LED was not configured", true);
DriverStationErrors.reportError("Red LED was not configured", true);
m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
}
}

2
styleguide/spotbugs-exclude.xml
View File

@@ -7,7 +7,7 @@
<Match>
<Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
<Or>
<Class name="org.wpilib.driverstation.DriverStation" />
<Class name="org.wpilib.driverstation.internal.DriverStationBackend" />
<Class name="org.wpilib.driverstation.GenericHID" />
<Class name="org.wpilib.command2.CommandScheduler" />
</Or>

65
wpilibc/robotpy_pybind_build_info.bzl generated
View File

@@ -96,6 +96,24 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
("wpi::RobotDriveBase", "wpi__RobotDriveBase.hpp"),
],
),
struct(
class_name = "DriverStationBackend",
yml_file = "semiwrap/DriverStationBackend.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/internal/DriverStationBackend.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::internal::DriverStationBackend", "wpi__internal__DriverStationBackend.hpp"),
],
),
struct(
class_name = "Alliance",
yml_file = "semiwrap/Alliance.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/Alliance.hpp",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Alert",
yml_file = "semiwrap/Alert.yml",
@@ -114,7 +132,52 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
tmpl_class_names = [],
trampolines = [
("wpi::DriverStation", "wpi__DriverStation.hpp"),
("wpi::DriverStation::TouchpadFinger", "wpi__DriverStation__TouchpadFinger.hpp"),
],
),
struct(
class_name = "MatchState",
yml_file = "semiwrap/MatchState.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/MatchState.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::MatchState", "wpi__MatchState.hpp"),
],
),
struct(
class_name = "MatchType",
yml_file = "semiwrap/MatchType.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/MatchType.hpp",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "POVDirection",
yml_file = "semiwrap/POVDirection.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/POVDirection.hpp",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "RobotState",
yml_file = "semiwrap/RobotState.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/RobotState.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::RobotState", "wpi__RobotState.hpp"),
],
),
struct(
class_name = "TouchpadFinger",
yml_file = "semiwrap/TouchpadFinger.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/TouchpadFinger.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::TouchpadFinger", "wpi__TouchpadFinger.hpp"),
],
),
struct(

8
wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
View File

@@ -505,14 +505,14 @@ BooleanEvent Gamepad::AxisGreaterThan(Axis axis, double threshold,
}
double Gamepad::GetAxisForSendable(Axis axis) const {
return DriverStation::GetStickAxisIfAvailable(GetPort(),
static_cast<int>(axis))
return wpi::internal::DriverStationBackend::GetStickAxisIfAvailable(
GetPort(), static_cast<int>(axis))
.value_or(0.0);
}
bool Gamepad::GetButtonForSendable(Button button) const {
return DriverStation::GetStickButtonIfAvailable(GetPort(),
static_cast<int>(button))
return wpi::internal::DriverStationBackend::GetStickButtonIfAvailable(
GetPort(), static_cast<int>(button))
.value_or(false);
}

73
wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp
View File

@@ -6,7 +6,7 @@
#include <string>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/event/BooleanEvent.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/system/Errors.hpp"
@@ -14,7 +14,7 @@
using namespace wpi;
GenericHID::GenericHID(int port) {
if (port < 0 || port >= DriverStation::JOYSTICK_PORTS) {
if (port < 0 || port >= wpi::internal::DriverStationBackend::JOYSTICK_PORTS) {
throw WPILIB_MakeError(warn::BadJoystickIndex, "port {} out of range",
port);
}
@@ -22,15 +22,17 @@ GenericHID::GenericHID(int port) {
}
bool GenericHID::GetRawButton(int button) const {
return DriverStation::GetStickButton(m_port, button);
return wpi::internal::DriverStationBackend::GetStickButton(m_port, button);
}
bool GenericHID::GetRawButtonPressed(int button) {
return DriverStation::GetStickButtonPressed(m_port, button);
return wpi::internal::DriverStationBackend::GetStickButtonPressed(m_port,
button);
}
bool GenericHID::GetRawButtonReleased(int button) {
return DriverStation::GetStickButtonReleased(m_port, button);
return wpi::internal::DriverStationBackend::GetStickButtonReleased(m_port,
button);
}
BooleanEvent GenericHID::Button(int button, EventLoop* loop) const {
@@ -39,58 +41,57 @@ BooleanEvent GenericHID::Button(int button, EventLoop* loop) const {
}
double GenericHID::GetRawAxis(int axis) const {
return DriverStation::GetStickAxis(m_port, axis);
return wpi::internal::DriverStationBackend::GetStickAxis(m_port, axis);
}
DriverStation::POVDirection GenericHID::GetPOV(int pov) const {
return DriverStation::GetStickPOV(m_port, pov);
POVDirection GenericHID::GetPOV(int pov) const {
return wpi::internal::DriverStationBackend::GetStickPOV(m_port, pov);
}
BooleanEvent GenericHID::POV(DriverStation::POVDirection angle,
EventLoop* loop) const {
BooleanEvent GenericHID::POV(POVDirection angle, EventLoop* loop) const {
return POV(0, angle, loop);
}
BooleanEvent GenericHID::POV(int pov, DriverStation::POVDirection angle,
BooleanEvent GenericHID::POV(int pov, POVDirection angle,
EventLoop* loop) const {
return BooleanEvent(
loop, [this, pov, angle] { return this->GetPOV(pov) == angle; });
}
BooleanEvent GenericHID::POVUp(EventLoop* loop) const {
return POV(DriverStation::POVDirection::UP, loop);
return POV(POVDirection::UP, loop);
}
BooleanEvent GenericHID::POVUpRight(EventLoop* loop) const {
return POV(DriverStation::POVDirection::UP_RIGHT, loop);
return POV(POVDirection::UP_RIGHT, loop);
}
BooleanEvent GenericHID::POVRight(EventLoop* loop) const {
return POV(DriverStation::POVDirection::RIGHT, loop);
return POV(POVDirection::RIGHT, loop);
}
BooleanEvent GenericHID::POVDownRight(EventLoop* loop) const {
return POV(DriverStation::POVDirection::DOWN_RIGHT, loop);
return POV(POVDirection::DOWN_RIGHT, loop);
}
BooleanEvent GenericHID::POVDown(EventLoop* loop) const {
return POV(DriverStation::POVDirection::DOWN, loop);
return POV(POVDirection::DOWN, loop);
}
BooleanEvent GenericHID::POVDownLeft(EventLoop* loop) const {
return POV(DriverStation::POVDirection::DOWN_LEFT, loop);
return POV(POVDirection::DOWN_LEFT, loop);
}
BooleanEvent GenericHID::POVLeft(EventLoop* loop) const {
return POV(DriverStation::POVDirection::LEFT, loop);
return POV(POVDirection::LEFT, loop);
}
BooleanEvent GenericHID::POVUpLeft(EventLoop* loop) const {
return POV(DriverStation::POVDirection::UP_LEFT, loop);
return POV(POVDirection::UP_LEFT, loop);
}
BooleanEvent GenericHID::POVCenter(EventLoop* loop) const {
return POV(DriverStation::POVDirection::CENTER, loop);
return POV(POVDirection::CENTER, loop);
}
BooleanEvent GenericHID::AxisLessThan(int axis, double threshold,
@@ -108,44 +109,46 @@ BooleanEvent GenericHID::AxisGreaterThan(int axis, double threshold,
}
int GenericHID::GetAxesMaximumIndex() const {
return DriverStation::GetStickAxesMaximumIndex(m_port);
return wpi::internal::DriverStationBackend::GetStickAxesMaximumIndex(m_port);
}
int GenericHID::GetAxesAvailable() const {
return DriverStation::GetStickAxesAvailable(m_port);
return wpi::internal::DriverStationBackend::GetStickAxesAvailable(m_port);
}
int GenericHID::GetPOVsMaximumIndex() const {
return DriverStation::GetStickPOVsMaximumIndex(m_port);
return wpi::internal::DriverStationBackend::GetStickPOVsMaximumIndex(m_port);
}
int GenericHID::GetPOVsAvailable() const {
return DriverStation::GetStickPOVsAvailable(m_port);
return wpi::internal::DriverStationBackend::GetStickPOVsAvailable(m_port);
}
int GenericHID::GetButtonsMaximumIndex() const {
return DriverStation::GetStickButtonsMaximumIndex(m_port);
return wpi::internal::DriverStationBackend::GetStickButtonsMaximumIndex(
m_port);
}
uint64_t GenericHID::GetButtonsAvailable() const {
return DriverStation::GetStickButtonsAvailable(m_port);
return wpi::internal::DriverStationBackend::GetStickButtonsAvailable(m_port);
}
bool GenericHID::IsConnected() const {
return DriverStation::IsJoystickConnected(m_port);
return wpi::internal::DriverStationBackend::IsJoystickConnected(m_port);
}
GenericHID::HIDType GenericHID::GetGamepadType() const {
return static_cast<HIDType>(DriverStation::GetJoystickGamepadType(m_port));
return static_cast<HIDType>(
wpi::internal::DriverStationBackend::GetJoystickGamepadType(m_port));
}
GenericHID::SupportedOutputs GenericHID::GetSupportedOutputs() const {
return static_cast<SupportedOutputs>(
DriverStation::GetJoystickSupportedOutputs(m_port));
wpi::internal::DriverStationBackend::GetJoystickSupportedOutputs(m_port));
}
std::string GenericHID::GetName() const {
return DriverStation::GetJoystickName(m_port);
return wpi::internal::DriverStationBackend::GetJoystickName(m_port);
}
int GenericHID::GetPort() const {
@@ -178,11 +181,11 @@ void GenericHID::SetRumble(RumbleType type, double value) {
}
bool GenericHID::GetTouchpadFingerAvailable(int touchpad, int finger) const {
return DriverStation::GetStickTouchpadFingerAvailable(m_port, touchpad,
finger);
return wpi::internal::DriverStationBackend::GetStickTouchpadFingerAvailable(
m_port, touchpad, finger);
}
DriverStation::TouchpadFinger GenericHID::GetTouchpadFinger(int touchpad,
int finger) const {
return DriverStation::GetStickTouchpadFinger(m_port, touchpad, finger);
TouchpadFinger GenericHID::GetTouchpadFinger(int touchpad, int finger) const {
return wpi::internal::DriverStationBackend::GetStickTouchpadFinger(
m_port, touchpad, finger);
}

137
wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp → wpilibc/src/main/native/cpp/driverstation/internal/DriverStationBackend.cpp
View File

@@ -2,7 +2,7 @@
// 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.
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include <stdint.h>
@@ -40,6 +40,7 @@
#include "wpi/util/timestamp.hpp"
using namespace wpi;
using namespace wpi::internal;
static constexpr int availableToCount(uint64_t available) {
return 64 - std::countl_zero(available);
@@ -136,7 +137,8 @@ class DataLogSender {
wpi::log::StringLogEntry m_logOpMode;
bool m_logJoysticks;
std::array<JoystickLogSender, DriverStation::JOYSTICK_PORTS> m_joysticks;
std::array<JoystickLogSender, DriverStationBackend::JOYSTICK_PORTS>
m_joysticks;
};
struct Instance {
@@ -149,10 +151,12 @@ struct Instance {
// Joystick button rising/falling edge flags
wpi::util::mutex buttonEdgeMutex;
std::array<HAL_JoystickButtons, DriverStation::JOYSTICK_PORTS>
std::array<HAL_JoystickButtons, DriverStationBackend::JOYSTICK_PORTS>
previousButtonStates;
std::array<uint32_t, DriverStation::JOYSTICK_PORTS> joystickButtonsPressed;
std::array<uint32_t, DriverStation::JOYSTICK_PORTS> joystickButtonsReleased;
std::array<uint32_t, DriverStationBackend::JOYSTICK_PORTS>
joystickButtonsPressed;
std::array<uint32_t, DriverStationBackend::JOYSTICK_PORTS>
joystickButtonsReleased;
bool silenceJoystickWarning = false;
@@ -211,7 +215,7 @@ Instance::Instance() {
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to motor controllers.
for (unsigned int i = 0; i < DriverStation::JOYSTICK_PORTS; i++) {
for (unsigned int i = 0; i < DriverStationBackend::JOYSTICK_PORTS; i++) {
joystickButtonsPressed[i] = 0;
joystickButtonsReleased[i] = 0;
previousButtonStates[i].available = 0;
@@ -225,7 +229,7 @@ Instance::~Instance() {
}
}
bool DriverStation::GetStickButton(int stick, int button) {
bool DriverStationBackend::GetStickButton(int stick, int button) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
@@ -250,8 +254,8 @@ bool DriverStation::GetStickButton(int stick, int button) {
return (buttons.buttons & mask) != 0;
}
std::optional<bool> DriverStation::GetStickButtonIfAvailable(int stick,
int button) {
std::optional<bool> DriverStationBackend::GetStickButtonIfAvailable(
int stick, int button) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
@@ -274,7 +278,7 @@ std::optional<bool> DriverStation::GetStickButtonIfAvailable(int stick,
return (buttons.buttons & mask) != 0;
}
bool DriverStation::GetStickButtonPressed(int stick, int button) {
bool DriverStationBackend::GetStickButtonPressed(int stick, int button) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
@@ -305,7 +309,7 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) {
return false;
}
bool DriverStation::GetStickButtonReleased(int stick, int button) {
bool DriverStationBackend::GetStickButtonReleased(int stick, int button) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
@@ -336,7 +340,7 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) {
return false;
}
double DriverStation::GetStickAxis(int stick, int axis) {
double DriverStationBackend::GetStickAxis(int stick, int axis) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0.0;
@@ -360,8 +364,9 @@ double DriverStation::GetStickAxis(int stick, int axis) {
return axes.axes[axis];
}
DriverStation::TouchpadFinger DriverStation::GetStickTouchpadFinger(
int stick, int touchpad, int finger) {
TouchpadFinger DriverStationBackend::GetStickTouchpadFinger(int stick,
int touchpad,
int finger) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return TouchpadFinger{false, 0.0f, 0.0f};
@@ -396,8 +401,9 @@ DriverStation::TouchpadFinger DriverStation::GetStickTouchpadFinger(
return TouchpadFinger{false, 0.0f, 0.0f};
}
bool DriverStation::GetStickTouchpadFingerAvailable(int stick, int touchpad,
int finger) {
bool DriverStationBackend::GetStickTouchpadFingerAvailable(int stick,
int touchpad,
int finger) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
@@ -425,8 +431,8 @@ bool DriverStation::GetStickTouchpadFingerAvailable(int stick, int touchpad,
return false;
}
std::optional<double> DriverStation::GetStickAxisIfAvailable(int stick,
int axis) {
std::optional<double> DriverStationBackend::GetStickAxisIfAvailable(int stick,
int axis) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0.0;
@@ -448,7 +454,7 @@ std::optional<double> DriverStation::GetStickAxisIfAvailable(int stick,
return axes.axes[axis];
}
DriverStation::POVDirection DriverStation::GetStickPOV(int stick, int pov) {
POVDirection DriverStationBackend::GetStickPOV(int stick, int pov) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return POVDirection::CENTER;
@@ -472,7 +478,7 @@ DriverStation::POVDirection DriverStation::GetStickPOV(int stick, int pov) {
return static_cast<POVDirection>(povs.povs[pov]);
}
uint64_t DriverStation::GetStickButtons(int stick) {
uint64_t DriverStationBackend::GetStickButtons(int stick) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -484,11 +490,11 @@ uint64_t DriverStation::GetStickButtons(int stick) {
return buttons.buttons;
}
int DriverStation::GetStickAxesMaximumIndex(int stick) {
int DriverStationBackend::GetStickAxesMaximumIndex(int stick) {
return availableToCount(GetStickAxesAvailable(stick));
}
int DriverStation::GetStickAxesAvailable(int stick) {
int DriverStationBackend::GetStickAxesAvailable(int stick) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -500,11 +506,11 @@ int DriverStation::GetStickAxesAvailable(int stick) {
return axes.available;
}
int DriverStation::GetStickPOVsMaximumIndex(int stick) {
int DriverStationBackend::GetStickPOVsMaximumIndex(int stick) {
return availableToCount(GetStickPOVsAvailable(stick));
}
int DriverStation::GetStickPOVsAvailable(int stick) {
int DriverStationBackend::GetStickPOVsAvailable(int stick) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -516,11 +522,11 @@ int DriverStation::GetStickPOVsAvailable(int stick) {
return povs.available;
}
int DriverStation::GetStickButtonsMaximumIndex(int stick) {
int DriverStationBackend::GetStickButtonsMaximumIndex(int stick) {
return availableToCount(GetStickButtonsAvailable(stick));
}
uint64_t DriverStation::GetStickButtonsAvailable(int stick) {
uint64_t DriverStationBackend::GetStickButtonsAvailable(int stick) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -532,7 +538,7 @@ uint64_t DriverStation::GetStickButtonsAvailable(int stick) {
return buttons.available;
}
bool DriverStation::GetJoystickIsGamepad(int stick) {
bool DriverStationBackend::GetJoystickIsGamepad(int stick) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
@@ -544,7 +550,7 @@ bool DriverStation::GetJoystickIsGamepad(int stick) {
return static_cast<bool>(descriptor.isGamepad);
}
int DriverStation::GetJoystickGamepadType(int stick) {
int DriverStationBackend::GetJoystickGamepadType(int stick) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return -1;
@@ -556,7 +562,7 @@ int DriverStation::GetJoystickGamepadType(int stick) {
return static_cast<int>(descriptor.gamepadType);
}
int DriverStation::GetJoystickSupportedOutputs(int stick) {
int DriverStationBackend::GetJoystickSupportedOutputs(int stick) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -568,7 +574,7 @@ int DriverStation::GetJoystickSupportedOutputs(int stick) {
return static_cast<int>(descriptor.supportedOutputs);
}
std::string DriverStation::GetJoystickName(int stick) {
std::string DriverStationBackend::GetJoystickName(int stick) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
}
@@ -579,7 +585,7 @@ std::string DriverStation::GetJoystickName(int stick) {
return descriptor.name;
}
bool DriverStation::IsJoystickConnected(int stick) {
bool DriverStationBackend::IsJoystickConnected(int stick) {
return GetStickAxesAvailable(stick) != 0 ||
GetStickButtonsAvailable(stick) != 0 ||
GetStickPOVsAvailable(stick) != 0;
@@ -624,23 +630,23 @@ static int32_t ConvertColorToInt(const wpi::util::Color& color) {
(static_cast<int32_t>(color.blue * 255) & 0xff);
}
int64_t DriverStation::AddOpMode(RobotMode mode, std::string_view name,
std::string_view group,
std::string_view description,
const wpi::util::Color& textColor,
const wpi::util::Color& backgroundColor) {
int64_t DriverStationBackend::AddOpMode(
RobotMode mode, std::string_view name, std::string_view group,
std::string_view description, const wpi::util::Color& textColor,
const wpi::util::Color& backgroundColor) {
return DoAddOpMode(mode, name, group, description,
ConvertColorToInt(textColor),
ConvertColorToInt(backgroundColor));
}
int64_t DriverStation::AddOpMode(RobotMode mode, std::string_view name,
std::string_view group,
std::string_view description) {
int64_t DriverStationBackend::AddOpMode(RobotMode mode, std::string_view name,
std::string_view group,
std::string_view description) {
return DoAddOpMode(mode, name, group, description, -1, -1);
}
int64_t DriverStation::RemoveOpMode(RobotMode mode, std::string_view name) {
int64_t DriverStationBackend::RemoveOpMode(RobotMode mode,
std::string_view name) {
if (wpi::util::trim(name).empty()) {
return 0;
}
@@ -662,7 +668,7 @@ int64_t DriverStation::RemoveOpMode(RobotMode mode, std::string_view name) {
return 0;
}
void DriverStation::PublishOpModes() {
void DriverStationBackend::PublishOpModes() {
auto& inst = ::GetInstance();
std::scoped_lock lock{inst.opModeMutex};
std::vector<HAL_OpModeOption> options;
@@ -673,19 +679,19 @@ void DriverStation::PublishOpModes() {
HAL_SetOpModeOptions(options.data(), options.size());
}
void DriverStation::ClearOpModes() {
void DriverStationBackend::ClearOpModes() {
auto& inst = ::GetInstance();
std::scoped_lock lock{inst.opModeMutex};
inst.opModes.clear();
HAL_SetOpModeOptions(nullptr, 0);
}
void DriverStation::ObserveUserProgramStarting() {
void DriverStationBackend::ObserveUserProgramStarting() {
::GetInstance().userProgramStarted = true;
HAL_ObserveUserProgramStarting();
}
int64_t DriverStation::GetOpModeId() {
int64_t DriverStationBackend::GetOpModeId() {
if (!::GetInstance().userProgramStarted) {
return 0;
}
@@ -693,7 +699,7 @@ int64_t DriverStation::GetOpModeId() {
return GetControlWord().GetOpModeId();
}
std::string DriverStation::GetOpMode() {
std::string DriverStationBackend::GetOpMode() {
if (!::GetInstance().userProgramStarted) {
return "";
}
@@ -701,7 +707,7 @@ std::string DriverStation::GetOpMode() {
return GetInstance().OpModeToString(GetOpModeId());
}
std::optional<std::string> DriverStation::GetGameData() {
std::optional<std::string> DriverStationBackend::GetGameData() {
HAL_GameData info;
HAL_GetGameData(&info);
std::string_view gameDataView{reinterpret_cast<char*>(info.gameData)};
@@ -711,31 +717,31 @@ std::optional<std::string> DriverStation::GetGameData() {
return std::string(gameDataView);
}
std::string DriverStation::GetEventName() {
std::string DriverStationBackend::GetEventName() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return info.eventName;
}
DriverStation::MatchType DriverStation::GetMatchType() {
MatchType DriverStationBackend::GetMatchType() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return static_cast<DriverStation::MatchType>(info.matchType);
return static_cast<MatchType>(info.matchType);
}
int DriverStation::GetMatchNumber() {
int DriverStationBackend::GetMatchNumber() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return info.matchNumber;
}
int DriverStation::GetReplayNumber() {
int DriverStationBackend::GetReplayNumber() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return info.replayNumber;
}
std::optional<DriverStation::Alliance> DriverStation::GetAlliance() {
std::optional<Alliance> DriverStationBackend::GetAlliance() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
@@ -752,7 +758,7 @@ std::optional<DriverStation::Alliance> DriverStation::GetAlliance() {
}
}
std::optional<int> DriverStation::GetLocation() {
std::optional<int> DriverStationBackend::GetLocation() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
@@ -770,12 +776,12 @@ std::optional<int> DriverStation::GetLocation() {
}
}
wpi::units::second_t DriverStation::GetMatchTime() {
wpi::units::second_t DriverStationBackend::GetMatchTime() {
int32_t status = 0;
return wpi::units::second_t{HAL_GetMatchTime(&status)};
}
double DriverStation::GetBatteryVoltage() {
double DriverStationBackend::GetBatteryVoltage() {
int32_t status = 0;
double voltage = HAL_GetVinVoltage(&status);
WPILIB_CheckErrorStatus(status, "getVinVoltage");
@@ -789,7 +795,7 @@ double DriverStation::GetBatteryVoltage() {
* If no new data exists, it will just be returned, otherwise
* the data will be copied from the DS polling loop.
*/
void DriverStation::RefreshData() {
void DriverStationBackend::RefreshData() {
HAL_RefreshDSData();
auto& inst = ::GetInstance();
{
@@ -797,7 +803,7 @@ void DriverStation::RefreshData() {
HAL_JoystickButtons currentButtons;
std::unique_lock lock(inst.buttonEdgeMutex);
for (int32_t i = 0; i < DriverStation::JOYSTICK_PORTS; i++) {
for (int32_t i = 0; i < DriverStationBackend::JOYSTICK_PORTS; i++) {
HAL_GetJoystickButtons(i, &currentButtons);
// If buttons weren't pressed and are now, set flags in m_buttonsPressed
@@ -820,25 +826,28 @@ void DriverStation::RefreshData() {
}
}
void DriverStation::ProvideRefreshedDataEventHandle(WPI_EventHandle handle) {
void DriverStationBackend::ProvideRefreshedDataEventHandle(
WPI_EventHandle handle) {
auto& inst = ::GetInstance();
inst.refreshEvents.Add(handle);
}
void DriverStation::RemoveRefreshedDataEventHandle(WPI_EventHandle handle) {
void DriverStationBackend::RemoveRefreshedDataEventHandle(
WPI_EventHandle handle) {
auto& inst = ::GetInstance();
inst.refreshEvents.Remove(handle);
}
void DriverStation::SilenceJoystickConnectionWarning(bool silence) {
void DriverStationBackend::SilenceJoystickConnectionWarning(bool silence) {
::GetInstance().silenceJoystickWarning = silence;
}
bool DriverStation::IsJoystickConnectionWarningSilenced() {
bool DriverStationBackend::IsJoystickConnectionWarningSilenced() {
return !IsFMSAttached() && ::GetInstance().silenceJoystickWarning;
}
void DriverStation::StartDataLog(wpi::log::DataLog& log, bool logJoysticks) {
void DriverStationBackend::StartDataLog(wpi::log::DataLog& log,
bool logJoysticks) {
auto& inst = ::GetInstance();
// Note: cannot safely replace, because we wouldn't know when to delete the
// "old" one. Instead do a compare and exchange with nullptr. We check first
@@ -859,10 +868,10 @@ void DriverStation::StartDataLog(wpi::log::DataLog& log, bool logJoysticks) {
void ReportJoystickWarningV(int stick, fmt::string_view format,
fmt::format_args args) {
auto& inst = GetInstance();
if (DriverStation::IsFMSAttached() || !inst.silenceJoystickWarning) {
if (DriverStationBackend::IsFMSAttached() || !inst.silenceJoystickWarning) {
auto currentTime = Timer::GetTimestamp();
if (currentTime > inst.nextMessageTime) {
if (DriverStation::IsJoystickConnected(stick)) {
if (DriverStationBackend::IsJoystickConnected(stick)) {
ReportErrorV(warn::Warning, "", 0, "", format, args);
} else {
ReportError(

5
wpilibc/src/main/native/cpp/framework/IterativeRobotBase.cpp
View File

@@ -4,7 +4,8 @@
#include "wpi/framework/IterativeRobotBase.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/nt/NetworkTableInstance.hpp"
@@ -91,7 +92,7 @@ wpi::units::second_t IterativeRobotBase::GetPeriod() const {
}
void IterativeRobotBase::LoopFunc() {
DriverStation::RefreshData();
wpi::internal::DriverStationBackend::RefreshData();
m_watchdog.Reset();
// Get current mode; treat disabled as unknown

22
wpilibc/src/main/native/cpp/framework/OpModeRobot.cpp
View File

@@ -12,7 +12,8 @@
#include <fmt/format.h>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/hal/HAL.h"
@@ -54,10 +55,11 @@ void OpModeRobotBase::AddPeriodic(std::function<void()> callback,
}
void OpModeRobotBase::LoopFunc() {
DriverStation::RefreshData();
wpi::internal::DriverStationBackend::RefreshData();
// Get current enabled state and opmode
const hal::ControlWord word = DriverStation::GetControlWord();
const hal::ControlWord word =
wpi::internal::DriverStationBackend::GetControlWord();
m_watchdog.Reset();
const bool enabled = word.IsEnabled();
int64_t modeId = word.IsDSAttached() ? word.GetOpModeId() : 0;
@@ -194,7 +196,7 @@ void OpModeRobotBase::StartCompetition() {
}
// Tell the DS that the robot is ready to be enabled
DriverStation::ObserveUserProgramStarting();
wpi::internal::DriverStationBackend::ObserveUserProgramStarting();
// Loop forever, calling the callback system which handles periodic functions
while (true) {
@@ -215,8 +217,8 @@ void OpModeRobotBase::AddOpModeFactory(
std::string_view group, std::string_view description,
const wpi::util::Color& textColor,
const wpi::util::Color& backgroundColor) {
int64_t id = DriverStation::AddOpMode(mode, name, group, description,
textColor, backgroundColor);
int64_t id = RobotState::AddOpMode(mode, name, group, description, textColor,
backgroundColor);
if (id != 0) {
m_opModes[id] = OpModeData{std::string{name}, std::move(factory)};
}
@@ -226,24 +228,24 @@ void OpModeRobotBase::AddOpModeFactory(OpModeFactory factory, RobotMode mode,
std::string_view name,
std::string_view group,
std::string_view description) {
int64_t id = DriverStation::AddOpMode(mode, name, group, description);
int64_t id = RobotState::AddOpMode(mode, name, group, description);
if (id != 0) {
m_opModes[id] = OpModeData{std::string{name}, std::move(factory)};
}
}
void OpModeRobotBase::RemoveOpMode(RobotMode mode, std::string_view name) {
int64_t id = DriverStation::RemoveOpMode(mode, name);
int64_t id = RobotState::RemoveOpMode(mode, name);
if (id != 0) {
m_opModes.erase(id);
}
}
void OpModeRobotBase::PublishOpModes() {
DriverStation::PublishOpModes();
RobotState::PublishOpModes();
}
void OpModeRobotBase::ClearOpModes() {
DriverStation::ClearOpModes();
RobotState::ClearOpModes();
m_opModes.clear();
}

3
wpilibc/src/main/native/cpp/framework/TimedRobot.cpp
View File

@@ -10,6 +10,7 @@
#include <utility>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStation.hpp"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/system/Errors.hpp"
@@ -24,7 +25,7 @@ void TimedRobot::StartCompetition() {
// Tell the DS that the robot is ready to be enabled
std::puts("\n********** Robot program startup complete **********");
DriverStation::ObserveUserProgramStarting();
wpi::internal::DriverStationBackend::ObserveUserProgramStarting();
// Loop forever, calling the appropriate mode-dependent function
while (true) {

4
wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
View File

@@ -6,7 +6,7 @@
#include <utility>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/system/Errors.hpp"
@@ -153,7 +153,7 @@ void MotorSafety::Check() {
stopTime = m_stopTime;
}
if (!enabled || DriverStation::IsDisabled() || DriverStation::IsTest()) {
if (!enabled || RobotState::IsDisabled() || RobotState::IsTest()) {
return;
}

4
wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
View File

@@ -4,7 +4,7 @@
#include "wpi/internal/DriverStationModeThread.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/util/Synchronization.hpp"
@@ -33,7 +33,7 @@ void DriverStationModeThread::Run() {
if (!m_keepAlive) {
break;
}
wpi::DriverStation::RefreshData();
wpi::internal::DriverStationBackend::RefreshData();
HAL_ObserveUserProgram({.value = m_userControlWord});
}
}

9
wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
View File

@@ -6,7 +6,7 @@
#include <memory>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/hal/simulation/DriverStationData.h"
#include "wpi/hal/simulation/MockHooks.h"
@@ -175,7 +175,7 @@ void DriverStationSim::NotifyNewData() {
HALSIM_NotifyDriverStationNewData();
wpi::util::WaitForObject(waitEvent.GetHandle());
HAL_RemoveNewDataEventHandle(waitEvent.GetHandle());
wpi::DriverStation::RefreshData();
wpi::internal::DriverStationBackend::RefreshData();
}
void DriverStationSim::SetSendError(bool shouldSend) {
@@ -232,8 +232,7 @@ void DriverStationSim::SetJoystickAxis(int stick, int axis, double value) {
HALSIM_SetJoystickAxis(stick, axis, value);
}
void DriverStationSim::SetJoystickPOV(int stick, int pov,
DriverStation::POVDirection value) {
void DriverStationSim::SetJoystickPOV(int stick, int pov, POVDirection value) {
HALSIM_SetJoystickPOV(stick, pov, static_cast<HAL_JoystickPOV>(value));
}
@@ -313,7 +312,7 @@ void DriverStationSim::SetEventName(std::string_view name) {
HALSIM_SetEventName(&str);
}
void DriverStationSim::SetMatchType(DriverStation::MatchType type) {
void DriverStationSim::SetMatchType(MatchType type) {
HALSIM_SetMatchType(static_cast<HAL_MatchType>(static_cast<int>(type)));
}

6
wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp
View File

@@ -4,8 +4,8 @@
#include "wpi/simulation/GenericHIDSim.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/simulation/DriverStationSim.hpp"
using namespace wpi;
@@ -28,11 +28,11 @@ void GenericHIDSim::SetRawAxis(int axis, double value) {
DriverStationSim::SetJoystickAxis(m_port, axis, value);
}
void GenericHIDSim::SetPOV(int pov, DriverStation::POVDirection value) {
void GenericHIDSim::SetPOV(int pov, POVDirection value) {
DriverStationSim::SetJoystickPOV(m_port, pov, value);
}
void GenericHIDSim::SetPOV(DriverStation::POVDirection value) {
void GenericHIDSim::SetPOV(POVDirection value) {
SetPOV(0, value);
}

28
wpilibc/src/main/native/cpp/system/DataLogManager.cpp
View File

@@ -15,7 +15,9 @@
#include "wpi/datalog/DataLog.hpp"
#include "wpi/datalog/DataLogBackgroundWriter.hpp"
#include "wpi/datalog/FileLogger.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/MatchState.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/framework/RobotBase.hpp"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/nt/NetworkTableInstance.hpp"
@@ -190,7 +192,8 @@ void Thread::Main() {
"{\"source\":\"DataLogManager\",\"format\":\"time_t_us\"}"};
wpi::util::Event newDataEvent;
DriverStation::ProvideRefreshedDataEventHandle(newDataEvent.GetHandle());
wpi::internal::DriverStationBackend::ProvideRefreshedDataEventHandle(
newDataEvent.GetHandle());
for (;;) {
bool timedOut = false;
@@ -218,7 +221,7 @@ void Thread::Main() {
if (!dsRenamed) {
// track DS attach
if (DriverStation::IsDSAttached()) {
if (RobotState::IsDSAttached()) {
++dsAttachCount;
} else {
dsAttachCount = 0;
@@ -236,7 +239,7 @@ void Thread::Main() {
if (!fmsRenamed) {
// track FMS attach
if (DriverStation::IsFMSAttached()) {
if (RobotState::IsFMSAttached()) {
++fmsAttachCount;
} else {
fmsAttachCount = 0;
@@ -244,18 +247,18 @@ void Thread::Main() {
if (fmsAttachCount > 250) { // 5 seconds
// match info comes through TCP, so we need to double-check we've
// actually received it
auto matchType = DriverStation::GetMatchType();
if (matchType != DriverStation::MatchType::NONE) {
auto matchType = MatchState::GetMatchType();
if (matchType != wpi::MatchType::NONE) {
// rename per match info
char matchTypeChar;
switch (matchType) {
case DriverStation::MatchType::PRACTICE:
case wpi::MatchType::PRACTICE:
matchTypeChar = 'P';
break;
case DriverStation::MatchType::QUALIFICATION:
case wpi::MatchType::QUALIFICATION:
matchTypeChar = 'Q';
break;
case DriverStation::MatchType::ELIMINATION:
case wpi::MatchType::ELIMINATION:
matchTypeChar = 'E';
break;
default:
@@ -265,8 +268,8 @@ void Thread::Main() {
auto now = std::chrono::system_clock::now();
m_log.SetFilename(
fmt::format("WPILIB_{:%Y%m%d_%H%M%S}_{}_{}{}.wpilog", now,
DriverStation::GetEventName(), matchTypeChar,
DriverStation::GetMatchNumber()));
MatchState::GetEventName(), matchTypeChar,
MatchState::GetMatchNumber()));
fmsRenamed = true;
dsRenamed = true; // don't override FMS rename
}
@@ -282,7 +285,8 @@ void Thread::Main() {
}
}
}
DriverStation::RemoveRefreshedDataEventHandle(newDataEvent.GetHandle());
wpi::internal::DriverStationBackend::RemoveRefreshedDataEventHandle(
newDataEvent.GetHandle());
}
void Thread::StartNTLog() {

4
wpilibc/src/main/native/cpp/system/Timer.cpp
View File

@@ -7,7 +7,7 @@
#include <chrono>
#include <thread>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/MatchState.hpp"
#include "wpi/system/RobotController.hpp"
namespace wpi {
@@ -99,5 +99,5 @@ wpi::units::second_t Timer::GetMonotonicTimestamp() {
}
wpi::units::second_t Timer::GetMatchTime() {
return wpi::DriverStation::GetMatchTime();
return wpi::MatchState::GetMatchTime();
}

29
wpilibc/src/main/native/cppcs/RobotBase.cpp
View File

@@ -16,7 +16,8 @@
#include <utility>
#include "wpi/cameraserver/CameraServerShared.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/HAL.h"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/math/util/MathShared.hpp"
@@ -42,7 +43,7 @@ int wpi::RunHALInitialization() {
std::puts("FATAL ERROR: HAL could not be initialized");
return -1;
}
DriverStation::RefreshData();
wpi::internal::DriverStationBackend::RefreshData();
HAL_ReportUsage("Language", "C++");
HAL_ReportUsage("WPILibVersion", GetWPILibVersion());
@@ -134,43 +135,43 @@ static void SetupMathShared() {
}
bool RobotBase::IsEnabled() {
return DriverStation::IsEnabled();
return RobotState::IsEnabled();
}
bool RobotBase::IsDisabled() {
return DriverStation::IsDisabled();
return RobotState::IsDisabled();
}
bool RobotBase::IsAutonomous() {
return DriverStation::IsAutonomous();
return RobotState::IsAutonomous();
}
bool RobotBase::IsAutonomousEnabled() {
return DriverStation::IsAutonomousEnabled();
return RobotState::IsAutonomousEnabled();
}
bool RobotBase::IsTeleop() {
return DriverStation::IsTeleop();
return RobotState::IsTeleop();
}
bool RobotBase::IsTeleopEnabled() {
return DriverStation::IsTeleopEnabled();
return RobotState::IsTeleopEnabled();
}
bool RobotBase::IsTest() {
return DriverStation::IsTest();
return RobotState::IsTest();
}
bool RobotBase::IsTestEnabled() {
return DriverStation::IsTestEnabled();
return RobotState::IsTestEnabled();
}
int64_t RobotBase::GetOpModeId() {
return DriverStation::GetOpModeId();
return RobotState::GetOpModeId();
}
std::string RobotBase::GetOpMode() {
return DriverStation::GetOpMode();
return RobotState::GetOpMode();
}
std::thread::id RobotBase::GetThreadId() {
@@ -219,6 +220,6 @@ RobotBase::RobotBase() {
SmartDashboard::init();
// Call DriverStation::RefreshData() to kick things off
DriverStation::RefreshData();
// Call wpi::internal::DriverStationBackend::RefreshData() to kick things off
wpi::internal::DriverStationBackend::RefreshData();
}

19
wpilibc/src/main/native/include/wpi/driverstation/Alliance.hpp Normal file
View File

@@ -0,0 +1,19 @@
// 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
namespace wpi {
/**
* The robot alliance that the robot is a part of.
*/
enum class Alliance {
/// Red alliance.
RED,
/// Blue alliance.
BLUE
};
} // namespace wpi

671
wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp
View File

@@ -4,672 +4,59 @@
#pragma once
#include <optional>
#include <string>
#include <string_view>
#include "wpi/hal/DriverStation.hpp"
#include "wpi/hal/DriverStationTypes.hpp"
#include "wpi/math/geometry/Rotation2d.hpp"
#include "wpi/units/time.hpp"
#include "wpi/util/Synchronization.h"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
namespace wpi::log {
class DataLog;
} // namespace wpi::log
namespace wpi::util {
class Color;
} // namespace wpi::util
namespace wpi {
using wpi::hal::RobotMode;
/**
* Provide access to the network communication data to / from the Driver
* Station.
* Provides access to Driver Station functionality.
*/
class DriverStation final {
public:
/**
* The robot alliance that the robot is a part of.
*/
enum class Alliance {
/// Red alliance.
RED,
/// Blue alliance.
BLUE
};
DriverStation() = delete;
/**
* The type of robot match that the robot is part of.
*/
enum class MatchType {
/// None.
NONE,
/// Practice.
PRACTICE,
/// Qualification.
QUALIFICATION,
/// Elimination.
ELIMINATION
};
/**
* A controller POV direction.
*/
enum class POVDirection : uint8_t {
/// POV center.
CENTER = HAL_JOYSTICK_POV_CENTERED,
/// POV up.
UP = HAL_JOYSTICK_POV_UP,
/// POV up right.
UP_RIGHT = HAL_JOYSTICK_POV_RIGHT_UP,
/// POV right.
RIGHT = HAL_JOYSTICK_POV_RIGHT,
/// POV down right.
DOWN_RIGHT = HAL_JOYSTICK_POV_RIGHT_DOWN,
/// POV down.
DOWN = HAL_JOYSTICK_POV_DOWN,
/// POV down left.
DOWN_LEFT = HAL_JOYSTICK_POV_LEFT_DOWN,
/// POV left.
LEFT = HAL_JOYSTICK_POV_LEFT,
/// POV up left.
UP_LEFT = HAL_JOYSTICK_POV_LEFT_UP,
};
struct TouchpadFinger final {
bool down = false;
float x = 0.0f;
float y = 0.0f;
};
/**
* Gets the angle of a POVDirection.
* Starts logging DriverStation data to data log, including joystick data.
* Repeated calls are ignored.
*
* @param angle The POVDirection to convert.
* @return The angle clockwise from straight up, or std::nullopt if the
* POVDirection is CENTER.
* @param log data log
*/
static constexpr std::optional<wpi::math::Rotation2d> GetAngle(
POVDirection angle) {
switch (angle) {
case POVDirection::CENTER:
return std::nullopt;
case POVDirection::UP:
return wpi::math::Rotation2d{0_deg};
case POVDirection::UP_RIGHT:
return wpi::math::Rotation2d{45_deg};
case POVDirection::RIGHT:
return wpi::math::Rotation2d{90_deg};
case POVDirection::DOWN_RIGHT:
return wpi::math::Rotation2d{135_deg};
case POVDirection::DOWN:
return wpi::math::Rotation2d{180_deg};
case POVDirection::DOWN_LEFT:
return wpi::math::Rotation2d{225_deg};
case POVDirection::LEFT:
return wpi::math::Rotation2d{270_deg};
case POVDirection::UP_LEFT:
return wpi::math::Rotation2d{315_deg};
default:
return std::nullopt;
}
static void StartDataLog(wpi::log::DataLog& log) {
wpi::internal::DriverStationBackend::StartDataLog(log);
}
/// Number of Joystick ports.
static constexpr int JOYSTICK_PORTS = 6;
/**
* The state of one joystick button. Button indexes begin at 0.
*
* @param stick The joystick to read.
* @param button The button index, beginning at 0.
* @return The state of the joystick button.
*/
static bool GetStickButton(int stick, int button);
/**
* The state of one joystick button, only if available. Button indexes begin
* at 0.
*
* @param stick The joystick to read.
* @param button The button index, beginning at 0.
* @return The state of the joystick button, or empty if unavailable.
*/
static std::optional<bool> GetStickButtonIfAvailable(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 0.
* @return Whether the joystick button was pressed since the last check.
*/
static 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 0.
* @return Whether the joystick button was released since the last check.
*/
static 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.
*/
static double GetStickAxis(int stick, int axis);
/**
* Get the finger data of a touchpad on a joystick, if available.
*
* @param stick The joystick to read.
* @param touchpad The touchpad index to read from the joystick.
* @param finger The finger index to read from the touchpad.
* @return The finger data of the touchpad on the joystick.
*/
static TouchpadFinger GetStickTouchpadFinger(int stick, int touchpad,
int finger);
/**
* Whether a finger on a touchpad is available.
*
* @param stick The joystick to read.
* @param touchpad The touchpad index to read from the joystick.
* @param finger The finger index to read from the touchpad.
* @return True if the finger data is available.
*/
static bool GetStickTouchpadFingerAvailable(int stick, int touchpad,
int finger);
/**
* Get the value of the axis on a joystick, if available.
*
* 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, or empty if not available.
*/
static std::optional<double> GetStickAxisIfAvailable(int stick, int axis);
/**
* Get the state of a POV on the joystick.
*
* @return the angle of the POV.
*/
static POVDirection 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.
*/
static uint64_t GetStickButtons(int stick);
/**
* Returns the maximum axis index on a given joystick port.
*
* @param stick The joystick port number
* @return The maximum axis index on the indicated joystick
*/
static int GetStickAxesMaximumIndex(int stick);
/**
* Returns the mask of available axes on a given joystick port.
*
* @param stick The joystick port number
* @return The mask of available axes on the indicated joystick
*/
static int GetStickAxesAvailable(int stick);
/**
* Returns the maximum POV index on a given joystick port.
*
* @param stick The joystick port number
* @return The maximum POV index on the indicated joystick
*/
static int GetStickPOVsMaximumIndex(int stick);
/**
* Returns the mask of available POVs on a given joystick port.
*
* @param stick The joystick port number
* @return The mask of available POVs on the indicated joystick
*/
static int GetStickPOVsAvailable(int stick);
/**
* Returns the maximum button index on a given joystick port.
*
* @param stick The joystick port number
* @return The maximum button index on the indicated joystick
*/
static int GetStickButtonsMaximumIndex(int stick);
/**
* Returns the mask of available buttons on a given joystick port.
*
* @param stick The joystick port number
* @return The mask of available buttons on the indicated joystick
*/
static uint64_t GetStickButtonsAvailable(int stick);
/**
* 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.
*/
static bool GetJoystickIsGamepad(int stick);
/**
* Returns the type of joystick at a given port.
*
* This maps to SDL_GamepadType
*
* @param stick The joystick port number
* @return The HID type of joystick at the given port
*/
static int GetJoystickGamepadType(int stick);
/**
* Returns the number of outputs supported by the joystick at the given
* port.
*
* @param stick The joystick port number
* @return The number of outputs supported by the joystick at the given port
*/
static int GetJoystickSupportedOutputs(int stick);
/**
* 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
*/
static std::string GetJoystickName(int stick);
/**
* Returns if a joystick is connected to the Driver Station.
*
* This makes a best effort guess by looking at the reported number of axis,
* buttons, and POVs attached.
*
* @param stick The joystick port number
* @return true if a joystick is connected
*/
static bool IsJoystickConnected(int stick);
/**
* Check if the DS has enabled the robot.
*
* @return True if the robot is enabled and the DS is connected
*/
static bool IsEnabled() {
hal::ControlWord controlWord = GetControlWord();
return controlWord.IsEnabled() && controlWord.IsDSAttached();
}
/**
* Check if the robot is disabled.
*
* @return True if the robot is explicitly disabled or the DS is not connected
*/
static bool IsDisabled() { return !IsEnabled(); }
/**
* Check if the robot is e-stopped.
*
* @return True if the robot is e-stopped
*/
static bool IsEStopped() { return GetControlWord().IsEStopped(); }
/**
* Gets the current robot mode.
*
* <p>Note that this does not indicate whether the robot is enabled or
* disabled.
*
* @return robot mode
*/
static RobotMode GetRobotMode() { return GetControlWord().GetRobotMode(); }
/**
* Check if the DS is commanding autonomous mode.
*
* @return True if the robot is being commanded to be in autonomous mode
*/
static bool IsAutonomous() { return GetControlWord().IsAutonomous(); }
/**
* Check if the DS is commanding autonomous mode and if it has enabled the
* robot.
*
* @return True if the robot is being commanded to be in autonomous mode and
* enabled.
*/
static bool IsAutonomousEnabled() {
return GetControlWord().IsAutonomousEnabled();
}
/**
* Check if the DS is commanding teleop mode.
*
* @return True if the robot is being commanded to be in teleop mode
*/
static bool IsTeleop() { return GetControlWord().IsTeleop(); }
/**
* Check if the DS is commanding teleop mode and if it has enabled the robot.
*
* @return True if the robot is being commanded to be in teleop mode and
* enabled.
*/
static bool IsTeleopEnabled() { return GetControlWord().IsTeleopEnabled(); }
/**
* Check if the DS is commanding test mode.
*
* @return True if the robot is being commanded to be in test mode
*/
static bool IsTest() { return GetControlWord().IsTest(); }
/**
* Check if the DS is commanding Test mode and if it has enabled the robot.
*
* @return True if the robot is being commanded to be in Test mode and
* enabled.
*/
static bool IsTestEnabled() { return GetControlWord().IsTestEnabled(); }
/**
* Adds an operating mode option. It's necessary to call PublishOpModes() to
* make the added modes visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @param group group of the operating mode
* @param description description of the operating mode
* @param textColor text color
* @param backgroundColor background color
* @return unique ID used to later identify the operating mode; if a blank
* name is passed, 0 is returned; identical names for the same robot
* mode result in a 0 return value
*/
static int64_t AddOpMode(RobotMode mode, std::string_view name,
std::string_view group, std::string_view description,
const wpi::util::Color& textColor,
const wpi::util::Color& backgroundColor);
/**
* Adds an operating mode option. It's necessary to call PublishOpModes() to
* make the added modes visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @param group group of the operating mode
* @param description description of the operating mode
* @return unique ID used to later identify the operating mode; if a blank
* name is passed, 0 is returned; identical names for the same robot
* mode result in a 0 return value
*/
static int64_t AddOpMode(RobotMode mode, std::string_view name,
std::string_view group = {},
std::string_view description = {});
/**
* Removes an operating mode option. It's necessary to call PublishOpModes()
* to make the removed mode no longer visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @return unique ID for the opmode, or 0 if not found
*/
static int64_t RemoveOpMode(RobotMode mode, std::string_view name);
/**
* Publishes the operating mode options to the driver station.
*/
static void PublishOpModes();
/**
* Clears all operating mode options and publishes an empty list to the driver
* station.
*/
static void ClearOpModes();
/**
* Sets the program starting flag in the DS. This will also allow
* getOpModeId() and getOpMode() to return values for the selected
* OpMode in the DS application, if the DS is connected by the time this
* method is called.
*
* <p>Most users will not need to use this method; the TimedRobot and
* OpModeRobot robot framework classes will call it automatically after
* the main robot class is instantiated.
*
* <p>This is what changes the DS to showing robot code ready.
*/
static void ObserveUserProgramStarting();
/**
* Gets the operating mode selected on the driver station. Note this does not
* mean the robot is enabled; use IsEnabled() for that. In a match, this will
* indicate the operating mode selected for auto before the match starts
* (i.e., while the robot is disabled in auto mode); after the auto period
* ends, this will change to reflect the operating mode selected for teleop.
*
* @return the unique ID provided by the AddOpMode() function; may return 0 or
* a unique ID not added, so callers should be prepared to handle that case
*/
static int64_t GetOpModeId();
/**
* Gets the operating mode selected on the driver station. Note this does not
* mean the robot is enabled; use IsEnabled() for that. In a match, this will
* indicate the operating mode selected for auto before the match starts
* (i.e., while the robot is disabled in auto mode); after the auto period
* ends, this will change to reflect the operating mode selected for teleop.
*
* @return Operating mode string; may return a string not in the list of
* options, so callers should be prepared to handle that case
*/
static std::string GetOpMode();
/**
* Check to see if the selected operating mode is a particular value. Note
* this does not mean the robot is enabled; use IsEnabled() for that.
*
* @param id operating mode unique ID
* @return True if that mode is the current mode
*/
static bool IsOpMode(int64_t id) { return GetOpModeId() == id; }
/**
* Check to see if the selected operating mode is a particular value. Note
* this does not mean the robot is enabled; use IsEnabled() for that.
*
* @param mode operating mode
* @return True if that mode is the current mode
*/
static bool IsOpMode(std::string_view mode) { return GetOpMode() == mode; }
/**
* Check if the DS is attached.
*
* @return True if the DS is connected to the robot
*/
static bool IsDSAttached() { return GetControlWord().IsDSAttached(); }
/**
* 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
*/
static bool IsFMSAttached() { return GetControlWord().IsFMSAttached(); }
/**
* Returns the game specific message provided by the FMS.
*
* If the FMS is not connected, it is set from the game data setting on the
* driver station.
*
* @return A string containing the game specific message.
*/
static std::optional<std::string> GetGameData();
/**
* Returns the name of the competition event provided by the FMS.
*
* @return A string containing the event name
*/
static std::string GetEventName();
/**
* Returns the type of match being played provided by the FMS.
*
* @return The match type enum (NONE, PRACTICE, QUALIFICATION, ELIMINATION)
*/
static MatchType GetMatchType();
/**
* Returns the match number provided by the FMS.
*
* @return The number of the match
*/
static int GetMatchNumber();
/**
* Returns the number of times the current match has been replayed from the
* FMS.
*
* @return The number of replays
*/
static int GetReplayNumber();
/**
* Get the current alliance from the FMS.
*
* If the FMS is not connected, it is set from the team alliance setting on
* the driver station.
*
* @return The alliance (red or blue) or an empty optional if the alliance is
* invalid
*/
static std::optional<Alliance> GetAlliance();
/**
* Return the driver station location from the FMS.
*
* If the FMS is not connected, it is set from the team alliance setting on
* the driver station.
*
* This could return 1, 2, or 3.
*
* @return The location of the driver station (1-3, 0 for invalid)
*/
static std::optional<int> GetLocation();
/**
* 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).
*
* <p>When connected to the real field, this number only changes in full
* integer increments, and always counts down.
*
* <p>When the DS is in practice mode, this number is a floating point number,
* and counts down.
*
* <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
*
* <p>Simulation matches DS behavior without an FMS connected.
*
* @return Time remaining in current match period (auto or teleop) in seconds
*/
static wpi::units::second_t GetMatchTime();
/**
* Read the battery voltage.
*
* @return The battery voltage in Volts.
*/
static double GetBatteryVoltage();
/**
* Get the current control word.
*
* @return control word
*/
static hal::ControlWord GetControlWord() { return hal::GetControlWord(); }
/**
* 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.
*/
static void RefreshData();
/**
* Registers the given handle for DS data refresh notifications.
*
* @param handle The event handle.
*/
static void ProvideRefreshedDataEventHandle(WPI_EventHandle handle);
/**
* Unregisters the given handle from DS data refresh notifications.
*
* @param handle The event handle.
*/
static void RemoveRefreshedDataEventHandle(WPI_EventHandle handle);
/**
* Allows the user to specify whether they want joystick connection warnings
* to be printed to the console. This setting is ignored when the FMS is
* connected -- warnings will always be on in that scenario.
*
* @param silence Whether warning messages should be silenced.
*/
static void SilenceJoystickConnectionWarning(bool silence);
/**
* Returns whether joystick connection warnings are silenced. This will
* always return false when connected to the FMS.
*
* @return Whether joystick connection warnings are silenced.
*/
static bool IsJoystickConnectionWarningSilenced();
/**
* Starts logging DriverStation data to data log. Repeated calls are ignored.
*
* @param log data log
* @param logJoysticks if true, log joystick data
*/
static void StartDataLog(wpi::log::DataLog& log, bool logJoysticks = true);
static void StartDataLog(wpi::log::DataLog& log, bool logJoysticks) {
wpi::internal::DriverStationBackend::StartDataLog(log, logJoysticks);
}
private:
DriverStation() = default;
/**
* Registers the given handle for DS data refresh notifications.
*
* @param handle The event handle.
*/
static void ProvideRefreshedDataEventHandle(WPI_EventHandle handle) {
wpi::internal::DriverStationBackend::ProvideRefreshedDataEventHandle(
handle);
}
/**
* Unregisters the given handle from DS data refresh notifications.
*
* @param handle The event handle.
*/
static void RemoveRefreshedDataEventHandle(WPI_EventHandle handle) {
wpi::internal::DriverStationBackend::RemoveRefreshedDataEventHandle(handle);
}
};
} // namespace wpi

14
wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
View File

@@ -8,7 +8,9 @@
#include <string>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/POVDirection.hpp"
#include "wpi/driverstation/TouchpadFinger.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
namespace wpi {
@@ -156,7 +158,7 @@ class GenericHID {
* @param pov The index of the POV to read (starting at 0)
* @return the angle of the POV.
*/
DriverStation::POVDirection GetPOV(int pov = 0) const;
POVDirection GetPOV(int pov = 0) const;
/**
* Constructs a BooleanEvent instance based around this angle of a POV on the
@@ -167,7 +169,7 @@ class GenericHID {
* @return a BooleanEvent instance based around this angle of a POV on the
* HID.
*/
BooleanEvent POV(DriverStation::POVDirection angle, EventLoop* loop) const;
BooleanEvent POV(POVDirection angle, EventLoop* loop) const;
/**
* Constructs a BooleanEvent instance based around this angle of a POV on the
@@ -179,8 +181,7 @@ class GenericHID {
* @return a BooleanEvent instance based around this angle of a POV on the
* HID.
*/
BooleanEvent POV(int pov, DriverStation::POVDirection angle,
EventLoop* loop) const;
BooleanEvent POV(int pov, POVDirection angle, EventLoop* loop) const;
/**
* Constructs a BooleanEvent instance based around the up direction of
@@ -385,8 +386,7 @@ class GenericHID {
* @param finger The finger to read.
* @return The touchpad finger data.
*/
DriverStation::TouchpadFinger GetTouchpadFinger(int touchpad,
int finger) const;
TouchpadFinger GetTouchpadFinger(int touchpad, int finger) const;
private:
int m_port;

124
wpilibc/src/main/native/include/wpi/driverstation/MatchState.hpp Normal file
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@@ -0,0 +1,124 @@
// 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 <optional>
#include <string>
#include "wpi/driverstation/Alliance.hpp"
#include "wpi/driverstation/MatchType.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
namespace wpi {
/**
* Provides access to match state information from the Driver Station.
*/
class MatchState final {
public:
MatchState() = delete;
/**
* 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).
*
* When connected to the real field, this number only changes in full integer
* increments, and always counts down.
*
* When the DS is in practice mode, this number is a floating point number,
* and counts down.
*
* When the DS is in teleop or autonomous mode, this number returns -1.0.
*
* Simulation matches DS behavior without an FMS connected.
*
* @return Time remaining in current match period (auto or teleop) in seconds
*/
static wpi::units::second_t GetMatchTime() {
return wpi::internal::DriverStationBackend::GetMatchTime();
}
/**
* Get the current alliance from the FMS.
*
* If the FMS is not connected, it is set from the team alliance setting on
* the driver station.
*
* @return The alliance (red or blue) or an empty optional if the alliance is
* invalid
*/
static std::optional<Alliance> GetAlliance() {
return wpi::internal::DriverStationBackend::GetAlliance();
}
/**
* Return the driver station location from the FMS.
*
* If the FMS is not connected, it is set from the team alliance setting on
* the driver station.
*
* This could return 1, 2, or 3.
*
* @return The location of the driver station (1-3, 0 for invalid)
*/
static std::optional<int> GetLocation() {
return wpi::internal::DriverStationBackend::GetLocation();
}
/**
* Returns the number of times the current match has been replayed from the
* FMS.
*
* @return The number of replays
*/
static int GetReplayNumber() {
return wpi::internal::DriverStationBackend::GetReplayNumber();
}
/**
* Returns the match number provided by the FMS.
*
* @return The number of the match
*/
static int GetMatchNumber() {
return wpi::internal::DriverStationBackend::GetMatchNumber();
}
/**
* Returns the type of match being played provided by the FMS.
*
* @return The match type enum (kNone, kPractice, kQualification,
* kElimination)
*/
static MatchType GetMatchType() {
return wpi::internal::DriverStationBackend::GetMatchType();
}
/**
* Returns the name of the competition event provided by the FMS.
*
* @return A string containing the event name
*/
static std::string GetEventName() {
return wpi::internal::DriverStationBackend::GetEventName();
}
/**
* Returns the game specific message provided by the FMS.
*
* If the FMS is not connected, it is set from the game data setting on the
* driver station.
*
* @return A string containing the game specific message.
*/
static std::optional<std::string> GetGameData() {
return wpi::internal::DriverStationBackend::GetGameData();
}
};
} // namespace wpi

23
wpilibc/src/main/native/include/wpi/driverstation/MatchType.hpp Normal file
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@@ -0,0 +1,23 @@
// 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
namespace wpi {
/**
* The type of robot match that the robot is part of.
*/
enum class MatchType {
/// None.
NONE,
/// Practice.
PRACTICE,
/// Qualification.
QUALIFICATION,
/// Elimination.
ELIMINATION
};
} // namespace wpi

72
wpilibc/src/main/native/include/wpi/driverstation/POVDirection.hpp Normal file
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@@ -0,0 +1,72 @@
// 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 <cstdint>
#include <optional>
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/math/geometry/Rotation2d.hpp"
namespace wpi {
/**
* A controller POV direction.
*/
enum class POVDirection : uint8_t {
/// POV center.
CENTER = HAL_JOYSTICK_POV_CENTERED,
/// POV up.
UP = HAL_JOYSTICK_POV_UP,
/// POV up right.
UP_RIGHT = HAL_JOYSTICK_POV_RIGHT_UP,
/// POV right.
RIGHT = HAL_JOYSTICK_POV_RIGHT,
/// POV down right.
DOWN_RIGHT = HAL_JOYSTICK_POV_RIGHT_DOWN,
/// POV down.
DOWN = HAL_JOYSTICK_POV_DOWN,
/// POV down left.
DOWN_LEFT = HAL_JOYSTICK_POV_LEFT_DOWN,
/// POV left.
LEFT = HAL_JOYSTICK_POV_LEFT,
/// POV up left.
UP_LEFT = HAL_JOYSTICK_POV_LEFT_UP,
};
/**
* Gets the angle of a POVDirection.
*
* @param angle The POVDirection to convert.
* @return The angle clockwise from straight up, or std::nullopt if the
* POVDirection is CENTER.
*/
constexpr std::optional<wpi::math::Rotation2d> GetPOVAngle(POVDirection angle) {
using enum POVDirection;
switch (angle) {
case CENTER:
return std::nullopt;
case UP:
return wpi::math::Rotation2d{0_deg};
case UP_RIGHT:
return wpi::math::Rotation2d{45_deg};
case RIGHT:
return wpi::math::Rotation2d{90_deg};
case DOWN_RIGHT:
return wpi::math::Rotation2d{135_deg};
case DOWN:
return wpi::math::Rotation2d{180_deg};
case DOWN_LEFT:
return wpi::math::Rotation2d{225_deg};
case LEFT:
return wpi::math::Rotation2d{270_deg};
case UP_LEFT:
return wpi::math::Rotation2d{315_deg};
default:
return std::nullopt;
}
}
} // namespace wpi

256
wpilibc/src/main/native/include/wpi/driverstation/RobotState.hpp Normal file
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@@ -0,0 +1,256 @@
// 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 <cstdint>
#include <string>
#include <string_view>
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
namespace wpi {
using wpi::hal::RobotMode;
/**
* Provides access to robot state information from the Driver Station.
*/
class RobotState final {
public:
RobotState() = delete;
/**
* Check if the DS has enabled the robot.
*
* @return True if the robot is enabled and the DS is connected
*/
static bool IsEnabled() {
return wpi::internal::DriverStationBackend::IsEnabled();
}
/**
* Check if the robot is disabled.
*
* @return True if the robot is explicitly disabled or the DS is not connected
*/
static bool IsDisabled() {
return wpi::internal::DriverStationBackend::IsDisabled();
}
/**
* Check if the robot is e-stopped.
*
* @return True if the robot is e-stopped
*/
static bool IsEStopped() {
return wpi::internal::DriverStationBackend::IsEStopped();
}
/**
* Gets the current robot mode.
*
* Note that this does not indicate whether the robot is enabled or disabled.
*
* @return robot mode
*/
static RobotMode GetRobotMode() {
return wpi::internal::DriverStationBackend::GetRobotMode();
}
/**
* Check if the DS is commanding autonomous mode.
*
* @return True if the robot is being commanded to be in autonomous mode
*/
static bool IsAutonomous() {
return wpi::internal::DriverStationBackend::IsAutonomous();
}
/**
* Check if the DS is commanding autonomous mode and if it has enabled the
* robot.
*
* @return True if the robot is being commanded to be in autonomous mode and
* enabled.
*/
static bool IsAutonomousEnabled() {
return wpi::internal::DriverStationBackend::IsAutonomousEnabled();
}
/**
* Check if the DS is commanding teleop mode.
*
* @return True if the robot is being commanded to be in teleop mode
*/
static bool IsTeleop() {
return wpi::internal::DriverStationBackend::IsTeleop();
}
/**
* Check if the DS is commanding teleop mode and if it has enabled the robot.
*
* @return True if the robot is being commanded to be in teleop mode and
* enabled.
*/
static bool IsTeleopEnabled() {
return wpi::internal::DriverStationBackend::IsTeleopEnabled();
}
/**
* Check if the DS is commanding test mode.
*
* @return True if the robot is being commanded to be in test mode
*/
static bool IsTest() { return wpi::internal::DriverStationBackend::IsTest(); }
/**
* Check if the DS is commanding Test mode and if it has enabled the robot.
*
* @return True if the robot is being commanded to be in Test mode and
* enabled.
*/
static bool IsTestEnabled() {
return wpi::internal::DriverStationBackend::IsTestEnabled();
}
/**
* Adds an operating mode option. It's necessary to call PublishOpModes() to
* make the added modes visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @param group group of the operating mode
* @param description description of the operating mode
* @param textColor text color
* @param backgroundColor background color
* @return unique ID used to later identify the operating mode; if a blank
* name is passed, 0 is returned; identical names for the same robot
* mode result in a 0 return value
*/
static int64_t AddOpMode(RobotMode mode, std::string_view name,
std::string_view group, std::string_view description,
const wpi::util::Color& textColor,
const wpi::util::Color& backgroundColor) {
return wpi::internal::DriverStationBackend::AddOpMode(
mode, name, group, description, textColor, backgroundColor);
}
/**
* Adds an operating mode option. It's necessary to call PublishOpModes() to
* make the added modes visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @param group group of the operating mode
* @param description description of the operating mode
* @return unique ID used to later identify the operating mode; if a blank
* name is passed, 0 is returned; identical names for the same robot
* mode result in a 0 return value
*/
static int64_t AddOpMode(RobotMode mode, std::string_view name,
std::string_view group = {},
std::string_view description = {}) {
return wpi::internal::DriverStationBackend::AddOpMode(mode, name, group,
description);
}
/**
* Removes an operating mode option. It's necessary to call PublishOpModes()
* to make the removed mode no longer visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @return unique ID for the opmode, or 0 if not found
*/
static int64_t RemoveOpMode(RobotMode mode, std::string_view name) {
return wpi::internal::DriverStationBackend::RemoveOpMode(mode, name);
}
/**
* Publishes the operating mode options to the driver station.
*/
static void PublishOpModes() {
wpi::internal::DriverStationBackend::PublishOpModes();
}
/**
* Clears all operating mode options and publishes an empty list to the driver
* station.
*/
static void ClearOpModes() {
wpi::internal::DriverStationBackend::ClearOpModes();
}
/**
* Gets the operating mode selected on the driver station. Note this does not
* mean the robot is enabled; use IsEnabled() for that. In a match, this will
* indicate the operating mode selected for auto before the match starts
* (i.e., while the robot is disabled in auto mode); after the auto period
* ends, this will change to reflect the operating mode selected for teleop.
*
* @return the unique ID provided by the AddOpMode() function; may return 0 or
* a unique ID not added, so callers should be prepared to handle that case
*/
static int64_t GetOpModeId() {
return wpi::internal::DriverStationBackend::GetOpModeId();
}
/**
* Gets the operating mode selected on the driver station. Note this does not
* mean the robot is enabled; use IsEnabled() for that. In a match, this will
* indicate the operating mode selected for auto before the match starts
* (i.e., while the robot is disabled in auto mode); after the auto period
* ends, this will change to reflect the operating mode selected for teleop.
*
* @return Operating mode string; may return a string not in the list of
* options, so callers should be prepared to handle that case
*/
static std::string GetOpMode() {
return wpi::internal::DriverStationBackend::GetOpMode();
}
/**
* Check to see if the selected operating mode is a particular value. Note
* this does not mean the robot is enabled; use IsEnabled() for that.
*
* @param id operating mode unique ID
* @return True if that mode is the current mode
*/
static bool IsOpMode(int64_t id) {
return wpi::internal::DriverStationBackend::IsOpMode(id);
}
/**
* Check to see if the selected operating mode is a particular value. Note
* this does not mean the robot is enabled; use IsEnabled() for that.
*
* @param mode operating mode
* @return True if that mode is the current mode
*/
static bool IsOpMode(std::string_view mode) {
return wpi::internal::DriverStationBackend::IsOpMode(mode);
}
/**
* Check if the DS is attached.
*
* @return True if the DS is connected to the robot
*/
static bool IsDSAttached() {
return wpi::internal::DriverStationBackend::IsDSAttached();
}
/**
* 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
*/
static bool IsFMSAttached() {
return wpi::internal::DriverStationBackend::IsFMSAttached();
}
};
} // namespace wpi

21
wpilibc/src/main/native/include/wpi/driverstation/TouchpadFinger.hpp Normal file
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@@ -0,0 +1,21 @@
// 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
namespace wpi {
/**
* Touchpad finger data from a joystick.
*/
struct TouchpadFinger final {
/// Whether the finger is touching the touchpad.
bool down = false;
/// The x position of the finger on the touchpad.
float x = 0.0f;
/// The y position of the finger on the touchpad.
float y = 0.0f;
};
} // namespace wpi

595
wpilibc/src/main/native/include/wpi/driverstation/internal/DriverStationBackend.hpp Normal file
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@@ -0,0 +1,595 @@
// 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 <optional>
#include <string>
#include <string_view>
#include "wpi/driverstation/Alliance.hpp"
#include "wpi/driverstation/MatchType.hpp"
#include "wpi/driverstation/POVDirection.hpp"
#include "wpi/driverstation/TouchpadFinger.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/hal/DriverStation.hpp"
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/hal/DriverStationTypes.hpp"
#include "wpi/math/geometry/Rotation2d.hpp"
#include "wpi/units/time.hpp"
#include "wpi/util/Synchronization.h"
namespace wpi::log {
class DataLog;
} // namespace wpi::log
namespace wpi::util {
class Color;
} // namespace wpi::util
namespace wpi::internal {
using wpi::hal::RobotMode;
/**
* Provide access to the network communication data to / from the Driver
* Station.
*/
class DriverStationBackend final {
public:
/// Number of Joystick ports.
static constexpr int JOYSTICK_PORTS = 6;
/**
* The state of one joystick button. Button indexes begin at 0.
*
* @param stick The joystick to read.
* @param button The button index, beginning at 0.
* @return The state of the joystick button.
*/
static bool GetStickButton(int stick, int button);
/**
* The state of one joystick button, only if available. Button indexes begin
* at 0.
*
* @param stick The joystick to read.
* @param button The button index, beginning at 0.
* @return The state of the joystick button, or empty if unavailable.
*/
static std::optional<bool> GetStickButtonIfAvailable(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 0.
* @return Whether the joystick button was pressed since the last check.
*/
static 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 0.
* @return Whether the joystick button was released since the last check.
*/
static 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.
*/
static double GetStickAxis(int stick, int axis);
/**
* Get the finger data of a touchpad on a joystick, if available.
*
* @param stick The joystick to read.
* @param touchpad The touchpad index to read from the joystick.
* @param finger The finger index to read from the touchpad.
* @return The finger data of the touchpad on the joystick.
*/
static TouchpadFinger GetStickTouchpadFinger(int stick, int touchpad,
int finger);
/**
* Whether a finger on a touchpad is available.
*
* @param stick The joystick to read.
* @param touchpad The touchpad index to read from the joystick.
* @param finger The finger index to read from the touchpad.
* @return True if the finger data is available.
*/
static bool GetStickTouchpadFingerAvailable(int stick, int touchpad,
int finger);
/**
* Get the value of the axis on a joystick, if available.
*
* 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, or empty if not available.
*/
static std::optional<double> GetStickAxisIfAvailable(int stick, int axis);
/**
* Get the state of a POV on the joystick.
*
* @return the angle of the POV.
*/
static POVDirection 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.
*/
static uint64_t GetStickButtons(int stick);
/**
* Returns the maximum axis index on a given joystick port.
*
* @param stick The joystick port number
* @return The maximum axis index on the indicated joystick
*/
static int GetStickAxesMaximumIndex(int stick);
/**
* Returns the mask of available axes on a given joystick port.
*
* @param stick The joystick port number
* @return The mask of available axes on the indicated joystick
*/
static int GetStickAxesAvailable(int stick);
/**
* Returns the maximum POV index on a given joystick port.
*
* @param stick The joystick port number
* @return The maximum POV index on the indicated joystick
*/
static int GetStickPOVsMaximumIndex(int stick);
/**
* Returns the mask of available POVs on a given joystick port.
*
* @param stick The joystick port number
* @return The mask of available POVs on the indicated joystick
*/
static int GetStickPOVsAvailable(int stick);
/**
* Returns the maximum button index on a given joystick port.
*
* @param stick The joystick port number
* @return The maximum button index on the indicated joystick
*/
static int GetStickButtonsMaximumIndex(int stick);
/**
* Returns the mask of available buttons on a given joystick port.
*
* @param stick The joystick port number
* @return The mask of available buttons on the indicated joystick
*/
static uint64_t GetStickButtonsAvailable(int stick);
/**
* 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.
*/
static bool GetJoystickIsGamepad(int stick);
/**
* Returns the type of joystick at a given port.
*
* This maps to SDL_GamepadType
*
* @param stick The joystick port number
* @return The HID type of joystick at the given port
*/
static int GetJoystickGamepadType(int stick);
/**
* Returns the number of outputs supported by the joystick at the given
* port.
*
* @param stick The joystick port number
* @return The number of outputs supported by the joystick at the given port
*/
static int GetJoystickSupportedOutputs(int stick);
/**
* 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
*/
static std::string GetJoystickName(int stick);
/**
* Returns if a joystick is connected to the Driver Station.
*
* This makes a best effort guess by looking at the reported number of axis,
* buttons, and POVs attached.
*
* @param stick The joystick port number
* @return true if a joystick is connected
*/
static bool IsJoystickConnected(int stick);
/**
* Check if the DS has enabled the robot.
*
* @return True if the robot is enabled and the DS is connected
*/
static bool IsEnabled() {
hal::ControlWord controlWord = GetControlWord();
return controlWord.IsEnabled() && controlWord.IsDSAttached();
}
/**
* Check if the robot is disabled.
*
* @return True if the robot is explicitly disabled or the DS is not connected
*/
static bool IsDisabled() { return !IsEnabled(); }
/**
* Check if the robot is e-stopped.
*
* @return True if the robot is e-stopped
*/
static bool IsEStopped() { return GetControlWord().IsEStopped(); }
/**
* Gets the current robot mode.
*
* <p>Note that this does not indicate whether the robot is enabled or
* disabled.
*
* @return robot mode
*/
static RobotMode GetRobotMode() { return GetControlWord().GetRobotMode(); }
/**
* Check if the DS is commanding autonomous mode.
*
* @return True if the robot is being commanded to be in autonomous mode
*/
static bool IsAutonomous() { return GetControlWord().IsAutonomous(); }
/**
* Check if the DS is commanding autonomous mode and if it has enabled the
* robot.
*
* @return True if the robot is being commanded to be in autonomous mode and
* enabled.
*/
static bool IsAutonomousEnabled() {
return GetControlWord().IsAutonomousEnabled();
}
/**
* Check if the DS is commanding teleop mode.
*
* @return True if the robot is being commanded to be in teleop mode
*/
static bool IsTeleop() { return GetControlWord().IsTeleop(); }
/**
* Check if the DS is commanding teleop mode and if it has enabled the robot.
*
* @return True if the robot is being commanded to be in teleop mode and
* enabled.
*/
static bool IsTeleopEnabled() { return GetControlWord().IsTeleopEnabled(); }
/**
* Check if the DS is commanding test mode.
*
* @return True if the robot is being commanded to be in test mode
*/
static bool IsTest() { return GetControlWord().IsTest(); }
/**
* Check if the DS is commanding Test mode and if it has enabled the robot.
*
* @return True if the robot is being commanded to be in Test mode and
* enabled.
*/
static bool IsTestEnabled() { return GetControlWord().IsTestEnabled(); }
/**
* Adds an operating mode option. It's necessary to call PublishOpModes() to
* make the added modes visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @param group group of the operating mode
* @param description description of the operating mode
* @param textColor text color
* @param backgroundColor background color
* @return unique ID used to later identify the operating mode; if a blank
* name is passed, 0 is returned; identical names for the same robot
* mode result in a 0 return value
*/
static int64_t AddOpMode(RobotMode mode, std::string_view name,
std::string_view group, std::string_view description,
const wpi::util::Color& textColor,
const wpi::util::Color& backgroundColor);
/**
* Adds an operating mode option. It's necessary to call PublishOpModes() to
* make the added modes visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @param group group of the operating mode
* @param description description of the operating mode
* @return unique ID used to later identify the operating mode; if a blank
* name is passed, 0 is returned; identical names for the same robot
* mode result in a 0 return value
*/
static int64_t AddOpMode(RobotMode mode, std::string_view name,
std::string_view group = {},
std::string_view description = {});
/**
* Removes an operating mode option. It's necessary to call PublishOpModes()
* to make the removed mode no longer visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @return unique ID for the opmode, or 0 if not found
*/
static int64_t RemoveOpMode(RobotMode mode, std::string_view name);
/**
* Publishes the operating mode options to the driver station.
*/
static void PublishOpModes();
/**
* Clears all operating mode options and publishes an empty list to the driver
* station.
*/
static void ClearOpModes();
/**
* Sets the program starting flag in the DS. This will also allow
* getOpModeId() and getOpMode() to return values for the selected
* OpMode in the DS application, if the DS is connected by the time this
* method is called.
*
* <p>Most users will not need to use this method; the TimedRobot and
* OpModeRobot robot framework classes will call it automatically after
* the main robot class is instantiated.
*
* <p>This is what changes the DS to showing robot code ready.
*/
static void ObserveUserProgramStarting();
/**
* Gets the operating mode selected on the driver station. Note this does not
* mean the robot is enabled; use IsEnabled() for that. In a match, this will
* indicate the operating mode selected for auto before the match starts
* (i.e., while the robot is disabled in auto mode); after the auto period
* ends, this will change to reflect the operating mode selected for teleop.
*
* @return the unique ID provided by the AddOpMode() function; may return 0 or
* a unique ID not added, so callers should be prepared to handle that case
*/
static int64_t GetOpModeId();
/**
* Gets the operating mode selected on the driver station. Note this does not
* mean the robot is enabled; use IsEnabled() for that. In a match, this will
* indicate the operating mode selected for auto before the match starts
* (i.e., while the robot is disabled in auto mode); after the auto period
* ends, this will change to reflect the operating mode selected for teleop.
*
* @return Operating mode string; may return a string not in the list of
* options, so callers should be prepared to handle that case
*/
static std::string GetOpMode();
/**
* Check to see if the selected operating mode is a particular value. Note
* this does not mean the robot is enabled; use IsEnabled() for that.
*
* @param id operating mode unique ID
* @return True if that mode is the current mode
*/
static bool IsOpMode(int64_t id) { return GetOpModeId() == id; }
/**
* Check to see if the selected operating mode is a particular value. Note
* this does not mean the robot is enabled; use IsEnabled() for that.
*
* @param mode operating mode
* @return True if that mode is the current mode
*/
static bool IsOpMode(std::string_view mode) { return GetOpMode() == mode; }
/**
* Check if the DS is attached.
*
* @return True if the DS is connected to the robot
*/
static bool IsDSAttached() { return GetControlWord().IsDSAttached(); }
/**
* 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
*/
static bool IsFMSAttached() { return GetControlWord().IsFMSAttached(); }
/**
* Returns the game specific message provided by the FMS.
*
* If the FMS is not connected, it is set from the game data setting on the
* driver station.
*
* @return A string containing the game specific message.
*/
static std::optional<std::string> GetGameData();
/**
* Returns the name of the competition event provided by the FMS.
*
* @return A string containing the event name
*/
static std::string GetEventName();
/**
* Returns the type of match being played provided by the FMS.
*
* @return The match type enum (kNone, kPractice, kQualification,
* kElimination)
*/
static MatchType GetMatchType();
/**
* Returns the match number provided by the FMS.
*
* @return The number of the match
*/
static int GetMatchNumber();
/**
* Returns the number of times the current match has been replayed from the
* FMS.
*
* @return The number of replays
*/
static int GetReplayNumber();
/**
* Get the current alliance from the FMS.
*
* If the FMS is not connected, it is set from the team alliance setting on
* the driver station.
*
* @return The alliance (red or blue) or an empty optional if the alliance is
* invalid
*/
static std::optional<Alliance> GetAlliance();
/**
* Return the driver station location from the FMS.
*
* If the FMS is not connected, it is set from the team alliance setting on
* the driver station.
*
* This could return 1, 2, or 3.
*
* @return The location of the driver station (1-3, 0 for invalid)
*/
static std::optional<int> GetLocation();
/**
* 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).
*
* <p>When connected to the real field, this number only changes in full
* integer increments, and always counts down.
*
* <p>When the DS is in practice mode, this number is a floating point number,
* and counts down.
*
* <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
*
* <p>Simulation matches DS behavior without an FMS connected.
*
* @return Time remaining in current match period (auto or teleop) in seconds
*/
static wpi::units::second_t GetMatchTime();
/**
* Read the battery voltage.
*
* @return The battery voltage in Volts.
*/
static double GetBatteryVoltage();
/**
* Get the current control word.
*
* @return control word
*/
static hal::ControlWord GetControlWord() { return hal::GetControlWord(); }
/**
* 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.
*/
static void RefreshData();
/**
* Registers the given handle for DS data refresh notifications.
*
* @param handle The event handle.
*/
static void ProvideRefreshedDataEventHandle(WPI_EventHandle handle);
/**
* Unregisters the given handle from DS data refresh notifications.
*
* @param handle The event handle.
*/
static void RemoveRefreshedDataEventHandle(WPI_EventHandle handle);
/**
* Allows the user to specify whether they want joystick connection warnings
* to be printed to the console. This setting is ignored when the FMS is
* connected -- warnings will always be on in that scenario.
*
* @param silence Whether warning messages should be silenced.
*/
static void SilenceJoystickConnectionWarning(bool silence);
/**
* Returns whether joystick connection warnings are silenced. This will
* always return false when connected to the FMS.
*
* @return Whether joystick connection warnings are silenced.
*/
static bool IsJoystickConnectionWarningSilenced();
/**
* Starts logging DriverStation data to data log. Repeated calls are ignored.
*
* @param log data log
* @param logJoysticks if true, log joystick data
*/
static void StartDataLog(wpi::log::DataLog& log, bool logJoysticks = true);
private:
DriverStationBackend() = default;
};
} // namespace wpi::internal

2
wpilibc/src/main/native/include/wpi/framework/RobotBase.hpp
View File

@@ -210,7 +210,7 @@ class RobotBase {
* Gets the currently selected operating mode of the driver station. Note this
* does not mean the robot is enabled; use IsEnabled() for that.
*
* @return the unique ID provided by the DriverStation::AddOpMode() function;
* @return the unique ID provided by the RobotState::AddOpMode() function;
* may return 0 or a unique ID not added, so callers should be prepared to
* handle that case
*/

12
wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp
View File

@@ -8,7 +8,7 @@
#include <memory>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/hal/simulation/DriverStationData.h"
#include "wpi/simulation/CallbackStore.hpp"
@@ -281,14 +281,15 @@ class DriverStationSim {
static void NotifyNewData();
/**
* Sets suppression of DriverStation::ReportError and ReportWarning messages.
* Sets suppression of DriverStationErrors::ReportError and ReportWarning
* messages.
*
* @param shouldSend If false then messages will be suppressed.
*/
static void SetSendError(bool shouldSend);
/**
* Sets suppression of DriverStation::SendConsoleLine messages.
* Sets suppression of DriverStationErrors::SendConsoleLine messages.
*
* @param shouldSend If false then messages will be suppressed.
*/
@@ -337,8 +338,7 @@ class DriverStationSim {
* @param pov The POV number
* @param value the angle of the POV
*/
static void SetJoystickPOV(int stick, int pov,
DriverStation::POVDirection value);
static void SetJoystickPOV(int stick, int pov, POVDirection value);
/**
* Sets the number of axes for a joystick.
@@ -433,7 +433,7 @@ class DriverStationSim {
*
* @param type the match type
*/
static void SetMatchType(DriverStation::MatchType type);
static void SetMatchType(MatchType type);
/**
* Sets the match number.

6
wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp
View File

@@ -6,8 +6,8 @@
#include <stdint.h>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
namespace wpi {
@@ -61,14 +61,14 @@ class GenericHIDSim {
* @param pov the POV to set
* @param value the new value
*/
void SetPOV(int pov, DriverStation::POVDirection value);
void SetPOV(int pov, POVDirection value);
/**
* Set the value of the default POV (port 0).
*
* @param value the new value
*/
void SetPOV(DriverStation::POVDirection value);
void SetPOV(POVDirection value);
void SetAxesMaximumIndex(int maximumIndex);

7
wpilibc/src/main/python/pyproject.toml
View File

@@ -105,8 +105,15 @@ MecanumDrive = "wpi/drive/MecanumDrive.hpp"
RobotDriveBase = "wpi/drive/RobotDriveBase.hpp"
# wpi/driverstation
DriverStationBackend = "wpi/driverstation/internal/DriverStationBackend.hpp"
Alliance = "wpi/driverstation/Alliance.hpp"
Alert = "wpi/driverstation/Alert.hpp"
DriverStation = "wpi/driverstation/DriverStation.hpp"
MatchState = "wpi/driverstation/MatchState.hpp"
MatchType = "wpi/driverstation/MatchType.hpp"
POVDirection = "wpi/driverstation/POVDirection.hpp"
RobotState = "wpi/driverstation/RobotState.hpp"
TouchpadFinger = "wpi/driverstation/TouchpadFinger.hpp"
Gamepad = "wpi/driverstation/Gamepad.hpp"
GenericHID = "wpi/driverstation/GenericHID.hpp"
Joystick = "wpi/driverstation/Joystick.hpp"

2
wpilibc/src/main/python/semiwrap/Alliance.yml Normal file
View File

@@ -0,0 +1,2 @@
enums:
Alliance:

74
wpilibc/src/main/python/semiwrap/DriverStation.yml
View File

@@ -1,82 +1,12 @@
extra_includes:
- wpi/datalog/DataLog.hpp
- wpi/util/Color.hpp
classes:
wpi::DriverStation:
attributes:
JOYSTICK_PORTS:
enums:
Alliance:
MatchType:
POVDirection:
methods:
GetStickButton:
GetStickButtonPressed:
GetStickButtonReleased:
GetStickAxis:
GetStickPOV:
GetStickButtons:
GetJoystickGamepadType:
GetJoystickSupportedOutputs:
GetJoystickName:
IsJoystickConnected:
IsEnabled:
IsDisabled:
IsEStopped:
IsAutonomous:
IsAutonomousEnabled:
IsTeleop:
IsTeleopEnabled:
IsTest:
IsTestEnabled:
IsDSAttached:
IsFMSAttached:
GetGameData:
GetEventName:
GetMatchType:
GetMatchNumber:
GetReplayNumber:
GetAlliance:
GetLocation:
GetMatchTime:
GetBatteryVoltage:
RefreshData:
ProvideRefreshedDataEventHandle:
RemoveRefreshedDataEventHandle:
SilenceJoystickConnectionWarning:
IsJoystickConnectionWarningSilenced:
StartDataLog:
GetAngle:
GetJoystickIsGamepad:
GetStickButtonIfAvailable:
GetStickAxisIfAvailable:
GetStickAxesMaximumIndex:
GetStickAxesAvailable:
GetStickPOVsMaximumIndex:
GetStickPOVsAvailable:
GetStickButtonsMaximumIndex:
GetStickButtonsAvailable:
GetRobotMode:
AddOpMode:
overloads:
RobotMode, std::string_view, std::string_view, std::string_view:
RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:
RemoveOpMode:
PublishOpModes:
ClearOpModes:
GetOpModeId:
GetOpMode:
IsOpMode:
overloads:
int64_t:
std::string_view:
GetControlWord:
GetStickTouchpadFinger:
GetStickTouchpadFingerAvailable:
ObserveUserProgramStarting:
wpi::DriverStation::TouchpadFinger:
attributes:
down:
x:
y:
wpi::log::DataLog&:
wpi::log::DataLog&, bool:

72
wpilibc/src/main/python/semiwrap/DriverStationBackend.yml Normal file
View File

@@ -0,0 +1,72 @@
extra_includes:
- wpi/datalog/DataLog.hpp
- wpi/util/Color.hpp
classes:
wpi::internal::DriverStationBackend:
attributes:
JOYSTICK_PORTS:
methods:
GetStickButton:
GetStickButtonIfAvailable:
GetStickButtonPressed:
GetStickButtonReleased:
GetStickAxis:
GetStickTouchpadFinger:
GetStickTouchpadFingerAvailable:
GetStickAxisIfAvailable:
GetStickPOV:
GetStickButtons:
GetStickAxesMaximumIndex:
GetStickAxesAvailable:
GetStickPOVsMaximumIndex:
GetStickPOVsAvailable:
GetStickButtonsMaximumIndex:
GetStickButtonsAvailable:
GetJoystickIsGamepad:
GetJoystickGamepadType:
GetJoystickSupportedOutputs:
GetJoystickName:
IsJoystickConnected:
IsEnabled:
IsDisabled:
IsEStopped:
GetRobotMode:
IsAutonomous:
IsAutonomousEnabled:
IsTeleop:
IsTeleopEnabled:
IsTest:
IsTestEnabled:
AddOpMode:
overloads:
RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:
RobotMode, std::string_view, std::string_view, std::string_view:
RemoveOpMode:
PublishOpModes:
ClearOpModes:
GetOpModeId:
GetOpMode:
IsOpMode:
overloads:
int64_t:
std::string_view:
IsDSAttached:
IsFMSAttached:
GetGameData:
GetEventName:
GetMatchType:
GetMatchNumber:
GetReplayNumber:
GetAlliance:
GetLocation:
GetMatchTime:
GetBatteryVoltage:
GetControlWord:
RefreshData:
ProvideRefreshedDataEventHandle:
RemoveRefreshedDataEventHandle:
SilenceJoystickConnectionWarning:
IsJoystickConnectionWarningSilenced:
StartDataLog:
ObserveUserProgramStarting:

6
wpilibc/src/main/python/semiwrap/GenericHID.yml
View File

@@ -1,5 +1,5 @@
extra_includes:
- wpi/driverstation/DriverStation.hpp
- wpi/driverstation/internal/DriverStationBackend.hpp
- wpi/event/BooleanEvent.hpp
classes:
@@ -19,8 +19,8 @@ classes:
GetPOV:
POV:
overloads:
DriverStation::POVDirection, EventLoop* [const]:
int, DriverStation::POVDirection, EventLoop* [const]:
POVDirection, EventLoop* [const]:
int, POVDirection, EventLoop* [const]:
POVUp:
POVUpRight:
POVRight:

2
wpilibc/src/main/python/semiwrap/Joystick.yml
View File

@@ -1,5 +1,5 @@
extra_includes:
- wpi/driverstation/DriverStation.hpp
- wpi/driverstation/internal/DriverStationBackend.hpp
classes:
wpi::Joystick:

11
wpilibc/src/main/python/semiwrap/MatchState.yml Normal file
View File

@@ -0,0 +1,11 @@
classes:
wpi::MatchState:
methods:
GetMatchTime:
GetAlliance:
GetLocation:
GetReplayNumber:
GetMatchNumber:
GetMatchType:
GetEventName:
GetGameData:

2
wpilibc/src/main/python/semiwrap/MatchType.yml Normal file
View File

@@ -0,0 +1,2 @@
enums:
MatchType:

2
wpilibc/src/main/python/semiwrap/NiDsXboxController.yml
View File

@@ -1,6 +1,6 @@
extra_includes:
- wpi/util/sendable/SendableBuilder.hpp
- wpi/driverstation/DriverStation.hpp
- wpi/driverstation/internal/DriverStationBackend.hpp
- wpi/event/BooleanEvent.hpp
classes:

4
wpilibc/src/main/python/semiwrap/POVDirection.yml Normal file
View File

@@ -0,0 +1,4 @@
enums:
POVDirection:
functions:
GetPOVAngle:

2
wpilibc/src/main/python/semiwrap/RobotBase.yml
View File

@@ -1,5 +1,5 @@
extra_includes:
- wpi/driverstation/DriverStation.hpp
- wpi/driverstation/internal/DriverStationBackend.hpp
functions:
# TODO

31
wpilibc/src/main/python/semiwrap/RobotState.yml Normal file
View File

@@ -0,0 +1,31 @@
extra_includes:
- wpi/util/Color.hpp
classes:
wpi::RobotState:
methods:
IsEnabled:
IsDisabled:
IsEStopped:
GetRobotMode:
IsAutonomous:
IsAutonomousEnabled:
IsTeleop:
IsTeleopEnabled:
IsTest:
IsTestEnabled:
AddOpMode:
overloads:
RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:
RobotMode, std::string_view, std::string_view, std::string_view:
RemoveOpMode:
PublishOpModes:
ClearOpModes:
GetOpModeId:
GetOpMode:
IsOpMode:
overloads:
int64_t:
std::string_view:
IsDSAttached:
IsFMSAttached:

6
wpilibc/src/main/python/semiwrap/TouchpadFinger.yml Normal file
View File

@@ -0,0 +1,6 @@
classes:
wpi::TouchpadFinger:
attributes:
down:
x:
y:

4
wpilibc/src/main/python/semiwrap/simulation/GenericHIDSim.yml
View File

@@ -10,8 +10,8 @@ classes:
SetRawAxis:
SetPOV:
overloads:
int, DriverStation::POVDirection:
DriverStation::POVDirection:
int, POVDirection:
POVDirection:
SetGamepadType:
SetSupportedOutputs:
SetName:

6
wpilibc/src/main/python/wpilib/__init__.py
View File

@@ -21,6 +21,7 @@ from ._wpilib import (
DigitalOutput,
DoubleSolenoid,
DriverStation,
DriverStationBackend,
DutyCycle,
DutyCycleEncoder,
EdgeConfiguration,
@@ -39,6 +40,7 @@ from ._wpilib import (
Joystick,
Koors40,
LEDPattern,
MatchState,
MecanumDrive,
Mechanism2d,
MechanismLigament2d,
@@ -72,6 +74,7 @@ from ._wpilib import (
RobotBase,
RobotController,
RobotDriveBase,
RobotState,
RuntimeType,
SendableBuilderImpl,
SendableChooser,
@@ -124,6 +127,7 @@ __all__ = [
"DigitalOutput",
"DoubleSolenoid",
"DriverStation",
"DriverStationBackend",
"DutyCycle",
"DutyCycleEncoder",
"EdgeConfiguration",
@@ -142,6 +146,7 @@ __all__ = [
"Joystick",
"Koors40",
"LEDPattern",
"MatchState",
"MecanumDrive",
"Mechanism2d",
"MechanismLigament2d",
@@ -173,6 +178,7 @@ __all__ = [
"PowerDistribution",
"Preferences",
"RobotBase",
"RobotState",
"RobotController",
"RobotDriveBase",
"RuntimeType",

4
wpilibc/src/main/python/wpilib/_impl/start.py
View File

@@ -189,8 +189,8 @@ class RobotStarter:
wpilib.SmartDashboard.init()
# Call DriverStation.refreshData() to kick things off
wpilib.DriverStation.refreshData()
# Call DriverStationBackend.refreshData() to kick things off
wpilib.DriverStationBackend.refreshData()
try:
self.robot = robot_cls()

2
wpilibc/src/main/python/wpilib/testing/pytest_plugin.py
View File

@@ -73,7 +73,7 @@ class RobotTestingPlugin:
pauseTiming()
restartTiming()
wpilib.DriverStation.silenceJoystickConnectionWarning(True)
wpilib.DriverStationBackend.silenceJoystickConnectionWarning(True)
DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS)
DriverStationSim.setEnabled(False)
DriverStationSim.notifyNewData()

11
wpilibc/src/test/native/cpp/DriverStationTest.cpp
View File

@@ -2,14 +2,13 @@
// 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.
#include "wpi/driverstation/DriverStation.hpp"
#include <string>
#include <tuple>
#include <gtest/gtest.h>
#include "wpi/driverstation/Joystick.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/simulation/DriverStationSim.hpp"
#include "wpi/simulation/SimHooks.hpp"
@@ -26,7 +25,7 @@ TEST_P(IsJoystickConnectedParametersTest, IsJoystickConnected) {
wpi::sim::DriverStationSim::NotifyNewData();
ASSERT_EQ(std::get<3>(GetParam()),
wpi::DriverStation::IsJoystickConnected(1));
wpi::internal::DriverStationBackend::IsJoystickConnected(1));
}
INSTANTIATE_TEST_SUITE_P(IsConnectedTests, IsJoystickConnectedParametersTest,
@@ -47,14 +46,16 @@ TEST_P(JoystickConnectionWarningTest, JoystickConnectionWarnings) {
// Set FMS and Silence settings
wpi::sim::DriverStationSim::SetFmsAttached(std::get<0>(GetParam()));
wpi::sim::DriverStationSim::NotifyNewData();
wpi::DriverStation::SilenceJoystickConnectionWarning(std::get<1>(GetParam()));
wpi::internal::DriverStationBackend::SilenceJoystickConnectionWarning(
std::get<1>(GetParam()));
// Create joystick and attempt to retrieve button.
wpi::Joystick joystick(0);
joystick.GetRawButton(1);
wpi::sim::StepTiming(1_s);
EXPECT_EQ(wpi::DriverStation::IsJoystickConnectionWarningSilenced(),
EXPECT_EQ(wpi::internal::DriverStationBackend::
IsJoystickConnectionWarningSilenced(),
std::get<2>(GetParam()));
EXPECT_EQ(::testing::internal::GetCapturedStderr().substr(
0, std::get<3>(GetParam()).size()),

78
wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
View File

@@ -7,7 +7,9 @@
#include <gtest/gtest.h>
#include "callback_helpers/TestCallbackHelpers.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/MatchState.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/hal/HAL.h"
@@ -18,7 +20,7 @@ TEST(DriverStationTest, Enabled) {
HAL_Initialize(500, 0);
DriverStationSim::ResetData();
EXPECT_FALSE(DriverStation::IsEnabled());
EXPECT_FALSE(RobotState::IsEnabled());
BooleanCallback callback;
auto cb =
DriverStationSim::RegisterEnabledCallback(callback.GetCallback(), false);
@@ -26,7 +28,7 @@ TEST(DriverStationTest, Enabled) {
DriverStationSim::SetEnabled(true);
DriverStationSim::NotifyNewData();
EXPECT_TRUE(DriverStationSim::GetEnabled());
EXPECT_TRUE(DriverStation::IsEnabled());
EXPECT_TRUE(RobotState::IsEnabled());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
@@ -35,15 +37,15 @@ TEST(DriverStationTest, AutonomousMode) {
HAL_Initialize(500, 0);
DriverStationSim::ResetData();
EXPECT_FALSE(DriverStation::IsAutonomous());
EXPECT_FALSE(RobotState::IsAutonomous());
EnumCallback callback;
auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(),
false);
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_AUTONOMOUS);
DriverStationSim::NotifyNewData();
EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_AUTONOMOUS);
EXPECT_TRUE(DriverStation::IsAutonomous());
EXPECT_EQ(DriverStation::GetRobotMode(), RobotMode::AUTONOMOUS);
EXPECT_TRUE(RobotState::IsAutonomous());
EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::AUTONOMOUS);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(callback.GetLastValue(), HAL_ROBOT_MODE_AUTONOMOUS);
}
@@ -52,15 +54,15 @@ TEST(DriverStationTest, Mode) {
HAL_Initialize(500, 0);
DriverStationSim::ResetData();
EXPECT_FALSE(DriverStation::IsTest());
EXPECT_FALSE(RobotState::IsTest());
EnumCallback callback;
auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(),
false);
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
DriverStationSim::NotifyNewData();
EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_TEST);
EXPECT_TRUE(DriverStation::IsTest());
EXPECT_EQ(DriverStation::GetRobotMode(), RobotMode::TEST);
EXPECT_TRUE(RobotState::IsTest());
EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::TEST);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(callback.GetLastValue(), HAL_ROBOT_MODE_TEST);
}
@@ -69,14 +71,14 @@ TEST(DriverStationTest, Estop) {
HAL_Initialize(500, 0);
DriverStationSim::ResetData();
EXPECT_FALSE(DriverStation::IsEStopped());
EXPECT_FALSE(RobotState::IsEStopped());
BooleanCallback callback;
auto cb =
DriverStationSim::RegisterEStopCallback(callback.GetCallback(), false);
DriverStationSim::SetEStop(true);
DriverStationSim::NotifyNewData();
EXPECT_TRUE(DriverStationSim::GetEStop());
EXPECT_TRUE(DriverStation::IsEStopped());
EXPECT_TRUE(RobotState::IsEStopped());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
@@ -85,14 +87,14 @@ TEST(DriverStationTest, FmsAttached) {
HAL_Initialize(500, 0);
DriverStationSim::ResetData();
EXPECT_FALSE(DriverStation::IsFMSAttached());
EXPECT_FALSE(RobotState::IsFMSAttached());
BooleanCallback callback;
auto cb = DriverStationSim::RegisterFmsAttachedCallback(
callback.GetCallback(), false);
DriverStationSim::SetFmsAttached(true);
DriverStationSim::NotifyNewData();
EXPECT_TRUE(DriverStationSim::GetFmsAttached());
EXPECT_TRUE(DriverStation::IsFMSAttached());
EXPECT_TRUE(RobotState::IsFMSAttached());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
@@ -100,21 +102,21 @@ TEST(DriverStationTest, FmsAttached) {
TEST(DriverStationTest, DsAttached) {
HAL_Initialize(500, 0);
DriverStationSim::ResetData();
DriverStation::RefreshData();
wpi::internal::DriverStationBackend::RefreshData();
EXPECT_FALSE(DriverStationSim::GetDsAttached());
EXPECT_FALSE(DriverStation::IsDSAttached());
EXPECT_FALSE(RobotState::IsDSAttached());
DriverStationSim::NotifyNewData();
EXPECT_TRUE(DriverStationSim::GetDsAttached());
EXPECT_TRUE(DriverStation::IsDSAttached());
EXPECT_TRUE(RobotState::IsDSAttached());
BooleanCallback callback;
auto cb = DriverStationSim::RegisterDsAttachedCallback(callback.GetCallback(),
false);
DriverStationSim::SetDsAttached(false);
DriverStation::RefreshData();
wpi::internal::DriverStationBackend::RefreshData();
EXPECT_FALSE(DriverStationSim::GetDsAttached());
EXPECT_FALSE(DriverStation::IsDSAttached());
EXPECT_FALSE(RobotState::IsDSAttached());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_FALSE(callback.GetLastValue());
}
@@ -136,8 +138,8 @@ TEST(DriverStationTest, AllianceStationId) {
DriverStationSim::SetAllianceStationId(allianceStation);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
EXPECT_FALSE(DriverStation::GetAlliance().has_value());
EXPECT_FALSE(DriverStation::GetLocation().has_value());
EXPECT_FALSE(MatchState::GetAlliance().has_value());
EXPECT_FALSE(MatchState::GetLocation().has_value());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(allianceStation, callback.GetLastValue());
@@ -146,8 +148,8 @@ TEST(DriverStationTest, AllianceStationId) {
DriverStationSim::SetAllianceStationId(allianceStation);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
EXPECT_EQ(DriverStation::Alliance::BLUE, DriverStation::GetAlliance());
EXPECT_EQ(1, DriverStation::GetLocation());
EXPECT_EQ(Alliance::BLUE, MatchState::GetAlliance());
EXPECT_EQ(1, MatchState::GetLocation());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(allianceStation, callback.GetLastValue());
@@ -156,8 +158,8 @@ TEST(DriverStationTest, AllianceStationId) {
DriverStationSim::SetAllianceStationId(allianceStation);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
EXPECT_EQ(DriverStation::Alliance::BLUE, DriverStation::GetAlliance());
EXPECT_EQ(2, DriverStation::GetLocation());
EXPECT_EQ(Alliance::BLUE, MatchState::GetAlliance());
EXPECT_EQ(2, MatchState::GetLocation());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(allianceStation, callback.GetLastValue());
@@ -166,8 +168,8 @@ TEST(DriverStationTest, AllianceStationId) {
DriverStationSim::SetAllianceStationId(allianceStation);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
EXPECT_EQ(DriverStation::Alliance::BLUE, DriverStation::GetAlliance());
EXPECT_EQ(3, DriverStation::GetLocation());
EXPECT_EQ(Alliance::BLUE, MatchState::GetAlliance());
EXPECT_EQ(3, MatchState::GetLocation());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(allianceStation, callback.GetLastValue());
@@ -176,8 +178,8 @@ TEST(DriverStationTest, AllianceStationId) {
DriverStationSim::SetAllianceStationId(allianceStation);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
EXPECT_EQ(DriverStation::Alliance::RED, DriverStation::GetAlliance());
EXPECT_EQ(1, DriverStation::GetLocation());
EXPECT_EQ(Alliance::RED, MatchState::GetAlliance());
EXPECT_EQ(1, MatchState::GetLocation());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(allianceStation, callback.GetLastValue());
@@ -186,8 +188,8 @@ TEST(DriverStationTest, AllianceStationId) {
DriverStationSim::SetAllianceStationId(allianceStation);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
EXPECT_EQ(DriverStation::Alliance::RED, DriverStation::GetAlliance());
EXPECT_EQ(2, DriverStation::GetLocation());
EXPECT_EQ(Alliance::RED, MatchState::GetAlliance());
EXPECT_EQ(2, MatchState::GetLocation());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(allianceStation, callback.GetLastValue());
@@ -196,8 +198,8 @@ TEST(DriverStationTest, AllianceStationId) {
DriverStationSim::SetAllianceStationId(allianceStation);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
EXPECT_EQ(DriverStation::Alliance::RED, DriverStation::GetAlliance());
EXPECT_EQ(3, DriverStation::GetLocation());
EXPECT_EQ(Alliance::RED, MatchState::GetAlliance());
EXPECT_EQ(3, MatchState::GetLocation());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(allianceStation, callback.GetLastValue());
}
@@ -208,7 +210,7 @@ TEST(DriverStationTest, ReplayNumber) {
DriverStationSim::SetReplayNumber(4);
DriverStationSim::NotifyNewData();
EXPECT_EQ(4, DriverStation::GetReplayNumber());
EXPECT_EQ(4, MatchState::GetReplayNumber());
}
TEST(DriverStationTest, MatchNumber) {
@@ -217,7 +219,7 @@ TEST(DriverStationTest, MatchNumber) {
DriverStationSim::SetMatchNumber(3);
DriverStationSim::NotifyNewData();
EXPECT_EQ(3, DriverStation::GetMatchNumber());
EXPECT_EQ(3, MatchState::GetMatchNumber());
}
TEST(DriverStationTest, MatchTime) {
@@ -231,7 +233,7 @@ TEST(DriverStationTest, MatchTime) {
DriverStationSim::SetMatchTime(kTestTime);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(kTestTime, DriverStationSim::GetMatchTime());
EXPECT_EQ(kTestTime, DriverStation::GetMatchTime().value());
EXPECT_EQ(kTestTime, MatchState::GetMatchTime().value());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestTime, callback.GetLastValue());
}
@@ -243,7 +245,7 @@ TEST(DriverStationTest, SetGameData) {
constexpr auto message = "Hello";
DriverStationSim::SetGameData(message);
DriverStationSim::NotifyNewData();
auto gameData = DriverStation::GetGameData();
auto gameData = MatchState::GetGameData();
ASSERT_TRUE(gameData.has_value());
EXPECT_EQ(message, gameData.value());
}
@@ -254,7 +256,7 @@ TEST(DriverStationTest, SetGameDataEmpty) {
DriverStationSim::SetGameData("");
DriverStationSim::NotifyNewData();
auto gameData = DriverStation::GetGameData();
auto gameData = MatchState::GetGameData();
EXPECT_FALSE(gameData.has_value());
}
@@ -265,5 +267,5 @@ TEST(DriverStationTest, SetEventName) {
constexpr auto message = "The Best Event";
DriverStationSim::SetEventName(message);
DriverStationSim::NotifyNewData();
EXPECT_EQ(message, DriverStation::GetEventName());
EXPECT_EQ(message, MatchState::GetEventName());
}

4
wpilibc/src/test/python/test_opmode_robot.py
View File

@@ -3,7 +3,7 @@ import threading
from wpilib import simulation as wsim
from wpimath.units import seconds
from wpilib.opmoderobot import OpModeRobot
from wpilib import OpMode, DriverStation
from wpilib import OpMode, RobotState
from hal._wpiHal import RobotMode
from wpiutil import Color
@@ -55,7 +55,7 @@ def sim_timing_setup():
wsim.setProgramStarted(False)
yield
wsim.resumeTiming()
DriverStation.clearOpModes()
RobotState.clearOpModes()
def test_add_op_mode():

12
wpilibcExamples/src/main/cpp/snippets/DigitalCommunication/cpp/Robot.cpp
View File

@@ -4,21 +4,21 @@
#include "Robot.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/MatchState.hpp"
#include "wpi/driverstation/RobotState.hpp"
void Robot::RobotPeriodic() {
// pull alliance port high if on red alliance, pull low if on blue alliance
m_allianceOutput.Set(wpi::DriverStation::GetAlliance() ==
wpi::DriverStation::Alliance::RED);
m_allianceOutput.Set(wpi::MatchState::GetAlliance() == wpi::Alliance::RED);
// pull enabled port high if enabled, low if disabled
m_enabledOutput.Set(wpi::DriverStation::IsEnabled());
m_enabledOutput.Set(wpi::RobotState::IsEnabled());
// pull auto port high if in autonomous, low if in teleop (or disabled)
m_autonomousOutput.Set(wpi::DriverStation::IsAutonomous());
m_autonomousOutput.Set(wpi::RobotState::IsAutonomous());
// pull alert port high if match time remaining is between 30 and 25 seconds
auto matchTime = wpi::DriverStation::GetMatchTime();
auto matchTime = wpi::MatchState::GetMatchTime();
m_alertOutput.Set(matchTime <= 30_s && matchTime >= 25_s);
}

16
wpilibcExamples/src/main/cpp/snippets/I2CCommunication/cpp/Robot.cpp
View File

@@ -8,7 +8,8 @@
#include <fmt/format.h>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/MatchState.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/system/Timer.hpp"
void Robot::RobotPeriodic() {
@@ -23,20 +24,19 @@ void Robot::RobotPeriodic() {
// alliance, enabled in teleop mode, with 43 seconds left in the match.
std::string allianceString = "U";
auto alliance = wpi::DriverStation::GetAlliance();
auto alliance = wpi::MatchState::GetAlliance();
if (alliance.has_value()) {
if (alliance == wpi::DriverStation::Alliance::RED) {
if (alliance == wpi::Alliance::RED) {
allianceString = "R";
} else {
allianceString = "B";
}
}
auto string =
fmt::format("{}{}{}{:03}", allianceString,
wpi::DriverStation::IsEnabled() ? "E" : "D",
wpi::DriverStation::IsAutonomous() ? "A" : "T",
static_cast<int>(wpi::Timer::GetMatchTime().value()));
auto string = fmt::format(
"{}{}{}{:03}", allianceString, wpi::RobotState::IsEnabled() ? "E" : "D",
wpi::RobotState::IsAutonomous() ? "A" : "T",
static_cast<int>(wpi::Timer::GetMatchTime().value()));
arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
}

18
wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
View File

@@ -4,7 +4,8 @@
#include "Robot.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/internal/DriverStationModeThread.hpp"
@@ -22,19 +23,20 @@ void Robot::StartCompetition() {
wpi::internal::DriverStationModeThread modeThread{wpi::hal::GetControlWord()};
// Create an opmode per robot mode
wpi::DriverStation::AddOpMode(wpi::RobotMode::AUTONOMOUS, "Auto");
wpi::DriverStation::AddOpMode(wpi::RobotMode::TELEOPERATED, "Teleop");
wpi::DriverStation::AddOpMode(wpi::RobotMode::TEST, "Test");
wpi::DriverStation::PublishOpModes();
wpi::RobotState::AddOpMode(wpi::RobotMode::AUTONOMOUS, "Auto");
wpi::RobotState::AddOpMode(wpi::RobotMode::TELEOPERATED, "Teleop");
wpi::RobotState::AddOpMode(wpi::RobotMode::TEST, "Test");
wpi::RobotState::PublishOpModes();
wpi::util::Event event{false, false};
wpi::DriverStation::ProvideRefreshedDataEventHandle(event.GetHandle());
wpi::internal::DriverStationBackend::ProvideRefreshedDataEventHandle(
event.GetHandle());
// Tell the DS that the robot is ready to be enabled
wpi::DriverStation::ObserveUserProgramStarting();
wpi::internal::DriverStationBackend::ObserveUserProgramStarting();
while (!m_exit) {
modeThread.InControl(wpi::DriverStation::GetControlWord());
modeThread.InControl(wpi::internal::DriverStationBackend::GetControlWord());
if (IsDisabled()) {
Disabled();
while (IsDisabled()) {

13
wpilibj/src/main/java/org/wpilib/driverstation/Alliance.java Normal file
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@@ -0,0 +1,13 @@
// 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.
package org.wpilib.driverstation;
/** The robot alliance that the robot is a part of. */
public enum Alliance {
/** Red alliance. */
RED,
/** Blue alliance. */
BLUE
}

4
wpilibj/src/main/java/org/wpilib/driverstation/DefaultUserControls.java
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@@ -4,6 +4,8 @@
package org.wpilib.driverstation;
import org.wpilib.driverstation.internal.DriverStationBackend;
/**
* A default implementation of UserControls that provides Gamepad instances for each of the 6
* joystick ports provided by the DS.
@@ -13,7 +15,7 @@ public class DefaultUserControls implements UserControls {
/** Constructs a DefaultUserControls instance with Gamepads for each port. */
public DefaultUserControls() {
m_gamepads = new Gamepad[DriverStation.kJoystickPorts];
m_gamepads = new Gamepad[DriverStationBackend.JOYSTICK_PORTS];
for (int i = 0; i < m_gamepads.length; i++) {
m_gamepads[i] = new Gamepad(i);
}

1990
wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java
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52
wpilibj/src/main/java/org/wpilib/driverstation/DriverStationErrors.java Normal file
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@@ -0,0 +1,52 @@
// 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.
package org.wpilib.driverstation;
import org.wpilib.driverstation.internal.DriverStationBackend;
/** Provides access to error and warning reporting functionality to the Driver Station. */
public final class DriverStationErrors {
private DriverStationErrors() {}
/**
* Report error to Driver Station. Optionally appends Stack trace to error message.
*
* @param error The error to report.
* @param printTrace If true, append stack trace to error string
*/
public static void reportError(String error, boolean printTrace) {
DriverStationBackend.reportError(error, printTrace);
}
/**
* Report error to Driver Station. Appends provided stack trace to error message.
*
* @param error The error to report.
* @param stackTrace The stack trace to append
*/
public static void reportError(String error, StackTraceElement[] stackTrace) {
DriverStationBackend.reportError(error, stackTrace);
}
/**
* Report warning to Driver Station. Optionally appends Stack trace to warning message.
*
* @param warning The warning to report.
* @param printTrace If true, append stack trace to warning string
*/
public static void reportWarning(String warning, boolean printTrace) {
DriverStationBackend.reportWarning(warning, printTrace);
}
/**
* Report warning to Driver Station. Appends provided stack trace to warning message.
*
* @param warning The warning to report.
* @param stackTrace The stack trace to append
*/
public static void reportWarning(String warning, StackTraceElement[] stackTrace) {
DriverStationBackend.reportWarning(warning, stackTrace);
}
}

5
wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java
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@@ -4,6 +4,7 @@
package org.wpilib.driverstation;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
@@ -1334,11 +1335,11 @@ public class Gamepad extends GenericHID implements Sendable {
}
private double getAxisForSendable(Axis axis) {
return DriverStation.getStickAxisIfAvailable(getPort(), axis.value).orElse(0.0);
return DriverStationBackend.getStickAxisIfAvailable(getPort(), axis.value).orElse(0.0);
}
private boolean getButtonForSendable(Button button) {
return DriverStation.getStickButtonIfAvailable(getPort(), button.value).orElse(false);
return DriverStationBackend.getStickButtonIfAvailable(getPort(), button.value).orElse(false);
}
@Override

37
wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
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@@ -7,8 +7,7 @@ package org.wpilib.driverstation;
import java.util.EnumSet;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.DriverStation.TouchpadFinger;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.DriverStationJNI;
@@ -150,7 +149,7 @@ public class GenericHID {
* @return The state of the button.
*/
public boolean getRawButton(int button) {
return DriverStation.getStickButton(m_port, (byte) button);
return DriverStationBackend.getStickButton(m_port, (byte) button);
}
/**
@@ -164,7 +163,7 @@ public class GenericHID {
* @return Whether the button was pressed since the last check.
*/
public boolean getRawButtonPressed(int button) {
return DriverStation.getStickButtonPressed(m_port, (byte) button);
return DriverStationBackend.getStickButtonPressed(m_port, (byte) button);
}
/**
@@ -178,7 +177,7 @@ public class GenericHID {
* @return Whether the button was released since the last check.
*/
public boolean getRawButtonReleased(int button) {
return DriverStation.getStickButtonReleased(m_port, button);
return DriverStationBackend.getStickButtonReleased(m_port, button);
}
/**
@@ -202,7 +201,7 @@ public class GenericHID {
* @return The value of the axis.
*/
public double getRawAxis(int axis) {
return DriverStation.getStickAxis(m_port, axis);
return DriverStationBackend.getStickAxis(m_port, axis);
}
/**
@@ -212,7 +211,7 @@ public class GenericHID {
* @return the angle of the POV.
*/
public POVDirection getPOV(int pov) {
return DriverStation.getStickPOV(m_port, pov);
return DriverStationBackend.getStickPOV(m_port, pov);
}
/**
@@ -394,7 +393,7 @@ public class GenericHID {
* @return the maximum axis index for the joystick
*/
public int getAxesMaximumIndex() {
return DriverStation.getStickAxesMaximumIndex(m_port);
return DriverStationBackend.getStickAxesMaximumIndex(m_port);
}
/**
@@ -403,7 +402,7 @@ public class GenericHID {
* @return the number of axis for the current HID
*/
public int getAxesAvailable() {
return DriverStation.getStickAxesAvailable(m_port);
return DriverStationBackend.getStickAxesAvailable(m_port);
}
/**
@@ -412,7 +411,7 @@ public class GenericHID {
* @return the maximum POV index for the joystick
*/
public int getPOVsMaximumIndex() {
return DriverStation.getStickPOVsMaximumIndex(m_port);
return DriverStationBackend.getStickPOVsMaximumIndex(m_port);
}
/**
@@ -421,7 +420,7 @@ public class GenericHID {
* @return the number of POVs for the current HID
*/
public int getPOVsAvailable() {
return DriverStation.getStickPOVsAvailable(m_port);
return DriverStationBackend.getStickPOVsAvailable(m_port);
}
/**
@@ -430,7 +429,7 @@ public class GenericHID {
* @return the maximum button index for the joystick
*/
public int getButtonsMaximumIndex() {
return DriverStation.getStickButtonsMaximumIndex(m_port);
return DriverStationBackend.getStickButtonsMaximumIndex(m_port);
}
/**
@@ -439,7 +438,7 @@ public class GenericHID {
* @return the number of buttons for the current HID
*/
public long getButtonsAvailable() {
return DriverStation.getStickButtonsAvailable(m_port);
return DriverStationBackend.getStickButtonsAvailable(m_port);
}
/**
@@ -448,7 +447,7 @@ public class GenericHID {
* @return true if the HID is connected
*/
public boolean isConnected() {
return DriverStation.isJoystickConnected(m_port);
return DriverStationBackend.isJoystickConnected(m_port);
}
/**
@@ -457,7 +456,7 @@ public class GenericHID {
* @return the type of the HID.
*/
public HIDType getGamepadType() {
return HIDType.of(DriverStation.getJoystickGamepadType(m_port));
return HIDType.of(DriverStationBackend.getJoystickGamepadType(m_port));
}
/**
@@ -466,7 +465,7 @@ public class GenericHID {
* @return the supported outputs for the HID.
*/
public EnumSet<SupportedOutput> getSupportedOutputs() {
int supported = DriverStation.getJoystickSupportedOutputs(m_port);
int supported = DriverStationBackend.getJoystickSupportedOutputs(m_port);
EnumSet<SupportedOutput> outputs = EnumSet.noneOf(SupportedOutput.class);
for (SupportedOutput output : SupportedOutput.values()) {
if ((supported & output.getValue()) != 0) {
@@ -482,7 +481,7 @@ public class GenericHID {
* @return the name of the HID.
*/
public String getName() {
return DriverStation.getJoystickName(m_port);
return DriverStationBackend.getJoystickName(m_port);
}
/**
@@ -543,7 +542,7 @@ public class GenericHID {
* @return true if the touchpad finger is available.
*/
public boolean getTouchpadFingerAvailable(int touchpad, int finger) {
return DriverStation.getStickTouchpadFingerAvailable(m_port, touchpad, finger);
return DriverStationBackend.getStickTouchpadFingerAvailable(m_port, touchpad, finger);
}
/**
@@ -554,6 +553,6 @@ public class GenericHID {
* @return The touchpad finger data.
*/
public TouchpadFinger getTouchpadFinger(int touchpad, int finger) {
return DriverStation.getStickTouchpadFinger(m_port, touchpad, finger);
return DriverStationBackend.getStickTouchpadFinger(m_port, touchpad, finger);
}
}

104
wpilibj/src/main/java/org/wpilib/driverstation/MatchState.java Normal file
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@@ -0,0 +1,104 @@
// 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.
package org.wpilib.driverstation;
import java.util.Optional;
import java.util.OptionalInt;
import org.wpilib.driverstation.internal.DriverStationBackend;
/** Provides access to match state information from the Driver Station. */
public final class MatchState {
private MatchState() {}
/**
* 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).
*
* <p>When connected to the real field, this number only changes in full integer increments, and
* always counts down.
*
* <p>When the DS is in practice mode, this number is a floating point number, and counts down.
*
* <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
*
* <p>Simulation matches DS behavior without an FMS connected.
*
* @return Time remaining in current match period (auto or teleop) in seconds
*/
public static double getMatchTime() {
return DriverStationBackend.getMatchTime();
}
/**
* Get the current alliance from the FMS.
*
* <p>If the FMS is not connected, it is set from the team alliance setting on the driver station.
*
* @return The alliance (red or blue) or an empty optional if the alliance is invalid
*/
public static Optional<Alliance> getAlliance() {
return DriverStationBackend.getAlliance();
}
/**
* Gets the location of the team's driver station controls from the FMS.
*
* <p>If the FMS is not connected, it is set from the team alliance setting on the driver station.
*
* @return the location of the team's driver station controls: 1, 2, or 3
*/
public static OptionalInt getLocation() {
return DriverStationBackend.getLocation();
}
/**
* Get the replay number from the FMS.
*
* @return the replay number
*/
public static int getReplayNumber() {
return DriverStationBackend.getReplayNumber();
}
/**
* Get the match number from the FMS.
*
* @return the match number
*/
public static int getMatchNumber() {
return DriverStationBackend.getMatchNumber();
}
/**
* Get the match type from the FMS.
*
* @return the match type
*/
public static MatchType getMatchType() {
return DriverStationBackend.getMatchType();
}
/**
* Get the event name from the FMS.
*
* @return the event name
*/
public static String getEventName() {
return DriverStationBackend.getEventName();
}
/**
* Get the game specific message from the FMS.
*
* <p>If the FMS is not connected, it is set from the game data setting on the driver station.
*
* @return the game specific message
*/
public static Optional<String> getGameData() {
return DriverStationBackend.getGameData();
}
}

17
wpilibj/src/main/java/org/wpilib/driverstation/MatchType.java Normal file
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@@ -0,0 +1,17 @@
// 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.
package org.wpilib.driverstation;
/** The type of robot match that the robot is part of. */
public enum MatchType {
/** None. */
NONE,
/** Practice. */
PRACTICE,
/** Qualification. */
QUALIFICATION,
/** Elimination. */
ELIMINATION
}

82
wpilibj/src/main/java/org/wpilib/driverstation/POVDirection.java Normal file
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@@ -0,0 +1,82 @@
// 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.
package org.wpilib.driverstation;
import java.util.Optional;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.system.Timer;
/** A controller POV direction. */
public enum POVDirection {
/** POV center. */
CENTER(0x00),
/** POV up. */
UP(0x01),
/** POV up right. */
UP_RIGHT(0x01 | 0x02),
/** POV right. */
RIGHT(0x02),
/** POV down right. */
DOWN_RIGHT(0x02 | 0x04),
/** POV down. */
DOWN(0x04),
/** POV down left. */
DOWN_LEFT(0x04 | 0x08),
/** POV left. */
LEFT(0x08),
/** POV up left. */
UP_LEFT(0x01 | 0x08);
private static final double INVALID_POV_VALUE_INTERVAL = 1.0;
private static double s_nextMessageTime;
/**
* Converts a byte value into a POVDirection enum value.
*
* @param value The byte value to convert.
* @return The corresponding POVDirection enum value.
* @throws IllegalArgumentException If value does not correspond to a POVDirection.
*/
public static POVDirection of(byte value) {
for (var direction : values()) {
if (direction.value == value) {
return direction;
}
}
double currentTime = Timer.getTimestamp();
if (currentTime > s_nextMessageTime) {
DriverStationErrors.reportError("Invalid POV value " + value + "!", false);
s_nextMessageTime = currentTime + INVALID_POV_VALUE_INTERVAL;
}
return CENTER;
}
/** The corresponding HAL value. */
public final byte value;
POVDirection(int value) {
this.value = (byte) value;
}
/**
* Gets the angle of a POVDirection.
*
* @return The angle clockwise from straight up, or Optional.empty() if this POVDirection is
* CENTER.
*/
public Optional<Rotation2d> getAngle() {
return switch (this) {
case CENTER -> Optional.empty();
case UP -> Optional.of(Rotation2d.fromDegrees(0));
case UP_RIGHT -> Optional.of(Rotation2d.fromDegrees(45));
case RIGHT -> Optional.of(Rotation2d.fromDegrees(90));
case DOWN_RIGHT -> Optional.of(Rotation2d.fromDegrees(135));
case DOWN -> Optional.of(Rotation2d.fromDegrees(180));
case DOWN_LEFT -> Optional.of(Rotation2d.fromDegrees(225));
case LEFT -> Optional.of(Rotation2d.fromDegrees(270));
case UP_LEFT -> Optional.of(Rotation2d.fromDegrees(315));
};
}
}

270
wpilibj/src/main/java/org/wpilib/driverstation/RobotState.java Normal file
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@@ -0,0 +1,270 @@
// 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.
package org.wpilib.driverstation;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.RobotMode;
import org.wpilib.util.Color;
/** Provides access to robot state information from the Driver Station. */
public final class RobotState {
private RobotState() {}
/**
* Gets a value indicating whether the Driver Station requires the robot to be enabled.
*
* @return True if the robot is enabled, false otherwise.
*/
public static boolean isEnabled() {
return DriverStationBackend.isEnabled();
}
/**
* 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 static boolean isDisabled() {
return DriverStationBackend.isDisabled();
}
/**
* Gets a value indicating whether the Robot is e-stopped.
*
* @return True if the robot is e-stopped, false otherwise.
*/
public static boolean isEStopped() {
return DriverStationBackend.isEStopped();
}
/**
* Gets the current robot mode.
*
* <p>Note that this does not indicate whether the robot is enabled or disabled.
*
* @return robot mode
*/
public static RobotMode getRobotMode() {
return DriverStationBackend.getRobotMode();
}
/**
* 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 static boolean isAutonomous() {
return DriverStationBackend.isAutonomous();
}
/**
* Gets a value indicating whether the Driver Station requires the robot to be running in
* autonomous mode and enabled.
*
* @return True if autonomous should be set and the robot should be enabled.
*/
public static boolean isAutonomousEnabled() {
return DriverStationBackend.isAutonomousEnabled();
}
/**
* 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 static boolean isTeleop() {
return DriverStationBackend.isTeleop();
}
/**
* Gets a value indicating whether the Driver Station requires the robot to be running in
* operator-controller mode and enabled.
*
* @return True if operator-controlled mode should be set and the robot should be enabled.
*/
public static boolean isTeleopEnabled() {
return DriverStationBackend.isTeleopEnabled();
}
/**
* 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 static boolean isTest() {
return DriverStationBackend.isTest();
}
/**
* Gets a value indicating whether the Driver Station requires the robot to be running in Test
* mode and enabled.
*
* @return True if test mode should be set and the robot should be enabled.
*/
public static boolean isTestEnabled() {
return DriverStationBackend.isTestEnabled();
}
/**
* Adds an operating mode option. It's necessary to call publishOpModes() to make the added modes
* visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @param group group of the operating mode
* @param description description of the operating mode
* @param textColor text color, or null for default
* @param backgroundColor background color, or null for default
* @return unique ID used to later identify the operating mode
* @throws IllegalArgumentException if name is empty or an operating mode with the same robot mode
* and name already exists
*/
public static long addOpMode(
RobotMode mode,
String name,
String group,
String description,
Color textColor,
Color backgroundColor) {
return DriverStationBackend.addOpMode(
mode, name, group, description, textColor, backgroundColor);
}
/**
* Adds an operating mode option. It's necessary to call publishOpModes() to make the added modes
* visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @param group group of the operating mode
* @param description description of the operating mode
* @return unique ID used to later identify the operating mode
* @throws IllegalArgumentException if name is empty or an operating mode with the same name
* already exists
*/
public static long addOpMode(RobotMode mode, String name, String group, String description) {
return DriverStationBackend.addOpMode(mode, name, group, description);
}
/**
* Adds an operating mode option. It's necessary to call publishOpModes() to make the added modes
* visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @param group group of the operating mode
* @return unique ID used to later identify the operating mode
* @throws IllegalArgumentException if name is empty or an operating mode with the same name
* already exists
*/
public static long addOpMode(RobotMode mode, String name, String group) {
return DriverStationBackend.addOpMode(mode, name, group);
}
/**
* Adds an operating mode option. It's necessary to call publishOpModes() to make the added modes
* visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @return unique ID used to later identify the operating mode
* @throws IllegalArgumentException if name is empty or an operating mode with the same name
* already exists
*/
public static long addOpMode(RobotMode mode, String name) {
return DriverStationBackend.addOpMode(mode, name);
}
/**
* Removes an operating mode option. It's necessary to call publishOpModes() to make the removed
* mode no longer visible to the driver station.
*
* @param mode robot mode
* @param name name of the operating mode
* @return unique ID for the opmode, or 0 if not found
*/
public static long removeOpMode(RobotMode mode, String name) {
return DriverStationBackend.removeOpMode(mode, name);
}
/** Publishes the operating mode options to the driver station. */
public static void publishOpModes() {
DriverStationBackend.publishOpModes();
}
/** Clears all operating mode options and publishes an empty list to the driver station. */
public static void clearOpModes() {
DriverStationBackend.clearOpModes();
}
/**
* Gets the operating mode selected on the driver station. Note this does not mean the robot is
* enabled; use isEnabled() for that. In a match, this will indicate the operating mode selected
* for auto before the match starts (i.e., while the robot is disabled in auto mode); after the
* auto period ends, this will change to reflect the operating mode selected for teleop.
*
* @return the unique ID provided by the addOpMode() function; may return 0 or a unique ID not
* added, so callers should be prepared to handle that case
*/
public static long getOpModeId() {
return DriverStationBackend.getOpModeId();
}
/**
* Gets the operating mode selected on the driver station. Note this does not mean the robot is
* enabled; use isEnabled() for that. In a match, this will indicate the operating mode selected
* for auto before the match starts (i.e., while the robot is disabled in auto mode); after the
* auto period ends, this will change to reflect the operating mode selected for teleop.
*
* @return Operating mode string; may return a string not in the list of options, so callers
* should be prepared to handle that case
*/
public static String getOpMode() {
return DriverStationBackend.getOpMode();
}
/**
* Check to see if the selected operating mode is a particular value. Note this does not mean the
* robot is enabled; use isEnabled() for that.
*
* @param id operating mode unique ID
* @return True if that mode is the current mode
*/
public static boolean isOpMode(long id) {
return DriverStationBackend.isOpMode(id);
}
/**
* Check to see if the selected operating mode is a particular value. Note this does not mean the
* robot is enabled; use isEnabled() for that.
*
* @param mode operating mode
* @return True if that mode is the current mode
*/
public static boolean isOpMode(String mode) {
return DriverStationBackend.isOpMode(mode);
}
/**
* Gets a value indicating whether the Driver Station is attached.
*
* @return True if Driver Station is attached, false otherwise.
*/
public static boolean isDSAttached() {
return DriverStationBackend.isDSAttached();
}
/**
* Gets if 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
*/
public static boolean isFMSAttached() {
return DriverStationBackend.isFMSAttached();
}
}

31
wpilibj/src/main/java/org/wpilib/driverstation/TouchpadFinger.java Normal file
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@@ -0,0 +1,31 @@
// 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.
package org.wpilib.driverstation;
/** Represents a finger on a touchpad. */
@SuppressWarnings("MemberName")
public final class TouchpadFinger {
/** Whether the finger is touching the touchpad. */
public final boolean down;
/** The x position of the finger. 0 is at top left. */
public final float x;
/** The y position of the finger. 0 is at top left. */
public final float y;
/**
* Creates a TouchpadFinger object.
*
* @param down Whether the finger is touching the touchpad.
* @param x The x position of the finger.
* @param y The y position of the finger.
*/
public TouchpadFinger(boolean down, float x, float y) {
this.x = x;
this.y = y;
this.down = down;
}
}

1863
wpilibj/src/main/java/org/wpilib/driverstation/internal/DriverStationBackend.java Normal file
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9
wpilibj/src/main/java/org/wpilib/framework/IterativeRobotBase.java
View File

@@ -4,7 +4,8 @@
package org.wpilib.framework;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.HAL;
@@ -236,8 +237,8 @@ public abstract class IterativeRobotBase extends RobotBase {
/** Loop function. */
protected final void loopFunc() {
DriverStation.refreshData();
DriverStation.refreshControlWordFromCache(m_word);
DriverStationBackend.refreshData();
DriverStationBackend.refreshControlWordFromCache(m_word);
m_watchdog.reset();
// Get current mode; treat disabled as unknown
@@ -344,6 +345,6 @@ public abstract class IterativeRobotBase extends RobotBase {
}
private void printLoopOverrunMessage() {
DriverStation.reportWarning("Loop time of " + m_period + "s overrun\n", false);
DriverStationErrors.reportWarning("Loop time of " + m_period + "s overrun\n", false);
}
}

33
wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java
View File

@@ -20,9 +20,11 @@ import java.util.function.Supplier;
import java.util.jar.JarEntry;
import java.util.jar.JarFile;
import org.wpilib.driverstation.Alert;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.driverstation.RobotState;
import org.wpilib.driverstation.UserControls;
import org.wpilib.driverstation.UserControlsInstance;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.HAL;
@@ -82,7 +84,8 @@ public abstract class OpModeRobot extends RobotBase {
private final Alert m_loopOverrunAlert;
private static void reportAddOpModeError(Class<?> cls, String message) {
DriverStation.reportError("Error adding OpMode " + cls.getSimpleName() + ": " + message, false);
DriverStationErrors.reportError(
"Error adding OpMode " + cls.getSimpleName() + ": " + message, false);
}
private final Optional<Class<? extends UserControls>> m_userControlsBaseClass;
@@ -142,7 +145,7 @@ public abstract class OpModeRobot extends RobotBase {
private <T extends OpMode> T constructOpModeClass(Class<T> cls) {
Optional<ConstructorMatch<T>> constructor = findOpModeConstructor(cls);
if (constructor.isEmpty()) {
DriverStation.reportError(
DriverStationErrors.reportError(
"No suitable constructor to instantiate OpMode " + cls.getSimpleName(), true);
return null;
}
@@ -153,7 +156,7 @@ public abstract class OpModeRobot extends RobotBase {
return constructor.get().newInstance(this);
}
} catch (ReflectiveOperationException e) {
DriverStation.reportError(
DriverStationErrors.reportError(
"Could not instantiate OpMode " + cls.getSimpleName(), e.getStackTrace());
return null;
}
@@ -207,7 +210,7 @@ public abstract class OpModeRobot extends RobotBase {
String description,
Color textColor,
Color backgroundColor) {
long id = DriverStation.addOpMode(mode, name, group, description, textColor, backgroundColor);
long id = RobotState.addOpMode(mode, name, group, description, textColor, backgroundColor);
m_opModes.put(id, new OpModeFactory(name, factory));
}
@@ -355,7 +358,7 @@ public abstract class OpModeRobot extends RobotBase {
}
Color tColor = textColor.isBlank() ? null : Color.fromString(textColor);
Color bColor = backgroundColor.isBlank() ? null : Color.fromString(backgroundColor);
long id = DriverStation.addOpMode(mode, name, group, description, tColor, bColor);
long id = RobotState.addOpMode(mode, name, group, description, tColor, bColor);
m_opModes.put(id, new OpModeFactory(name, () -> constructOpModeClass(cls)));
}
@@ -504,7 +507,7 @@ public abstract class OpModeRobot extends RobotBase {
* @param name name of the operating mode
*/
public void removeOpMode(RobotMode mode, String name) {
long id = DriverStation.removeOpMode(mode, name);
long id = RobotState.removeOpMode(mode, name);
if (id != 0) {
m_opModes.remove(id);
}
@@ -512,12 +515,12 @@ public abstract class OpModeRobot extends RobotBase {
/** Publishes the operating mode options to the driver station. */
public void publishOpModes() {
DriverStation.publishOpModes();
RobotState.publishOpModes();
}
/** Clears all operating mode options and publishes an empty list to the driver station. */
public void clearOpModes() {
DriverStation.clearOpModes();
RobotState.clearOpModes();
m_opModes.clear();
}
@@ -562,7 +565,7 @@ public abstract class OpModeRobot extends RobotBase {
}
// Scan for annotated opmode classes within the derived class's package and subpackages
addAnnotatedOpModeClasses(getClass().getPackage());
DriverStation.publishOpModes();
RobotState.publishOpModes();
HAL.reportUsage("Framework", "OpModeRobot");
}
@@ -631,10 +634,10 @@ public abstract class OpModeRobot extends RobotBase {
/** Main robot loop function. Handles disabled state logic and opmode management. */
private void loopFunc() {
DriverStation.refreshData();
DriverStationBackend.refreshData();
// Get current enabled state and opmode
DriverStation.refreshControlWordFromCache(m_word);
DriverStationBackend.refreshControlWordFromCache(m_word);
m_watchdog.reset();
boolean enabled = m_word.isEnabled();
long modeId = m_word.isDSAttached() ? m_word.getOpModeId() : 0;
@@ -676,7 +679,7 @@ public abstract class OpModeRobot extends RobotBase {
m_callbacks.addAll(m_activeOpModeCallbacks);
}
} else {
DriverStation.reportError("No OpMode found for mode " + modeId, false);
DriverStationErrors.reportError("No OpMode found for mode " + modeId, false);
}
}
m_lastModeId = modeId;
@@ -723,7 +726,7 @@ public abstract class OpModeRobot extends RobotBase {
}
// Call nonePeriodic when no opmode is selected
if (DriverStation.getOpModeId() == 0) {
if (RobotState.getOpModeId() == 0) {
nonePeriodic();
m_watchdog.addEpoch("nonePeriodic()");
}
@@ -767,7 +770,7 @@ public abstract class OpModeRobot extends RobotBase {
}
// Tell the DS that the robot is ready to be enabled
DriverStation.observeUserProgramStarting();
DriverStationBackend.observeUserProgramStarting();
// Loop forever, calling the callback system which handles periodic functions
while (true) {

46
wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
View File

@@ -6,9 +6,11 @@ package org.wpilib.framework;
import java.util.Optional;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.driverstation.RobotState;
import org.wpilib.driverstation.UserControls;
import org.wpilib.driverstation.UserControlsInstance;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.math.util.MathShared;
@@ -52,7 +54,7 @@ public abstract class RobotBase implements AutoCloseable {
@Override
public void reportDriverStationError(String error) {
DriverStation.reportError(error, true);
DriverStationErrors.reportError(error, true);
}
@Override
@@ -74,7 +76,7 @@ public abstract class RobotBase implements AutoCloseable {
new MathShared() {
@Override
public void reportError(String error, StackTraceElement[] stackTrace) {
DriverStation.reportError(error, stackTrace);
DriverStationErrors.reportError(error, stackTrace);
}
@Override
@@ -183,7 +185,7 @@ public abstract class RobotBase implements AutoCloseable {
* @return True if the Robot is currently disabled by the Driver Station.
*/
public static boolean isDisabled() {
return DriverStation.isDisabled();
return RobotState.isDisabled();
}
/**
@@ -192,7 +194,7 @@ public abstract class RobotBase implements AutoCloseable {
* @return True if the Robot is currently enabled by the Driver Station.
*/
public static boolean isEnabled() {
return DriverStation.isEnabled();
return RobotState.isEnabled();
}
/**
@@ -201,7 +203,7 @@ public abstract class RobotBase implements AutoCloseable {
* @return True if the robot is currently operating Autonomously.
*/
public static boolean isAutonomous() {
return DriverStation.isAutonomous();
return RobotState.isAutonomous();
}
/**
@@ -211,7 +213,7 @@ public abstract class RobotBase implements AutoCloseable {
* @return True if the robot is currently operating autonomously while enabled.
*/
public static boolean isAutonomousEnabled() {
return DriverStation.isAutonomousEnabled();
return RobotState.isAutonomousEnabled();
}
/**
@@ -220,7 +222,7 @@ public abstract class RobotBase implements AutoCloseable {
* @return True if the robot is currently operating in Test mode.
*/
public static boolean isTest() {
return DriverStation.isTest();
return RobotState.isTest();
}
/**
@@ -229,7 +231,7 @@ public abstract class RobotBase implements AutoCloseable {
* @return True if the robot is currently operating in Test mode while enabled.
*/
public static boolean isTestEnabled() {
return DriverStation.isTestEnabled();
return RobotState.isTestEnabled();
}
/**
@@ -239,7 +241,7 @@ public abstract class RobotBase implements AutoCloseable {
* @return True if the robot is currently operating in Tele-Op mode.
*/
public static boolean isTeleop() {
return DriverStation.isTeleop();
return RobotState.isTeleop();
}
/**
@@ -249,7 +251,7 @@ public abstract class RobotBase implements AutoCloseable {
* @return True if the robot is currently operating in Tele-Op mode while enabled.
*/
public static boolean isTeleopEnabled() {
return DriverStation.isTeleopEnabled();
return RobotState.isTeleopEnabled();
}
/**
@@ -260,7 +262,7 @@ public abstract class RobotBase implements AutoCloseable {
* unique ID not added, so callers should be prepared to handle that case
*/
public static long getOpModeId() {
return DriverStation.getOpModeId();
return RobotState.getOpModeId();
}
/**
@@ -271,7 +273,7 @@ public abstract class RobotBase implements AutoCloseable {
* should be prepared to handle that case
*/
public static String getOpMode() {
return DriverStation.getOpMode();
return RobotState.getOpMode();
}
/**
@@ -332,15 +334,15 @@ public abstract class RobotBase implements AutoCloseable {
if (elements.length > 0) {
robotName = elements[0].getClassName();
}
DriverStation.reportError(
DriverStationErrors.reportError(
"Unhandled exception instantiating robot " + robotName + " " + throwable, elements);
DriverStation.reportError(
DriverStationErrors.reportError(
"The robot program quit unexpectedly."
+ " This is usually due to a code error.\n"
+ " The above stacktrace can help determine where the error occurred.\n"
+ " See https://wpilib.org/stacktrace for more information.\n",
false);
DriverStation.reportError("Could not instantiate robot " + robotName + "!", false);
DriverStationErrors.reportError("Could not instantiate robot " + robotName + "!", false);
return;
}
@@ -356,7 +358,8 @@ public abstract class RobotBase implements AutoCloseable {
if (cause != null) {
throwable = cause;
}
DriverStation.reportError("Unhandled exception: " + throwable, throwable.getStackTrace());
DriverStationErrors.reportError(
"Unhandled exception: " + throwable, throwable.getStackTrace());
errorOnExit = true;
} finally {
m_runMutex.lock();
@@ -364,19 +367,20 @@ public abstract class RobotBase implements AutoCloseable {
m_runMutex.unlock();
if (!suppressExitWarning) {
// startCompetition never returns unless exception occurs....
DriverStation.reportWarning(
DriverStationErrors.reportWarning(
"The robot program quit unexpectedly."
+ " This is usually due to a code error.\n"
+ " The above stacktrace can help determine where the error occurred.\n"
+ " See https://wpilib.org/stacktrace for more information.",
false);
if (errorOnExit) {
DriverStation.reportError(
DriverStationErrors.reportError(
"The startCompetition() method (or methods called by it) should have "
+ "handled the exception above.",
false);
} else {
DriverStation.reportError("Unexpected return from startCompetition() method.", false);
DriverStationErrors.reportError(
"Unexpected return from startCompetition() method.", false);
}
}
}
@@ -408,7 +412,7 @@ public abstract class RobotBase implements AutoCloseable {
}
// Force refresh DS data
DriverStation.refreshData();
DriverStationBackend.refreshData();
HAL.reportUsage("Language", "Java");
HAL.reportUsage("WPILibVersion", WPILibVersion.Version);

4
wpilibj/src/main/java/org/wpilib/framework/TimedRobot.java
View File

@@ -6,7 +6,7 @@ package org.wpilib.framework;
import static org.wpilib.units.Units.Seconds;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.NotifierJNI;
import org.wpilib.internal.PeriodicPriorityQueue;
@@ -86,7 +86,7 @@ public class TimedRobot extends IterativeRobotBase {
// Tell the DS that the robot is ready to be enabled
System.out.println("********** Robot program startup complete **********");
DriverStation.observeUserProgramStarting();
DriverStationBackend.observeUserProgramStarting();
// Loop forever, calling the appropriate mode-dependent function
while (true) {

10
wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java
View File

@@ -13,7 +13,7 @@ import java.util.Map;
import java.util.Objects;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.system.RobotController;
import org.wpilib.units.collections.LongToObjectHashMap;
@@ -576,13 +576,13 @@ public interface LEDPattern {
HAL.reportUsage("LEDPattern", "");
if (steps.isEmpty()) {
// no colors specified
DriverStation.reportWarning("Creating LED steps with no colors!", false);
DriverStationErrors.reportWarning("Creating LED steps with no colors!", false);
return kOff;
}
if (steps.size() == 1 && steps.keySet().iterator().next().doubleValue() == 0) {
// only one color specified, just show a static color
DriverStation.reportWarning("Creating LED steps with only one color!", false);
DriverStationErrors.reportWarning("Creating LED steps with only one color!", false);
return solid(steps.values().iterator().next());
}
@@ -638,13 +638,13 @@ public interface LEDPattern {
HAL.reportUsage("LEDPattern", "");
if (colors.length == 0) {
// Nothing to display
DriverStation.reportWarning("Creating a gradient with no colors!", false);
DriverStationErrors.reportWarning("Creating a gradient with no colors!", false);
return kOff;
}
if (colors.length == 1) {
// No gradients with one color
DriverStation.reportWarning("Creating a gradient with only one color!", false);
DriverStationErrors.reportWarning("Creating a gradient with only one color!", false);
return solid(colors[0]);
}

7
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java
View File

@@ -6,7 +6,8 @@ package org.wpilib.hardware.motor;
import java.util.LinkedHashSet;
import java.util.Set;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.driverstation.RobotState;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.system.Timer;
@@ -133,12 +134,12 @@ public abstract class MotorSafety {
stopTime = m_stopTime;
}
if (!enabled || DriverStation.isDisabled() || DriverStation.isTest()) {
if (!enabled || RobotState.isDisabled() || RobotState.isTest()) {
return;
}
if (stopTime < Timer.getMonotonicTimestamp()) {
DriverStation.reportError(
DriverStationErrors.reportError(
getDescription()
+ "... Output not updated often enough. See https://docs.wpilib.org/motorsafety for more information.",
false);

4
wpilibj/src/main/java/org/wpilib/internal/DriverStationModeThread.java
View File

@@ -6,7 +6,7 @@ package org.wpilib.internal;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicLong;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.util.WPIUtilJNI;
@@ -41,7 +41,7 @@ public class DriverStationModeThread implements AutoCloseable {
if (!m_keepAlive.get()) {
return;
}
DriverStation.refreshData();
DriverStationBackend.refreshData();
DriverStationJNI.observeUserProgram(m_userControlWord.get());
}
}

10
wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java
View File

@@ -5,7 +5,9 @@
package org.wpilib.simulation;
import java.util.function.BiConsumer;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.MatchType;
import org.wpilib.driverstation.POVDirection;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.AllianceStationID;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.OpModeOption;
@@ -321,7 +323,7 @@ public final class DriverStationSim {
}
DriverStationJNI.removeNewDataEventHandle(handle);
WPIUtilJNI.destroyEvent(handle);
DriverStation.refreshData();
DriverStationBackend.refreshData();
}
/**
@@ -392,7 +394,7 @@ public final class DriverStationSim {
* @param pov The POV number
* @param value the angle of the POV
*/
public static void setJoystickPOV(int stick, int pov, DriverStation.POVDirection value) {
public static void setJoystickPOV(int stick, int pov, POVDirection value) {
DriverStationDataJNI.setJoystickPOV(stick, pov, value.value);
}
@@ -523,7 +525,7 @@ public final class DriverStationSim {
*
* @param type the match type
*/
public static void setMatchType(DriverStation.MatchType type) {
public static void setMatchType(MatchType type) {
int matchType =
switch (type) {
case PRACTICE -> 1;

6
wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java
View File

@@ -5,8 +5,8 @@
package org.wpilib.simulation;
import java.util.EnumSet;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.POVDirection;
/** Class to control a simulated generic joystick. */
public class GenericHIDSim {
@@ -62,7 +62,7 @@ public class GenericHIDSim {
* @param pov the POV to set
* @param value the new value
*/
public void setPOV(int pov, DriverStation.POVDirection value) {
public void setPOV(int pov, POVDirection value) {
DriverStationSim.setJoystickPOV(m_port, pov, value);
}
@@ -71,7 +71,7 @@ public class GenericHIDSim {
*
* @param value the new value
*/
public void setPOV(DriverStation.POVDirection value) {
public void setPOV(POVDirection value) {
setPOV(0, value);
}

24
wpilibj/src/main/java/org/wpilib/system/DataLogManager.java
View File

@@ -20,7 +20,11 @@ import org.wpilib.datalog.DataLogBackgroundWriter;
import org.wpilib.datalog.FileLogger;
import org.wpilib.datalog.IntegerLogEntry;
import org.wpilib.datalog.StringLogEntry;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.driverstation.MatchState;
import org.wpilib.driverstation.MatchType;
import org.wpilib.driverstation.RobotState;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.framework.RobotBase;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.networktables.NetworkTableInstance;
@@ -326,7 +330,7 @@ public final class DataLogManager {
}
long length = file.length();
if (file.delete()) {
DriverStation.reportWarning("DataLogManager: Deleted " + file.getName(), false);
DriverStationErrors.reportWarning("DataLogManager: Deleted " + file.getName(), false);
freeSpace += length;
if (freeSpace >= FREE_SPACE_THRESHOLD) {
break;
@@ -337,7 +341,7 @@ public final class DataLogManager {
}
}
} else if (freeSpace < 2 * FREE_SPACE_THRESHOLD) {
DriverStation.reportWarning(
DriverStationErrors.reportWarning(
"DataLogManager: Log storage device has "
+ freeSpace / 1000000
+ " MB of free space remaining! Logs will get deleted below "
@@ -360,7 +364,7 @@ public final class DataLogManager {
m_log, "systemTime", "{\"source\":\"DataLogManager\",\"format\":\"time_t_us\"}");
Event newDataEvent = new Event();
DriverStation.provideRefreshedDataEventHandle(newDataEvent.getHandle());
DriverStationBackend.provideRefreshedDataEventHandle(newDataEvent.getHandle());
while (!Thread.interrupted()) {
boolean timedOut;
try {
@@ -390,7 +394,7 @@ public final class DataLogManager {
if (!dsRenamed) {
// track DS attach
if (DriverStation.isDSAttached()) {
if (RobotState.isDSAttached()) {
dsAttachCount++;
} else {
dsAttachCount = 0;
@@ -408,7 +412,7 @@ public final class DataLogManager {
if (!fmsRenamed) {
// track FMS attach
if (DriverStation.isFMSAttached()) {
if (RobotState.isFMSAttached()) {
fmsAttachCount++;
} else {
fmsAttachCount = 0;
@@ -416,8 +420,8 @@ public final class DataLogManager {
if (fmsAttachCount > 250) { // 5 seconds
// match info comes through TCP, so we need to double-check we've
// actually received it
DriverStation.MatchType matchType = DriverStation.getMatchType();
if (matchType != DriverStation.MatchType.NONE) {
MatchType matchType = MatchState.getMatchType();
if (matchType != MatchType.NONE) {
// rename per match info
char matchTypeChar =
switch (matchType) {
@@ -430,10 +434,10 @@ public final class DataLogManager {
"WPILIB_"
+ m_timeFormatter.format(LocalDateTime.now(m_utc))
+ "_"
+ DriverStation.getEventName()
+ MatchState.getEventName()
+ "_"
+ matchTypeChar
+ DriverStation.getMatchNumber()
+ MatchState.getMatchNumber()
+ ".wpilog");
fmsRenamed = true;
dsRenamed = true; // don't override FMS rename

6
wpilibj/src/main/java/org/wpilib/system/Notifier.java
View File

@@ -9,7 +9,7 @@ import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.hardware.hal.NotifierJNI;
import org.wpilib.units.measure.Frequency;
import org.wpilib.units.measure.Time;
@@ -106,9 +106,9 @@ public class Notifier implements AutoCloseable {
if (cause != null) {
error = cause;
}
DriverStation.reportError(
DriverStationErrors.reportError(
"Unhandled exception in Notifier thread: " + error, error.getStackTrace());
DriverStation.reportError(
DriverStationErrors.reportError(
"The Runnable for this Notifier (or methods called by it) should have handled "
+ "the exception above.\n"
+ " The above stacktrace can help determine where the error occurred.\n"

4
wpilibj/src/main/java/org/wpilib/system/Timer.java
View File

@@ -6,7 +6,7 @@ package org.wpilib.system;
import static org.wpilib.units.Units.Seconds;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.MatchState;
import org.wpilib.units.measure.Time;
/**
@@ -54,7 +54,7 @@ public class Timer {
* @return Time remaining in current match period (auto or teleop) in seconds
*/
public static double getMatchTime() {
return DriverStation.getMatchTime();
return MatchState.getMatchTime();
}
/**

4
wpilibj/src/main/java/org/wpilib/system/Tracer.java
View File

@@ -7,7 +7,7 @@ package org.wpilib.system;
import java.util.HashMap;
import java.util.Map;
import java.util.function.Consumer;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
/**
* A class for keeping track of how much time it takes for different parts of code to execute. This
@@ -60,7 +60,7 @@ public class Tracer {
/** Prints list of epochs added so far and their times to the DriverStation. */
public void printEpochs() {
printEpochs(out -> DriverStation.reportWarning(out, false));
printEpochs(out -> DriverStationErrors.reportWarning(out, false));
}
/**

4
wpilibj/src/main/java/org/wpilib/system/Watchdog.java
View File

@@ -9,7 +9,7 @@ import static org.wpilib.units.Units.Seconds;
import java.io.Closeable;
import java.util.PriorityQueue;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.hardware.hal.NotifierJNI;
import org.wpilib.units.measure.Time;
@@ -263,7 +263,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
if (now - watchdog.m_lastTimeoutPrint > MIN_PRINT_PERIOD) {
watchdog.m_lastTimeoutPrint = now;
if (!watchdog.m_suppressTimeoutMessage) {
DriverStation.reportWarning(
DriverStationErrors.reportWarning(
String.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout), false);
}
}

21
wpilibj/src/test/java/org/wpilib/driverstation/DriverStationTest.java
View File

@@ -13,6 +13,7 @@ import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.simulation.DriverStationSim;
class DriverStationTest {
@@ -25,31 +26,31 @@ class DriverStationTest {
DriverStationSim.notifyNewData();
assertEquals(expected, DriverStation.isJoystickConnected(1));
assertEquals(expected, DriverStationBackend.isJoystickConnected(1));
}
@Test
void getOpmodeIdReturnsZeroUntilUserProgramStarts() {
DriverStationSim.setOpMode(0x1234);
DriverStationSim.notifyNewData();
assertEquals(0, DriverStation.getOpModeId());
assertEquals(0, RobotState.getOpModeId());
DriverStation.observeUserProgramStarting();
DriverStationBackend.observeUserProgramStarting();
// need to manually mask because the upper eight bits include robot mode information
assertEquals(0x1234, DriverStation.getOpModeId() & 0xFFFF);
assertEquals(0x1234, RobotState.getOpModeId() & 0xFFFF);
}
@Test
void getOpmodeReturnsEmptyStringUntilUserProgramStarts() {
DriverStationSim.setOpMode(0x1234);
DriverStationSim.notifyNewData();
assertEquals("", DriverStation.getOpMode());
assertEquals("", RobotState.getOpMode());
DriverStation.observeUserProgramStarting();
DriverStationBackend.observeUserProgramStarting();
// in Sim, the opmode string is just the stringified version of the opmode i64 "<0000...0000>"
// we need to parse the string to get the
// need to manually mask because the upper eight bits include robot mode information
String opmodeName = DriverStation.getOpMode();
String opmodeName = RobotState.getOpMode();
assertEquals(
"0x1234",
String.format(
@@ -71,8 +72,8 @@ class DriverStationTest {
DriverStationSim.setFmsAttached(fms);
DriverStationSim.notifyNewData();
DriverStation.silenceJoystickConnectionWarning(silence);
assertEquals(expected, DriverStation.isJoystickConnectionWarningSilenced());
DriverStationBackend.silenceJoystickConnectionWarning(silence);
assertEquals(expected, DriverStationBackend.isJoystickConnectionWarningSilenced());
}
static Stream<Arguments> connectionWarningProvider() {
@@ -86,7 +87,7 @@ class DriverStationTest {
@AfterEach
@SuppressWarnings("PMD.AvoidAccessibilityAlteration")
void resetUserProgramFlag() throws ReflectiveOperationException {
var field = DriverStation.class.getDeclaredField("m_userProgramStarted");
var field = DriverStationBackend.class.getDeclaredField("m_userProgramStarted");
field.setAccessible(true);
field.set(null, false);
}

6
wpilibj/src/test/java/org/wpilib/framework/OpModeRobotTest.java
View File

@@ -14,7 +14,7 @@ import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.parallel.ResourceLock;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.RobotMode;
import org.wpilib.opmode.OpMode;
import org.wpilib.simulation.DriverStationSim;
@@ -99,14 +99,14 @@ class OpModeRobotTest {
@AfterEach
void tearDown() {
DriverStation.clearOpModes();
DriverStationBackend.clearOpModes();
SimHooks.resumeTiming();
}
@AfterEach
@SuppressWarnings("PMD.AvoidAccessibilityAlteration")
void resetUserProgramFlag() throws ReflectiveOperationException {
var field = DriverStation.class.getDeclaredField("m_userProgramStarted");
var field = DriverStationBackend.class.getDeclaredField("m_userProgramStarted");
field.setAccessible(true);
field.set(null, false);
}

2
wpilibj/src/test/java/org/wpilib/hal/MatchInfoDataTest.java
View File

@@ -8,7 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.Test;
import org.wpilib.driverstation.DriverStation.MatchType;
import org.wpilib.driverstation.MatchType;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.MatchInfoData;
import org.wpilib.hardware.hal.simulation.DriverStationDataJNI;

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