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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
145 lines
4.4 KiB
C++
145 lines
4.4 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 "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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#include <gazebo/transport/transport.hh>
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#include "SensorBase.h"
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#include "RobotState.h"
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#include <mutex>
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#include <condition_variable>
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struct HALCommonControlData;
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class AnalogInput;
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using namespace gazebo;
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/**
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* Provide access to the network communication data to / from the Driver Station.
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*/
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class DriverStation : public SensorBase, public RobotStateInterface
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{
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public:
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enum Alliance
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{
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kRed,
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kBlue,
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kInvalid
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};
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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 const uint32_t kBatteryChannel = 7;
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static const uint32_t kJoystickPorts = 4;
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static const uint32_t kJoystickAxes = 6;
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float GetStickAxis(uint32_t stick, uint32_t axis);
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bool GetStickButton(uint32_t stick, uint32_t button);
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short GetStickButtons(uint32_t stick);
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float GetAnalogIn(uint32_t channel);
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bool GetDigitalIn(uint32_t channel);
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void SetDigitalOut(uint32_t channel, bool value);
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bool GetDigitalOut(uint32_t 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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uint32_t GetPacketNumber() 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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uint16_t GetTeamNumber() const;
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void IncrementUpdateNumber()
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{
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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 executing
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* for diagnostic purposes only
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* @param entering If true, starting disabled code; if false, leaving disabled code */
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void InDisabled(bool entering)
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{
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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 executing
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* for diagnostic purposes only
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* @param entering If true, starting autonomous code; if false, leaving autonomous code */
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void InAutonomous(bool entering)
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{
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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 executing
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* for diagnostic purposes only
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* @param entering If true, starting teleop code; if false, leaving teleop code */
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void InOperatorControl(bool entering)
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{
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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 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)
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{
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m_userInTest = entering;
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}
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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 uint8_t m_updateNumber;
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///< TODO: Get rid of this and use the semaphore signaling
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static const float kUpdatePeriod;
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void stateCallback(const msgs::ConstDriverStationPtr &msg);
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void joystickCallback(const msgs::ConstFRCJoystickPtr &msg, int i);
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void joystickCallback0(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback1(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback2(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback3(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback4(const msgs::ConstFRCJoystickPtr &msg);
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void joystickCallback5(const msgs::ConstFRCJoystickPtr &msg);
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uint8_t m_digitalOut = 0;
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std::condition_variable m_waitForDataCond;
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std::mutex m_waitForDataMutex;
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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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transport::SubscriberPtr stateSub;
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transport::SubscriberPtr joysticksSub[6];
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msgs::DriverStationPtr state;
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msgs::FRCJoystickPtr joysticks[6];
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};
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