mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
117 lines
4.0 KiB
C++
117 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SensorBase.h"
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#include "RobotState.h"
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#include "Task.h"
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#include "HAL/HAL.hpp"
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#include "HAL/cpp/Semaphore.hpp"
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#include "HAL/cpp/priority_mutex.h"
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#include "HAL/cpp/priority_condition_variable.h"
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#include <condition_variable>
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#include <atomic>
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struct HALControlWord;
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class AnalogInput;
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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 SensorBase, public RobotStateInterface {
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public:
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enum Alliance { kRed, kBlue, kInvalid };
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virtual ~DriverStation();
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static DriverStation &GetInstance();
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static void ReportError(std::string error);
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static const uint32_t kJoystickPorts = 6;
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float GetStickAxis(uint32_t stick, uint32_t axis);
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int GetStickPOV(uint32_t stick, uint32_t pov);
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uint32_t GetStickButtons(uint32_t stick) const;
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bool GetStickButton(uint32_t stick, uint8_t button);
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int GetStickAxisCount(uint32_t stick) const;
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int GetStickPOVCount(uint32_t stick) const;
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int GetStickButtonCount(uint32_t stick) const;
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bool GetJoystickIsXbox(uint32_t stick) const;
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int GetJoystickType(uint32_t stick) const;
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std::string GetJoystickName(uint32_t stick) const;
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int GetJoystickAxisType(uint32_t stick, uint8_t axis) const;
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bool IsEnabled() const override;
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bool IsDisabled() const override;
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bool IsAutonomous() const override;
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bool IsOperatorControl() const override;
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bool IsTest() const override;
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bool IsDSAttached() const;
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bool IsNewControlData() const;
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bool IsFMSAttached() const;
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bool IsSysActive() const;
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bool IsSysBrownedOut() 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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/** Only to be used to tell the Driver Station what code you claim to be
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* executing
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* for diagnostic purposes only
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* @param entering If true, starting disabled code; if false, leaving disabled
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* code */
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void InDisabled(bool entering) { m_userInDisabled = entering; }
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/** Only to be used to tell the Driver Station what code you claim to be
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* executing
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* for diagnostic purposes only
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* @param entering If true, starting autonomous code; if false, leaving
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* autonomous code */
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void InAutonomous(bool entering) { m_userInAutonomous = entering; }
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/** Only to be used to tell the Driver Station what code you claim to be
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* executing
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* for diagnostic purposes only
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* @param entering If true, starting teleop code; if false, leaving teleop
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* code */
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void InOperatorControl(bool entering) { m_userInTeleop = entering; }
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/** Only to be used to tell the Driver Station what code you claim to be
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* 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) { m_userInTest = entering; }
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protected:
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DriverStation();
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void GetData();
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private:
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static DriverStation *m_instance;
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void ReportJoystickUnpluggedError(std::string message);
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void Run();
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HALJoystickAxes m_joystickAxes[kJoystickPorts];
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HALJoystickPOVs m_joystickPOVs[kJoystickPorts];
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HALJoystickButtons m_joystickButtons[kJoystickPorts];
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HALJoystickDescriptor m_joystickDescriptor[kJoystickPorts];
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Task m_task;
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std::atomic<bool> m_isRunning{false};
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mutable Semaphore m_newControlData{Semaphore::kEmpty};
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mutable priority_condition_variable m_packetDataAvailableCond;
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priority_mutex m_packetDataAvailableMutex;
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std::condition_variable_any m_waitForDataCond;
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priority_mutex m_waitForDataMutex;
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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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