mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
148 lines
4.9 KiB
C++
148 lines
4.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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 "llvm/StringRef.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(llvm::StringRef error);
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static void ReportWarning(llvm::StringRef error);
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static void ReportError(bool is_error, int code, llvm::StringRef error,
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llvm::StringRef location, llvm::StringRef 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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