mirror of
https://github.com/wpilibsuite/allwpilib
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112 lines
3.9 KiB
C++
112 lines
3.9 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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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 void InitTask(DriverStation *ds);
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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{"DriverStation", (FUNCPTR)DriverStation::InitTask};
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SEMAPHORE_ID m_newControlData = 0;
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MULTIWAIT_ID m_packetDataAvailableMultiWait = 0;
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MUTEX_ID m_packetDataAvailableMutex;
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MULTIWAIT_ID m_waitForDataSem = 0;
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MUTEX_ID 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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