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wpilibj/src/main/java/org/wpilib/internal/DriverStationModeThread.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.internal;
+
+import edu.wpi.first.hal.DriverStationJNI;
+import edu.wpi.first.util.WPIUtilJNI;
+import edu.wpi.first.wpilibj.DriverStation;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+/** For internal use only. */
+public class DriverStationModeThread implements AutoCloseable {
+  private final AtomicBoolean m_keepAlive = new AtomicBoolean();
+  private final Thread m_thread;
+
+  private boolean m_userInDisabled;
+  private boolean m_userInAutonomous;
+  private boolean m_userInTeleop;
+  private boolean m_userInTest;
+
+  /** Internal use only. */
+  public DriverStationModeThread() {
+    m_keepAlive.set(true);
+    m_thread = new Thread(this::run, "DriverStationMode");
+    m_thread.start();
+  }
+
+  private void run() {
+    int handle = WPIUtilJNI.createEvent(false, false);
+    DriverStationJNI.provideNewDataEventHandle(handle);
+
+    while (m_keepAlive.get()) {
+      try {
+        WPIUtilJNI.waitForObjectTimeout(handle, 0.1);
+      } catch (InterruptedException e) {
+        DriverStationJNI.removeNewDataEventHandle(handle);
+        WPIUtilJNI.destroyEvent(handle);
+        Thread.currentThread().interrupt();
+        return;
+      }
+      DriverStation.refreshData();
+      if (m_userInDisabled) {
+        DriverStationJNI.observeUserProgramDisabled();
+      }
+      if (m_userInAutonomous) {
+        DriverStationJNI.observeUserProgramAutonomous();
+      }
+      if (m_userInTeleop) {
+        DriverStationJNI.observeUserProgramTeleop();
+      }
+      if (m_userInTest) {
+        DriverStationJNI.observeUserProgramTest();
+      }
+    }
+
+    DriverStationJNI.removeNewDataEventHandle(handle);
+    WPIUtilJNI.destroyEvent(handle);
+  }
+
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
+   * purposes only.
+   *
+   * @param entering If true, starting disabled code; if false, leaving disabled code
+   */
+  public void inDisabled(boolean entering) {
+    m_userInDisabled = entering;
+  }
+
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
+   * purposes only.
+   *
+   * @param entering If true, starting autonomous code; if false, leaving autonomous code
+   */
+  public void inAutonomous(boolean entering) {
+    m_userInAutonomous = entering;
+  }
+
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
+   * purposes only.
+   *
+   * @param entering If true, starting teleop code; if false, leaving teleop code
+   */
+  public void inTeleop(boolean entering) {
+    m_userInTeleop = entering;
+  }
+
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
+   * purposes only.
+   *
+   * @param entering If true, starting test code; if false, leaving test code
+   */
+  public void inTest(boolean entering) {
+    m_userInTest = entering;
+  }
+
+  @Override
+  public void close() {
+    m_keepAlive.set(false);
+    try {
+      m_thread.join();
+    } catch (InterruptedException e) {
+      Thread.currentThread().interrupt();
+    }
+  }
+}