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https://github.com/wpilibsuite/allwpilib
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Add format script which invokes clang-format on the C++ source code (#41)
On Windows machines, clang-format.exe must be in the PATH environment variable.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
68690643d2
commit
e14e45da76
@@ -10,16 +10,16 @@
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#include "simulation/gz_msgs/msgs.h"
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <gazebo/transport/transport.hh>
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#include "SensorBase.h"
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#include "RobotState.h"
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#include <mutex>
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#include <condition_variable>
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#include <gazebo/transport/transport.hh>
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#include <mutex>
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#include "RobotState.h"
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#include "SensorBase.h"
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struct HALCommonControlData;
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class AnalogInput;
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@@ -27,120 +27,115 @@ class AnalogInput;
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using namespace gazebo;
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/**
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* Provide access to the network communication data to / from the Driver Station.
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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 SensorBase, public RobotStateInterface
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{
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public:
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enum Alliance
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{
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kRed,
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kBlue,
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kInvalid
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};
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class DriverStation : public SensorBase, public RobotStateInterface {
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public:
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enum Alliance { kRed, kBlue, kInvalid };
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virtual ~DriverStation() = default;
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static DriverStation &GetInstance();
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static void ReportError(std::string error);
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static void ReportWarning(std::string error);
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static void ReportError(bool is_error, int32_t code, const std::string& error, const std::string& location, const std::string& stack);
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virtual ~DriverStation() = default;
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static DriverStation& GetInstance();
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static void ReportError(std::string error);
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static void ReportWarning(std::string error);
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static void ReportError(bool is_error, int32_t code, const std::string& error,
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const std::string& location,
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const std::string& stack);
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static const uint32_t kBatteryChannel = 7;
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static const uint32_t kJoystickPorts = 4;
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static const uint32_t kJoystickAxes = 6;
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static const uint32_t kBatteryChannel = 7;
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static const uint32_t kJoystickPorts = 4;
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static const uint32_t kJoystickAxes = 6;
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float GetStickAxis(uint32_t stick, uint32_t axis);
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bool GetStickButton(uint32_t stick, uint32_t button);
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short GetStickButtons(uint32_t stick);
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float GetStickAxis(uint32_t stick, uint32_t axis);
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bool GetStickButton(uint32_t stick, uint32_t button);
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short GetStickButtons(uint32_t stick);
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float GetAnalogIn(uint32_t channel);
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bool GetDigitalIn(uint32_t channel);
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void SetDigitalOut(uint32_t channel, bool value);
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bool GetDigitalOut(uint32_t channel);
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float GetAnalogIn(uint32_t channel);
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bool GetDigitalIn(uint32_t channel);
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void SetDigitalOut(uint32_t channel, bool value);
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bool GetDigitalOut(uint32_t channel);
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bool IsEnabled() const;
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bool IsDisabled() const;
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bool IsAutonomous() const;
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bool IsOperatorControl() const;
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bool IsTest() const;
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bool IsFMSAttached() const;
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bool IsEnabled() const;
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bool IsDisabled() const;
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bool IsAutonomous() const;
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bool IsOperatorControl() const;
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bool IsTest() const;
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bool IsFMSAttached() const;
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uint32_t GetPacketNumber() const;
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Alliance GetAlliance() const;
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uint32_t GetLocation() const;
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void WaitForData();
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double GetMatchTime() const;
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float GetBatteryVoltage() const;
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uint16_t GetTeamNumber() const;
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uint32_t GetPacketNumber() const;
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Alliance GetAlliance() const;
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uint32_t GetLocation() const;
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void WaitForData();
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double GetMatchTime() const;
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float GetBatteryVoltage() const;
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uint16_t GetTeamNumber() const;
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void IncrementUpdateNumber() { m_updateNumber++; }
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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
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* disabled 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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void IncrementUpdateNumber()
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{
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m_updateNumber++;
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}
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protected:
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DriverStation();
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/** Only to be used to tell the Driver Station what code you claim to be executing
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* for diagnostic purposes only
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* @param entering If true, starting disabled code; if false, leaving disabled code */
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void InDisabled(bool entering)
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{
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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 executing
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* for diagnostic purposes only
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* @param entering If true, starting autonomous code; if false, leaving autonomous code */
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void InAutonomous(bool entering)
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{
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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 executing
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* for diagnostic purposes only
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* @param entering If true, starting teleop code; if false, leaving teleop code */
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void InOperatorControl(bool entering)
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{
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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 executing
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* for diagnostic purposes only
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* @param entering If true, starting test code; if false, leaving test code */
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void InTest(bool entering)
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{
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m_userInTest = entering;
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}
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private:
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static void InitTask(DriverStation* ds);
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static DriverStation* m_instance;
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static uint8_t m_updateNumber;
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///< TODO: Get rid of this and use the semaphore signaling
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static const float kUpdatePeriod;
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protected:
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DriverStation();
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void stateCallback(const msgs::ConstDriverStationPtr& msg);
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void joystickCallback(const msgs::ConstFRCJoystickPtr& msg, int i);
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void joystickCallback0(const msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback1(const msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback2(const msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback3(const msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback4(const msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback5(const msgs::ConstFRCJoystickPtr& msg);
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private:
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static void InitTask(DriverStation *ds);
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static DriverStation *m_instance;
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static uint8_t m_updateNumber;
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///< TODO: Get rid of this and use the semaphore signaling
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static const float kUpdatePeriod;
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void stateCallback(const msgs::ConstDriverStationPtr &msg);
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void joystickCallback(const msgs::ConstFRCJoystickPtr &msg, int i);
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void joystickCallback0(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback1(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback2(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback3(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback4(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback5(const msgs::ConstFRCJoystickPtr &msg);
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uint8_t m_digitalOut = 0;
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std::condition_variable m_waitForDataCond;
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std::mutex m_waitForDataMutex;
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uint8_t m_digitalOut = 0;
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std::condition_variable m_waitForDataCond;
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std::mutex m_waitForDataMutex;
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mutable std::recursive_mutex m_stateMutex;
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std::recursive_mutex m_joystickMutex;
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double m_approxMatchTimeOffset = 0;
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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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std::recursive_mutex m_joystickMutex;
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double m_approxMatchTimeOffset = 0;
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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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transport::SubscriberPtr stateSub;
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transport::SubscriberPtr joysticksSub[6];
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msgs::DriverStationPtr state;
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msgs::FRCJoystickPtr joysticks[6];
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transport::SubscriberPtr stateSub;
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transport::SubscriberPtr joysticksSub[6];
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msgs::DriverStationPtr state;
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msgs::FRCJoystickPtr joysticks[6];
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};
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