mirror of
https://github.com/wpilibsuite/allwpilib
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131 lines
4.8 KiB
C++
131 lines
4.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 <atomic>
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#include <condition_variable>
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#include <memory>
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#include <string>
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#include "HAL/cpp/Semaphore.h"
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#include "HAL/cpp/priority_condition_variable.h"
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#include "HAL/cpp/priority_mutex.h"
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#include "RobotState.h"
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#include "SensorBase.h"
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#include "Task.h"
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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 void ReportWarning(std::string error);
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static void ReportError(bool is_error, int 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 int kJoystickPorts = 6;
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float GetStickAxis(int stick, int axis);
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int GetStickPOV(int stick, int pov);
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int GetStickButtons(int stick) const;
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bool GetStickButton(int stick, int button);
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int GetStickAxisCount(int stick) const;
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int GetStickPOVCount(int stick) const;
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int GetStickButtonCount(int stick) const;
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bool GetJoystickIsXbox(int stick) const;
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int GetJoystickType(int stick) const;
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std::string GetJoystickName(int stick) const;
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int GetJoystickAxisType(int stick, int 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 IsBrownedOut() const;
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Alliance GetAlliance() const;
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int 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 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 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 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 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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void GetData();
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private:
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DriverStation();
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void ReportJoystickUnpluggedError(std::string message);
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void ReportJoystickUnpluggedWarning(std::string message);
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void Run();
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void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
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std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
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std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
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std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
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std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
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// Cached Data
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std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
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std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
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std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
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std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
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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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bool m_updatedControlLoopData = false;
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std::condition_variable_any m_waitForDataCond;
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priority_mutex m_waitForDataMutex;
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mutable priority_mutex m_joystickDataMutex;
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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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mutable HAL_ControlWord m_controlWordCache;
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mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
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mutable priority_mutex m_controlWordMutex;
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double m_nextMessageTime = 0;
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};
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