mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
d69803804f
Reverted to old driverstation and joystick code because we're not ready for windows drive station yet updated paths to reflect new wpilib organization fixed name of gazebo topic (if you want /gazebo/frc/time use ~/time) included network tables in wpilibJavaSim Added ds script, and improved frcsim script always start gazebo with verbose Change-Id: I3c54b7000019a5985079a88200896a8069e69b86
143 lines
4.3 KiB
C++
143 lines
4.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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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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