mirror of
https://github.com/wpilibsuite/allwpilib
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163 lines
6.9 KiB
C++
163 lines
6.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2020 FIRST. 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 <memory>
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#include <wpi/spinlock.h>
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#include "hal/simulation/DriverStationData.h"
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#include "hal/simulation/SimCallbackRegistry.h"
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#include "hal/simulation/SimDataValue.h"
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namespace hal {
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class DriverStationData {
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HAL_SIMDATAVALUE_DEFINE_NAME(Enabled)
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HAL_SIMDATAVALUE_DEFINE_NAME(Autonomous)
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HAL_SIMDATAVALUE_DEFINE_NAME(Test)
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HAL_SIMDATAVALUE_DEFINE_NAME(EStop)
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HAL_SIMDATAVALUE_DEFINE_NAME(FmsAttached)
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HAL_SIMDATAVALUE_DEFINE_NAME(DsAttached)
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HAL_SIMDATAVALUE_DEFINE_NAME(AllianceStationId)
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HAL_SIMDATAVALUE_DEFINE_NAME(MatchTime)
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HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickAxes)
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HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickPOVs)
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HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickButtons)
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HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickDescriptor)
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HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickOutputs)
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HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(MatchInfo)
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static LLVM_ATTRIBUTE_ALWAYS_INLINE HAL_Value
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MakeAllianceStationIdValue(HAL_AllianceStationID value) {
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return HAL_MakeEnum(value);
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}
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public:
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DriverStationData();
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void ResetData();
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int32_t RegisterJoystickAxesCallback(int32_t joystickNum,
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HAL_JoystickAxesCallback callback,
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void* param, HAL_Bool initialNotify);
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void CancelJoystickAxesCallback(int32_t uid);
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void GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
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void SetJoystickAxes(int32_t joystickNum, const HAL_JoystickAxes* axes);
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int32_t RegisterJoystickPOVsCallback(int32_t joystickNum,
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HAL_JoystickPOVsCallback callback,
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void* param, HAL_Bool initialNotify);
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void CancelJoystickPOVsCallback(int32_t uid);
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void GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
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void SetJoystickPOVs(int32_t joystickNum, const HAL_JoystickPOVs* povs);
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int32_t RegisterJoystickButtonsCallback(int32_t joystickNum,
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HAL_JoystickButtonsCallback callback,
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void* param, HAL_Bool initialNotify);
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void CancelJoystickButtonsCallback(int32_t uid);
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void GetJoystickButtons(int32_t joystickNum, HAL_JoystickButtons* buttons);
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void SetJoystickButtons(int32_t joystickNum,
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const HAL_JoystickButtons* buttons);
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int32_t RegisterJoystickDescriptorCallback(
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int32_t joystickNum, HAL_JoystickDescriptorCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelJoystickDescriptorCallback(int32_t uid);
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void GetJoystickDescriptor(int32_t joystickNum,
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HAL_JoystickDescriptor* descriptor);
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void SetJoystickDescriptor(int32_t joystickNum,
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const HAL_JoystickDescriptor* descriptor);
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int32_t RegisterJoystickOutputsCallback(int32_t joystickNum,
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HAL_JoystickOutputsCallback callback,
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void* param, HAL_Bool initialNotify);
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void CancelJoystickOutputsCallback(int32_t uid);
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void GetJoystickOutputs(int32_t joystickNum, int64_t* outputs,
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int32_t* leftRumble, int32_t* rightRumble);
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void SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
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int32_t leftRumble, int32_t rightRumble);
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int32_t RegisterMatchInfoCallback(HAL_MatchInfoCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelMatchInfoCallback(int32_t uid);
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void GetMatchInfo(HAL_MatchInfo* info);
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void SetMatchInfo(const HAL_MatchInfo* info);
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void FreeMatchInfo(const HAL_MatchInfo* info);
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void NotifyNewData();
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void SetJoystickButton(int32_t stick, int32_t button, HAL_Bool state);
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void SetJoystickAxis(int32_t stick, int32_t axis, double value);
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void SetJoystickPOV(int32_t stick, int32_t pov, int32_t value);
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void SetJoystickButtons(int32_t stick, uint32_t buttons);
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void SetJoystickAxisCount(int32_t stick, int32_t count);
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void SetJoystickPOVCount(int32_t stick, int32_t count);
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void SetJoystickButtonCount(int32_t stick, int32_t count);
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void SetJoystickIsXbox(int32_t stick, HAL_Bool isXbox);
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void SetJoystickType(int32_t stick, int32_t type);
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void SetJoystickName(int32_t stick, const char* name);
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void SetJoystickAxisType(int32_t stick, int32_t axis, int32_t type);
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void SetGameSpecificMessage(const char* message);
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void SetEventName(const char* name);
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void SetMatchType(HAL_MatchType type);
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void SetMatchNumber(int32_t matchNumber);
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void SetReplayNumber(int32_t replayNumber);
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetEnabledName> enabled{false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetAutonomousName> autonomous{false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetTestName> test{false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetEStopName> eStop{false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFmsAttachedName> fmsAttached{
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false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetDsAttachedName> dsAttached{true};
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SimDataValue<HAL_AllianceStationID, MakeAllianceStationIdValue,
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GetAllianceStationIdName>
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allianceStationId{static_cast<HAL_AllianceStationID>(0)};
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SimDataValue<double, HAL_MakeDouble, GetMatchTimeName> matchTime{0.0};
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private:
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SimCallbackRegistry<HAL_JoystickAxesCallback, GetJoystickAxesName>
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m_joystickAxesCallbacks;
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SimCallbackRegistry<HAL_JoystickPOVsCallback, GetJoystickPOVsName>
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m_joystickPOVsCallbacks;
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SimCallbackRegistry<HAL_JoystickButtonsCallback, GetJoystickButtonsName>
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m_joystickButtonsCallbacks;
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SimCallbackRegistry<HAL_JoystickOutputsCallback, GetJoystickOutputsName>
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m_joystickOutputsCallbacks;
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SimCallbackRegistry<HAL_JoystickDescriptorCallback, GetJoystickDescriptorName>
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m_joystickDescriptorCallbacks;
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SimCallbackRegistry<HAL_MatchInfoCallback, GetMatchInfoName>
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m_matchInfoCallbacks;
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struct JoystickOutputStore {
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int64_t outputs = 0;
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int32_t leftRumble = 0;
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int32_t rightRumble = 0;
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};
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struct JoystickData {
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HAL_JoystickAxes axes;
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HAL_JoystickPOVs povs;
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HAL_JoystickButtons buttons;
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JoystickOutputStore outputs;
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HAL_JoystickDescriptor descriptor;
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};
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static constexpr int kNumJoysticks = 6;
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wpi::spinlock m_joystickDataMutex;
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JoystickData m_joystickData[kNumJoysticks];
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wpi::spinlock m_matchInfoMutex;
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HAL_MatchInfo m_matchInfo;
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};
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extern DriverStationData* SimDriverStationData;
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} // namespace hal
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