mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
Move CameraServer and WPILib headers into their own folder
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
31ced30c1e
commit
d89b7dd412
@@ -1,437 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <array>
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#include <atomic>
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#include <memory>
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#include <string>
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#include <thread>
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#include <HAL/DriverStation.h>
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#include <wpi/Twine.h>
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#include <wpi/condition_variable.h>
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#include <wpi/deprecated.h>
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#include <wpi/mutex.h>
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#include "ErrorBase.h"
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#include "RobotState.h"
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namespace frc {
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class MatchDataSender;
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/**
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* Provide access to the network communication data to / from the Driver
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* Station.
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*/
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class DriverStation : public ErrorBase {
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public:
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enum Alliance { kRed, kBlue, kInvalid };
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enum MatchType { kNone, kPractice, kQualification, kElimination };
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~DriverStation() override;
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/**
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* Return a reference to the singleton DriverStation.
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*
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* @return Reference to the DS instance
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*/
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static DriverStation& GetInstance();
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/**
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* Report an error to the DriverStation messages window.
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*
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* The error is also printed to the program console.
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*/
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static void ReportError(const wpi::Twine& error);
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/**
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* Report a warning to the DriverStation messages window.
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*
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* The warning is also printed to the program console.
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*/
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static void ReportWarning(const wpi::Twine& error);
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/**
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* Report an error to the DriverStation messages window.
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*
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* The error is also printed to the program console.
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*/
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static void ReportError(bool isError, int code, const wpi::Twine& error,
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const wpi::Twine& location, const wpi::Twine& stack);
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static constexpr int kJoystickPorts = 6;
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/**
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* The state of one joystick button. Button indexes begin at 1.
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*
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* @param stick The joystick to read.
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* @param button The button index, beginning at 1.
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* @return The state of the joystick button.
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*/
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bool GetStickButton(int stick, int button);
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/**
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* Whether one joystick button was pressed since the last check. Button
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* indexes begin at 1.
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*
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* @param stick The joystick to read.
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* @param button The button index, beginning at 1.
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* @return Whether the joystick button was pressed since the last check.
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*/
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bool GetStickButtonPressed(int stick, int button);
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/**
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* Whether one joystick button was released since the last check. Button
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* indexes begin at 1.
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*
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* @param stick The joystick to read.
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* @param button The button index, beginning at 1.
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* @return Whether the joystick button was released since the last check.
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*/
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bool GetStickButtonReleased(int stick, int button);
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/**
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* Get the value of the axis on a joystick.
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*
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* This depends on the mapping of the joystick connected to the specified
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* port.
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*
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* @param stick The joystick to read.
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* @param axis The analog axis value to read from the joystick.
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* @return The value of the axis on the joystick.
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*/
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double GetStickAxis(int stick, int axis);
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/**
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* Get the state of a POV on the joystick.
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*
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* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
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*/
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int GetStickPOV(int stick, int pov);
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/**
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* The state of the buttons on the joystick.
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*
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* @param stick The joystick to read.
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* @return The state of the buttons on the joystick.
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*/
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int GetStickButtons(int stick) const;
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/**
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* Returns the number of axes on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of axes on the indicated joystick
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*/
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int GetStickAxisCount(int stick) const;
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/**
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* Returns the number of POVs on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of POVs on the indicated joystick
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*/
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int GetStickPOVCount(int stick) const;
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/**
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* Returns the number of buttons on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of buttons on the indicated joystick
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*/
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int GetStickButtonCount(int stick) const;
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/**
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* Returns a boolean indicating if the controller is an xbox controller.
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*
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* @param stick The joystick port number
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* @return A boolean that is true if the controller is an xbox controller.
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*/
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bool GetJoystickIsXbox(int stick) const;
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/**
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* Returns the type of joystick at a given port.
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*
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* @param stick The joystick port number
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* @return The HID type of joystick at the given port
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*/
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int GetJoystickType(int stick) const;
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/**
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* Returns the name of the joystick at the given port.
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*
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* @param stick The joystick port number
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* @return The name of the joystick at the given port
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*/
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std::string GetJoystickName(int stick) const;
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/**
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* Returns the types of Axes on a given joystick port.
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*
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* @param stick The joystick port number and the target axis
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* @return What type of axis the axis is reporting to be
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*/
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int GetJoystickAxisType(int stick, int axis) const;
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/**
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* Check if the DS has enabled the robot.
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*
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* @return True if the robot is enabled and the DS is connected
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*/
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bool IsEnabled() const;
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/**
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* Check if the robot is disabled.
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*
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* @return True if the robot is explicitly disabled or the DS is not connected
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*/
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bool IsDisabled() const;
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/**
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* Check if the DS is commanding autonomous mode.
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*
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* @return True if the robot is being commanded to be in autonomous mode
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*/
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bool IsAutonomous() const;
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/**
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* Check if the DS is commanding teleop mode.
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*
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* @return True if the robot is being commanded to be in teleop mode
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*/
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bool IsOperatorControl() const;
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/**
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* Check if the DS is commanding test mode.
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*
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* @return True if the robot is being commanded to be in test mode
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*/
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bool IsTest() const;
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/**
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* Check if the DS is attached.
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*
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* @return True if the DS is connected to the robot
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*/
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bool IsDSAttached() const;
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/**
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* Has a new control packet from the driver station arrived since the last
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* time this function was called?
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*
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* Warning: If you call this function from more than one place at the same
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* time, you will not get the intended behavior.
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*
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* @return True if the control data has been updated since the last call.
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*/
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bool IsNewControlData() const;
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/**
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* Is the driver station attached to a Field Management System?
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*
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* @return True if the robot is competing on a field being controlled by a
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* Field Management System
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*/
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bool IsFMSAttached() const;
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/**
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* Check if the FPGA outputs are enabled.
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*
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* The outputs may be disabled if the robot is disabled or e-stopped, the
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* watchdog has expired, or if the roboRIO browns out.
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*
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* @return True if the FPGA outputs are enabled.
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* @deprecated Use RobotController static class method
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*/
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WPI_DEPRECATED("Use RobotController static class method")
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bool IsSysActive() const;
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/**
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* Check if the system is browned out.
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*
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* @return True if the system is browned out
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* @deprecated Use RobotController static class method
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*/
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WPI_DEPRECATED("Use RobotController static class method")
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bool IsBrownedOut() const;
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std::string GetGameSpecificMessage() const;
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std::string GetEventName() const;
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MatchType GetMatchType() const;
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int GetMatchNumber() const;
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int GetReplayNumber() const;
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/**
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* Return the alliance that the driver station says it is on.
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*
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* This could return kRed or kBlue.
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*
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* @return The Alliance enum (kRed, kBlue or kInvalid)
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*/
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Alliance GetAlliance() const;
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/**
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* Return the driver station location on the field.
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*
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* This could return 1, 2, or 3.
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*
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* @return The location of the driver station (1-3, 0 for invalid)
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*/
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int GetLocation() const;
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/**
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* Wait until a new packet comes from the driver station.
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*
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* This blocks on a semaphore, so the waiting is efficient.
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*
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* This is a good way to delay processing until there is new driver station
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* data to act on.
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*/
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void WaitForData();
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/**
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* Wait until a new packet comes from the driver station, or wait for a
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* timeout.
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*
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* If the timeout is less then or equal to 0, wait indefinitely.
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*
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* Timeout is in milliseconds
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*
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* This blocks on a semaphore, so the waiting is efficient.
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*
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* This is a good way to delay processing until there is new driver station
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* data to act on.
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*
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* @param timeout Timeout time in seconds
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*
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* @return true if new data, otherwise false
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*/
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bool WaitForData(double timeout);
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/**
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* Return the approximate match time.
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*
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* The FMS does not send an official match time to the robots, but does send
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* an approximate match time. The value will count down the time remaining in
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* the current period (auto or teleop).
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*
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* Warning: This is not an official time (so it cannot be used to dispute ref
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* calls or guarantee that a function will trigger before the match ends).
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*
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* The Practice Match function of the DS approximates the behaviour seen on
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* the field.
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*
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* @return Time remaining in current match period (auto or teleop)
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*/
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double GetMatchTime() const;
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/**
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* Read the battery voltage.
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*
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* @return The battery voltage in Volts.
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*/
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double GetBatteryVoltage() const;
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/**
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* Only to be used to tell the Driver Station what code you claim to be
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* executing for diagnostic purposes only.
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*
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* @param entering If true, starting disabled code; if false, leaving disabled
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* code.
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*/
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void InDisabled(bool entering) { m_userInDisabled = entering; }
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/**
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* Only to be used to tell the Driver Station what code you claim to be
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* executing for diagnostic purposes only.
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*
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* @param entering If true, starting autonomous code; if false, leaving
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* autonomous code.
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*/
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void InAutonomous(bool entering) { m_userInAutonomous = entering; }
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/**
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* Only to be used to tell the Driver Station what code you claim to be
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* executing for diagnostic purposes only.
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*
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* @param entering If true, starting teleop code; if false, leaving teleop
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* code.
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*/
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void InOperatorControl(bool entering) { m_userInTeleop = entering; }
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/**
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* Only to be used to tell the Driver Station what code you claim to be
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* executing for diagnostic purposes only.
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*
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* @param entering If true, starting test code; if false, leaving test code.
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*/
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void InTest(bool entering) { m_userInTest = entering; }
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protected:
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/**
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* Copy data from the DS task for the user.
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*
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* If no new data exists, it will just be returned, otherwise
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* the data will be copied from the DS polling loop.
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*/
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void GetData();
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private:
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/**
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* DriverStation constructor.
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*
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* This is only called once the first time GetInstance() is called
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*/
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DriverStation();
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/**
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* Reports errors related to unplugged joysticks.
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*
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* Throttles the errors so that they don't overwhelm the DS.
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*/
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void ReportJoystickUnpluggedError(const wpi::Twine& message);
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/**
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* Reports errors related to unplugged joysticks.
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*
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* Throttles the errors so that they don't overwhelm the DS.
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*/
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void ReportJoystickUnpluggedWarning(const wpi::Twine& message);
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void Run();
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void SendMatchData();
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std::unique_ptr<MatchDataSender> m_matchDataSender;
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// Joystick button rising/falling edge flags
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wpi::mutex m_buttonEdgeMutex;
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std::array<HAL_JoystickButtons, kJoystickPorts> m_previousButtonStates;
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std::array<uint32_t, kJoystickPorts> m_joystickButtonsPressed;
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std::array<uint32_t, kJoystickPorts> m_joystickButtonsReleased;
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// Internal Driver Station thread
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std::thread m_dsThread;
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std::atomic<bool> m_isRunning{false};
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wpi::mutex m_waitForDataMutex;
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wpi::condition_variable m_waitForDataCond;
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int m_waitForDataCounter;
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// Robot state status variables
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bool m_userInDisabled = false;
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bool m_userInAutonomous = false;
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bool m_userInTeleop = false;
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bool m_userInTest = false;
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double m_nextMessageTime = 0;
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};
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} // namespace frc
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