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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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12
wpilibcExamples/src/main/cpp/snippets/DigitalCommunication/cpp/Robot.cpp
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@@ -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()) {