mirror of
https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
148 lines
4.9 KiB
C++
148 lines
4.9 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 <condition_variable>
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#include <mutex>
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#include <string>
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#include <gazebo/transport/transport.hh>
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#include "RobotState.h"
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#include "SensorBase.h"
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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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#endif
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namespace frc {
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struct HALCommonControlData;
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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() = 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, 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 kBatteryChannel = 7;
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static const int kJoystickPorts = 4;
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static const int kJoystickAxes = 6;
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double GetStickAxis(int stick, int axis);
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bool GetStickButton(int stick, int button);
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int16_t GetStickButtons(int stick);
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double GetAnalogIn(int channel);
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bool GetDigitalIn(int channel);
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void SetDigitalOut(int channel, bool value);
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bool GetDigitalOut(int 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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int GetPacketNumber() 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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bool WaitForData(double timeout);
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double GetMatchTime() const;
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double 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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protected:
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DriverStation();
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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 int m_updateNumber;
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///< TODO: Get rid of this and use the semaphore signaling
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static const double kUpdatePeriod;
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void stateCallback(const gazebo::msgs::ConstDriverStationPtr& msg);
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void joystickCallback(const gazebo::msgs::ConstFRCJoystickPtr& msg, int i);
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void joystickCallback0(const gazebo::msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback1(const gazebo::msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback2(const gazebo::msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback3(const gazebo::msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback4(const gazebo::msgs::ConstFRCJoystickPtr& msg);
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void joystickCallback5(const gazebo::msgs::ConstFRCJoystickPtr& msg);
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int m_digitalOut = 0;
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std::condition_variable m_waitForDataCond;
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std::mutex m_waitForDataMutex;
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bool m_updatedControlLoopData = false;
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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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gazebo::transport::SubscriberPtr stateSub;
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gazebo::transport::SubscriberPtr joysticksSub[6];
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gazebo::msgs::DriverStationPtr state;
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gazebo::msgs::FRCJoystickPtr joysticks[6];
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};
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} // namespace frc
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