mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
2e10f91e07
Instead of just having a max count for joystick values, there's an available mask of values. This is because in the future we're expecting there to be holes in the list of available buttons and axes. This updates everything to support that scenario. Also, Joystick buttons, axes, and POVs all now start at 0 instead of 1.
497 lines
13 KiB
C++
497 lines
13 KiB
C++
// 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.
|
|
|
|
#pragma once
|
|
|
|
#include <frc/geometry/Rotation2d.h>
|
|
|
|
#include <optional>
|
|
#include <string>
|
|
|
|
#include <hal/DriverStationTypes.h>
|
|
#include <units/time.h>
|
|
#include <wpi/Synchronization.h>
|
|
|
|
namespace wpi::log {
|
|
class DataLog;
|
|
} // namespace wpi::log
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Provide access to the network communication data to / from the Driver
|
|
* Station.
|
|
*/
|
|
class DriverStation final {
|
|
public:
|
|
/**
|
|
* The robot alliance that the robot is a part of.
|
|
*/
|
|
enum Alliance {
|
|
/// Red alliance.
|
|
kRed,
|
|
/// Blue alliance.
|
|
kBlue
|
|
};
|
|
|
|
/**
|
|
* The type of robot match that the robot is part of.
|
|
*/
|
|
enum MatchType {
|
|
/// None.
|
|
kNone,
|
|
/// Practice.
|
|
kPractice,
|
|
/// Qualification.
|
|
kQualification,
|
|
/// Elimination.
|
|
kElimination
|
|
};
|
|
|
|
/**
|
|
* A controller POV direction.
|
|
*/
|
|
enum POVDirection : uint8_t {
|
|
/// POV center.
|
|
kCenter = HAL_JoystickPOV_kCentered,
|
|
/// POV up.
|
|
kUp = HAL_JoystickPOV_kUp,
|
|
/// POV up right.
|
|
kUpRight = HAL_JoystickPOV_kRightUp,
|
|
/// POV right.
|
|
kRight = HAL_JoystickPOV_kRight,
|
|
/// POV down right.
|
|
kDownRight = HAL_JoystickPOV_kRightDown,
|
|
/// POV down.
|
|
kDown = HAL_JoystickPOV_kDown,
|
|
/// POV down left.
|
|
kDownLeft = HAL_JoystickPOV_kLeftDown,
|
|
/// POV left.
|
|
kLeft = HAL_JoystickPOV_kLeft,
|
|
/// POV up left.
|
|
kUpLeft = HAL_JoystickPOV_kLeftUp,
|
|
};
|
|
|
|
/**
|
|
* Gets the angle of a POVDirection.
|
|
*
|
|
* @param angle The POVDirection to convert.
|
|
* @return The angle clockwise from straight up, or std::nullopt if the
|
|
* POVDirection is kCenter.
|
|
*/
|
|
static constexpr std::optional<Rotation2d> GetAngle(POVDirection angle) {
|
|
switch (angle) {
|
|
case kCenter:
|
|
return std::nullopt;
|
|
case kUp:
|
|
return Rotation2d{0_deg};
|
|
case kUpRight:
|
|
return Rotation2d{45_deg};
|
|
case kRight:
|
|
return Rotation2d{90_deg};
|
|
case kDownRight:
|
|
return Rotation2d{135_deg};
|
|
case kDown:
|
|
return Rotation2d{180_deg};
|
|
case kDownLeft:
|
|
return Rotation2d{225_deg};
|
|
case kLeft:
|
|
return Rotation2d{270_deg};
|
|
case kUpLeft:
|
|
return Rotation2d{315_deg};
|
|
default:
|
|
return std::nullopt;
|
|
}
|
|
}
|
|
|
|
/// Number of Joystick ports.
|
|
static constexpr int kJoystickPorts = 6;
|
|
|
|
/**
|
|
* The state of one joystick button. Button indexes begin at 0.
|
|
*
|
|
* @param stick The joystick to read.
|
|
* @param button The button index, beginning at 0.
|
|
* @return The state of the joystick button.
|
|
*/
|
|
static bool GetStickButton(int stick, int button);
|
|
|
|
/**
|
|
* The state of one joystick button, only if available. Button indexes begin
|
|
* at 0.
|
|
*
|
|
* @param stick The joystick to read.
|
|
* @param button The button index, beginning at 0.
|
|
* @return The state of the joystick button, or empty if unavailable.
|
|
*/
|
|
static std::optional<bool> GetStickButtonIfAvailable(int stick, int button);
|
|
|
|
/**
|
|
* Whether one joystick button was pressed since the last check. %Button
|
|
* indexes begin at 1.
|
|
*
|
|
* @param stick The joystick to read.
|
|
* @param button The button index, beginning at 0.
|
|
* @return Whether the joystick button was pressed since the last check.
|
|
*/
|
|
static bool GetStickButtonPressed(int stick, int button);
|
|
|
|
/**
|
|
* Whether one joystick button was released since the last check. %Button
|
|
* indexes begin at 1.
|
|
*
|
|
* @param stick The joystick to read.
|
|
* @param button The button index, beginning at 0.
|
|
* @return Whether the joystick button was released since the last check.
|
|
*/
|
|
static bool GetStickButtonReleased(int stick, int button);
|
|
|
|
/**
|
|
* Get the value of the axis on a joystick.
|
|
*
|
|
* This depends on the mapping of the joystick connected to the specified
|
|
* port.
|
|
*
|
|
* @param stick The joystick to read.
|
|
* @param axis The analog axis value to read from the joystick.
|
|
* @return The value of the axis on the joystick.
|
|
*/
|
|
static double GetStickAxis(int stick, int axis);
|
|
|
|
/**
|
|
* Get the value of the axis on a joystick, if available.
|
|
*
|
|
* This depends on the mapping of the joystick connected to the specified
|
|
* port.
|
|
*
|
|
* @param stick The joystick to read.
|
|
* @param axis The analog axis value to read from the joystick.
|
|
* @return The value of the axis on the joystick, or empty if not available.
|
|
*/
|
|
static std::optional<double> GetStickAxisIfAvailable(int stick, int axis);
|
|
|
|
/**
|
|
* Get the state of a POV on the joystick.
|
|
*
|
|
* @return the angle of the POV.
|
|
*/
|
|
static POVDirection GetStickPOV(int stick, int pov);
|
|
|
|
/**
|
|
* The state of the buttons on the joystick.
|
|
*
|
|
* @param stick The joystick to read.
|
|
* @return The state of the buttons on the joystick.
|
|
*/
|
|
static uint64_t GetStickButtons(int stick);
|
|
|
|
/**
|
|
* Returns the maximum axis index on a given joystick port.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return The maximum axis index on the indicated joystick
|
|
*/
|
|
static int GetStickAxesMaximumIndex(int stick);
|
|
|
|
/**
|
|
* Returns the mask of available axes on a given joystick port.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return The mask of available axes on the indicated joystick
|
|
*/
|
|
static int GetStickAxesAvailable(int stick);
|
|
|
|
/**
|
|
* Returns the maximum POV index on a given joystick port.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return The maximum POV index on the indicated joystick
|
|
*/
|
|
static int GetStickPOVsMaximumIndex(int stick);
|
|
|
|
/**
|
|
* Returns the mask of available POVs on a given joystick port.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return The mask of available POVs on the indicated joystick
|
|
*/
|
|
static int GetStickPOVsAvailable(int stick);
|
|
|
|
/**
|
|
* Returns the maximum button index on a given joystick port.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return The maximum button index on the indicated joystick
|
|
*/
|
|
static int GetStickButtonsMaximumIndex(int stick);
|
|
|
|
/**
|
|
* Returns the mask of available buttons on a given joystick port.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return The mask of available buttons on the indicated joystick
|
|
*/
|
|
static uint64_t GetStickButtonsAvailable(int stick);
|
|
|
|
/**
|
|
* Returns a boolean indicating if the controller is an xbox controller.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return A boolean that is true if the controller is an xbox controller.
|
|
*/
|
|
static bool GetJoystickIsGamepad(int stick);
|
|
|
|
/**
|
|
* Returns the type of joystick at a given port.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return The HID type of joystick at the given port
|
|
*/
|
|
static int GetJoystickType(int stick);
|
|
|
|
/**
|
|
* Returns the name of the joystick at the given port.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return The name of the joystick at the given port
|
|
*/
|
|
static std::string GetJoystickName(int stick);
|
|
|
|
/**
|
|
* Returns if a joystick is connected to the Driver Station.
|
|
*
|
|
* This makes a best effort guess by looking at the reported number of axis,
|
|
* buttons, and POVs attached.
|
|
*
|
|
* @param stick The joystick port number
|
|
* @return true if a joystick is connected
|
|
*/
|
|
static bool IsJoystickConnected(int stick);
|
|
|
|
/**
|
|
* Check if the DS has enabled the robot.
|
|
*
|
|
* @return True if the robot is enabled and the DS is connected
|
|
*/
|
|
static bool IsEnabled();
|
|
|
|
/**
|
|
* Check if the robot is disabled.
|
|
*
|
|
* @return True if the robot is explicitly disabled or the DS is not connected
|
|
*/
|
|
static bool IsDisabled();
|
|
|
|
/**
|
|
* Check if the robot is e-stopped.
|
|
*
|
|
* @return True if the robot is e-stopped
|
|
*/
|
|
static bool IsEStopped();
|
|
|
|
/**
|
|
* Check if the DS is commanding autonomous mode.
|
|
*
|
|
* @return True if the robot is being commanded to be in autonomous mode
|
|
*/
|
|
static bool IsAutonomous();
|
|
|
|
/**
|
|
* Check if the DS is commanding autonomous mode and if it has enabled the
|
|
* robot.
|
|
*
|
|
* @return True if the robot is being commanded to be in autonomous mode and
|
|
* enabled.
|
|
*/
|
|
static bool IsAutonomousEnabled();
|
|
|
|
/**
|
|
* Check if the DS is commanding teleop mode.
|
|
*
|
|
* @return True if the robot is being commanded to be in teleop mode
|
|
*/
|
|
static bool IsTeleop();
|
|
|
|
/**
|
|
* Check if the DS is commanding teleop mode and if it has enabled the robot.
|
|
*
|
|
* @return True if the robot is being commanded to be in teleop mode and
|
|
* enabled.
|
|
*/
|
|
static bool IsTeleopEnabled();
|
|
|
|
/**
|
|
* Check if the DS is commanding test mode.
|
|
*
|
|
* @return True if the robot is being commanded to be in test mode
|
|
*/
|
|
static bool IsTest();
|
|
|
|
/**
|
|
* Check if the DS is commanding Test mode and if it has enabled the robot.
|
|
*
|
|
* @return True if the robot is being commanded to be in Test mode and
|
|
* enabled.
|
|
*/
|
|
static bool IsTestEnabled();
|
|
|
|
/**
|
|
* Check if the DS is attached.
|
|
*
|
|
* @return True if the DS is connected to the robot
|
|
*/
|
|
static bool IsDSAttached();
|
|
|
|
/**
|
|
* Is the driver station attached to a Field Management System?
|
|
*
|
|
* @return True if the robot is competing on a field being controlled by a
|
|
* Field Management System
|
|
*/
|
|
static bool IsFMSAttached();
|
|
|
|
/**
|
|
* Returns the game specific message provided by the FMS.
|
|
*
|
|
* If the FMS is not connected, it is set from the game data setting on the
|
|
* driver station.
|
|
*
|
|
* @return A string containing the game specific message.
|
|
*/
|
|
static std::string GetGameSpecificMessage();
|
|
|
|
/**
|
|
* Returns the name of the competition event provided by the FMS.
|
|
*
|
|
* @return A string containing the event name
|
|
*/
|
|
static std::string GetEventName();
|
|
|
|
/**
|
|
* Returns the type of match being played provided by the FMS.
|
|
*
|
|
* @return The match type enum (kNone, kPractice, kQualification,
|
|
* kElimination)
|
|
*/
|
|
static MatchType GetMatchType();
|
|
|
|
/**
|
|
* Returns the match number provided by the FMS.
|
|
*
|
|
* @return The number of the match
|
|
*/
|
|
static int GetMatchNumber();
|
|
|
|
/**
|
|
* Returns the number of times the current match has been replayed from the
|
|
* FMS.
|
|
*
|
|
* @return The number of replays
|
|
*/
|
|
static int GetReplayNumber();
|
|
|
|
/**
|
|
* Get the current alliance from the FMS.
|
|
*
|
|
* If the FMS is not connected, it is set from the team alliance setting on
|
|
* the driver station.
|
|
*
|
|
* @return The alliance (red or blue) or an empty optional if the alliance is
|
|
* invalid
|
|
*/
|
|
static std::optional<Alliance> GetAlliance();
|
|
|
|
/**
|
|
* Return the driver station location from the FMS.
|
|
*
|
|
* If the FMS is not connected, it is set from the team alliance setting on
|
|
* the driver station.
|
|
*
|
|
* This could return 1, 2, or 3.
|
|
*
|
|
* @return The location of the driver station (1-3, 0 for invalid)
|
|
*/
|
|
static std::optional<int> GetLocation();
|
|
|
|
/**
|
|
* Return the approximate match time. The FMS does not send an official match
|
|
* time to the robots, but does send an approximate match time. The value will
|
|
* count down the time remaining in the current period (auto or teleop).
|
|
* Warning: This is not an official time (so it cannot be used to dispute ref
|
|
* calls or guarantee that a function will trigger before the match ends).
|
|
*
|
|
* <p>When connected to the real field, this number only changes in full
|
|
* integer increments, and always counts down.
|
|
*
|
|
* <p>When the DS is in practice mode, this number is a floating point number,
|
|
* and counts down.
|
|
*
|
|
* <p>When the DS is in teleop or autonomous mode, this number is a floating
|
|
* point number, and counts up.
|
|
*
|
|
* <p>Simulation matches DS behavior without an FMS connected.
|
|
*
|
|
* @return Time remaining in current match period (auto or teleop) in seconds
|
|
*/
|
|
static units::second_t GetMatchTime();
|
|
|
|
/**
|
|
* Read the battery voltage.
|
|
*
|
|
* @return The battery voltage in Volts.
|
|
*/
|
|
static double GetBatteryVoltage();
|
|
|
|
/**
|
|
* Copy data from the DS task for the user. If no new data exists, it will
|
|
* just be returned, otherwise the data will be copied from the DS polling
|
|
* loop.
|
|
*/
|
|
static void RefreshData();
|
|
|
|
/**
|
|
* Registers the given handle for DS data refresh notifications.
|
|
*
|
|
* @param handle The event handle.
|
|
*/
|
|
static void ProvideRefreshedDataEventHandle(WPI_EventHandle handle);
|
|
|
|
/**
|
|
* Unregisters the given handle from DS data refresh notifications.
|
|
*
|
|
* @param handle The event handle.
|
|
*/
|
|
static void RemoveRefreshedDataEventHandle(WPI_EventHandle handle);
|
|
|
|
/**
|
|
* Allows the user to specify whether they want joystick connection warnings
|
|
* to be printed to the console. This setting is ignored when the FMS is
|
|
* connected -- warnings will always be on in that scenario.
|
|
*
|
|
* @param silence Whether warning messages should be silenced.
|
|
*/
|
|
static void SilenceJoystickConnectionWarning(bool silence);
|
|
|
|
/**
|
|
* Returns whether joystick connection warnings are silenced. This will
|
|
* always return false when connected to the FMS.
|
|
*
|
|
* @return Whether joystick connection warnings are silenced.
|
|
*/
|
|
static bool IsJoystickConnectionWarningSilenced();
|
|
|
|
/**
|
|
* Starts logging DriverStation data to data log. Repeated calls are ignored.
|
|
*
|
|
* @param log data log
|
|
* @param logJoysticks if true, log joystick data
|
|
*/
|
|
static void StartDataLog(wpi::log::DataLog& log, bool logJoysticks = true);
|
|
|
|
private:
|
|
DriverStation() = default;
|
|
};
|
|
|
|
} // namespace frc
|