[wpilib] Only read DS control word once in IterativeRobotBase (#3504)

wpilibc/src/main/native/cpp/DSControlWord.cpp

@@ -0,0 +1,55 @@
+// 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.
+
+#include "frc/DSControlWord.h"
+
+#include <hal/DriverStation.h>
+
+using namespace frc;
+
+DSControlWord::DSControlWord() {
+  HAL_GetControlWord(&m_controlWord);
+}
+
+bool DSControlWord::IsEnabled() const {
+  return m_controlWord.enabled && m_controlWord.dsAttached;
+}
+
+bool DSControlWord::IsDisabled() const {
+  return !(m_controlWord.enabled && m_controlWord.dsAttached);
+}
+
+bool DSControlWord::IsEStopped() const {
+  return m_controlWord.eStop;
+}
+
+bool DSControlWord::IsAutonomous() const {
+  return m_controlWord.autonomous;
+}
+
+bool DSControlWord::IsAutonomousEnabled() const {
+  return m_controlWord.autonomous && m_controlWord.enabled &&
+         m_controlWord.dsAttached;
+}
+
+bool DSControlWord::IsTeleop() const {
+  return !(m_controlWord.autonomous || m_controlWord.test);
+}
+
+bool DSControlWord::IsTeleopEnabled() const {
+  return !m_controlWord.autonomous && !m_controlWord.test &&
+         m_controlWord.enabled && m_controlWord.dsAttached;
+}
+
+bool DSControlWord::IsTest() const {
+  return m_controlWord.test;
+}
+
+bool DSControlWord::IsDSAttached() const {
+  return m_controlWord.dsAttached;
+}
+
+bool DSControlWord::IsFMSAttached() const {
+  return m_controlWord.fmsAttached;
+}