mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
2c911b0f7a
This is one of the calls with the delayed IPC. In the past, teams have called an IsMode function so much that their code would start lagging. This adds a cache, so the data is updated either when new data arrives and we are notified of it, or after 50ms has passes since the last time the cache was checked and updated.
129 lines
4.8 KiB
C++
129 lines
4.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <atomic>
|
|
#include <condition_variable>
|
|
|
|
#include "HAL/cpp/Semaphore.h"
|
|
#include "HAL/cpp/priority_condition_variable.h"
|
|
#include "HAL/cpp/priority_mutex.h"
|
|
#include "RobotState.h"
|
|
#include "SensorBase.h"
|
|
#include "Task.h"
|
|
|
|
struct HALControlWord;
|
|
class AnalogInput;
|
|
|
|
/**
|
|
* Provide access to the network communication data to / from the Driver
|
|
* Station.
|
|
*/
|
|
class DriverStation : public SensorBase, public RobotStateInterface {
|
|
public:
|
|
enum Alliance { kRed, kBlue, kInvalid };
|
|
|
|
virtual ~DriverStation();
|
|
static DriverStation& GetInstance();
|
|
static void ReportError(std::string error);
|
|
static void ReportWarning(std::string error);
|
|
static void ReportError(bool is_error, int32_t code, const std::string& error,
|
|
const std::string& location,
|
|
const std::string& stack);
|
|
|
|
static const uint32_t kJoystickPorts = 6;
|
|
|
|
float GetStickAxis(uint32_t stick, uint32_t axis);
|
|
int GetStickPOV(uint32_t stick, uint32_t pov);
|
|
uint32_t GetStickButtons(uint32_t stick) const;
|
|
bool GetStickButton(uint32_t stick, uint8_t button);
|
|
|
|
int GetStickAxisCount(uint32_t stick) const;
|
|
int GetStickPOVCount(uint32_t stick) const;
|
|
int GetStickButtonCount(uint32_t stick) const;
|
|
|
|
bool GetJoystickIsXbox(uint32_t stick) const;
|
|
int GetJoystickType(uint32_t stick) const;
|
|
std::string GetJoystickName(uint32_t stick) const;
|
|
int GetJoystickAxisType(uint32_t stick, uint8_t axis) const;
|
|
|
|
bool IsEnabled() const override;
|
|
bool IsDisabled() const override;
|
|
bool IsAutonomous() const override;
|
|
bool IsOperatorControl() const override;
|
|
bool IsTest() const override;
|
|
bool IsDSAttached() const;
|
|
bool IsNewControlData() const;
|
|
bool IsFMSAttached() const;
|
|
bool IsSysActive() const;
|
|
bool IsBrownedOut() const;
|
|
|
|
Alliance GetAlliance() const;
|
|
uint32_t GetLocation() const;
|
|
void WaitForData();
|
|
double GetMatchTime() const;
|
|
float GetBatteryVoltage() const;
|
|
|
|
/** Only to be used to tell the Driver Station what code you claim to be
|
|
* executing for diagnostic purposes only
|
|
* @param entering If true, starting disabled code; if false, leaving disabled
|
|
* code */
|
|
void InDisabled(bool entering) { m_userInDisabled = entering; }
|
|
/** Only to be used to tell the Driver Station what code you claim to be
|
|
* executing for diagnostic purposes only
|
|
* @param entering If true, starting autonomous code; if false, leaving
|
|
* autonomous code */
|
|
void InAutonomous(bool entering) { m_userInAutonomous = entering; }
|
|
/** Only to be used to tell the Driver Station what code you claim to be
|
|
* executing for diagnostic purposes only
|
|
* @param entering If true, starting teleop code; if false, leaving teleop
|
|
* code */
|
|
void InOperatorControl(bool entering) { m_userInTeleop = entering; }
|
|
/** Only to be used to tell the Driver Station what code you claim to be
|
|
* executing for diagnostic purposes only
|
|
* @param entering If true, starting test code; if false, leaving test code */
|
|
void InTest(bool entering) { m_userInTest = entering; }
|
|
|
|
protected:
|
|
void GetData();
|
|
|
|
private:
|
|
DriverStation();
|
|
void ReportJoystickUnpluggedError(std::string message);
|
|
void ReportJoystickUnpluggedWarning(std::string message);
|
|
void Run();
|
|
void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
|
|
|
|
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
|
|
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
|
|
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
|
|
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
|
|
|
|
// Cached Data
|
|
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
|
|
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
|
|
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
|
|
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
|
|
|
|
Task m_task;
|
|
std::atomic<bool> m_isRunning{false};
|
|
mutable Semaphore m_newControlData{Semaphore::kEmpty};
|
|
bool m_updatedControlLoopData = false;
|
|
std::condition_variable_any m_waitForDataCond;
|
|
priority_mutex m_waitForDataMutex;
|
|
mutable priority_mutex m_joystickDataMutex;
|
|
bool m_userInDisabled = false;
|
|
bool m_userInAutonomous = false;
|
|
bool m_userInTeleop = false;
|
|
bool m_userInTest = false;
|
|
mutable HAL_ControlWord m_controlWordCache;
|
|
mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
|
|
mutable priority_mutex m_controlWordMutex;
|
|
double m_nextMessageTime = 0;
|
|
};
|