Provide access to the network communication data to / from the Driver Station. More...

#include <DriverStation.h>

Inheritance diagram for DriverStation:

Public Types
enum	Alliance { kRed, kBlue, kInvalid }

Public Member Functions
float	GetStickAxis (uint32_t stick, uint32_t axis)
	Get the value of the axis on a joystick. More...

int	GetStickPOV (uint32_t stick, uint32_t pov)
	Get the state of a POV on the joystick. More...

uint32_t	GetStickButtons (uint32_t stick) const
	The state of the buttons on the joystick. More...

bool	GetStickButton (uint32_t stick, uint8_t button)
	The state of one joystick button. More...

int	GetStickAxisCount (uint32_t stick) const
	Returns the number of axes on a given joystick port. More...

int	GetStickPOVCount (uint32_t stick) const
	Returns the number of POVs on a given joystick port. More...

int	GetStickButtonCount (uint32_t stick) const
	Returns the number of buttons on a given joystick port. More...

bool	GetJoystickIsXbox (uint32_t stick) const
	Returns a boolean indicating if the controller is an xbox controller. More...

int	GetJoystickType (uint32_t stick) const
	Returns the type of joystick at a given port. More...

std::string	GetJoystickName (uint32_t stick) const
	Returns the name of the joystick at the given port. More...

int	GetJoystickAxisType (uint32_t stick, uint8_t axis) const
	Returns the types of Axes on a given joystick port. More...

bool	IsEnabled () const override
	Check if the DS has enabled the robot. More...

bool	IsDisabled () const override
	Check if the robot is disabled. More...

bool	IsAutonomous () const override
	Check if the DS is commanding autonomous mode. More...

bool	IsOperatorControl () const override
	Check if the DS is commanding teleop mode. More...

bool	IsTest () const override
	Check if the DS is commanding test mode. More...

bool	IsDSAttached () const
	Check if the DS is attached. More...

bool	IsNewControlData () const
	Has a new control packet from the driver station arrived since the last time this function was called? Warning: If you call this function from more than one place at the same time, you will not get the get the intended behaviour. More...

bool	IsFMSAttached () const
	Is the driver station attached to a Field Management System? More...

bool	IsSysActive () const
	Check if the FPGA outputs are enabled. More...

bool	IsSysBrownedOut () const
	Check if the system is browned out. More...

Alliance	GetAlliance () const
	Return the alliance that the driver station says it is on. More...

uint32_t	GetLocation () const
	Return the driver station location on the field This could return 1, 2, or 3. More...

void	WaitForData ()
	Wait until a new packet comes from the driver station This blocks on a semaphore, so the waiting is efficient. More...

double	GetMatchTime () const
	Return the approximate match time The FMS does not send an official match time to the robots, but does send an approximate match time. More...

float	GetBatteryVoltage () const
	Read the battery voltage. More...

void	InDisabled (bool entering)
	Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only. More...

void	InAutonomous (bool entering)
	Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only. More...

void	InOperatorControl (bool entering)
	Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only. More...

void	InTest (bool entering)
	Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only. More...

Public Member Functions inherited from SensorBase
	SensorBase ()
	Creates an instance of the sensor base and gets an FPGA handle.

	SensorBase (const SensorBase &)=delete

SensorBase &	operator= (const SensorBase &)=delete

Public Member Functions inherited from ErrorBase
	ErrorBase (const ErrorBase &)=delete

ErrorBase &	operator= (const ErrorBase &)=delete

virtual Error &	GetError ()
	Retrieve the current error. More...

virtual const Error &	GetError () const

virtual void	SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (const ErrorBase &rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Static Public Member Functions
static DriverStation &	GetInstance ()
	Return a pointer to the singleton DriverStation. More...

static void	ReportError (std::string error)
	Report an error to the DriverStation messages window. More...

static void	ReportWarning (std::string error)
	Report a warning to the DriverStation messages window. More...

static void	ReportError (bool is_error, int32_t code, const std::string &error, const std::string &location, const std::string &stack)
	Report an error to the DriverStation messages window. More...

Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()
	Delete all the singleton classes on the list. More...

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckSolenoidModule (uint8_t moduleNumber)
	Check that the solenoid module number is valid. More...

static bool	CheckDigitalChannel (uint32_t channel)
	Check that the digital channel number is valid. More...

static bool	CheckRelayChannel (uint32_t channel)
	Check that the digital channel number is valid. More...

static bool	CheckPWMChannel (uint32_t channel)
	Check that the digital channel number is valid. More...

static bool	CheckAnalogInput (uint32_t channel)
	Check that the analog input number is value. More...

static bool	CheckAnalogOutput (uint32_t channel)
	Check that the analog output number is valid. More...

static bool	CheckSolenoidChannel (uint32_t channel)
	Verify that the solenoid channel number is within limits. More...

static bool	CheckPDPChannel (uint32_t channel)
	Verify that the power distribution channel number is within limits. More...

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)

static void	SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)

static Error &	GetGlobalError ()
	Retrieve the current global error.

Static Public Attributes
static const uint32_t	kJoystickPorts = 6

Static Public Attributes inherited from SensorBase
static const uint32_t	kDigitalChannels = 26

static const uint32_t	kAnalogInputs = 8

static const uint32_t	kAnalogOutputs = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 20

static const uint32_t	kRelayChannels = 8

static const uint32_t	kPDPChannels = 16

static const uint32_t	kChassisSlots = 8

Protected Member Functions
	DriverStation ()
	DriverStation constructor. More...

void	GetData ()
	Copy data from the DS task for the user. More...

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()
	Add sensor to the singleton list. More...

Additional Inherited Members
Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from SensorBase
static void *	m_digital_ports [kDigitalChannels]

static void *	m_relay_ports [kRelayChannels]

static void *	m_pwm_ports [kPwmChannels]

Static Protected Attributes inherited from ErrorBase
static priority_mutex	_globalErrorMutex

static Error	_globalError

Detailed Description

Provide access to the network communication data to / from the Driver Station.

Constructor & Destructor Documentation

DriverStation::DriverStation ( )

protected

DriverStation constructor.

This is only called once the first time GetInstance() is called

Member Function Documentation

DriverStation::Alliance DriverStation::GetAlliance ( ) const

Return the alliance that the driver station says it is on.

This could return kRed or kBlue

Returns: The Alliance enum (kRed, kBlue or kInvalid)

float DriverStation::GetBatteryVoltage ( ) const

Read the battery voltage.

Returns: The battery voltage in Volts.

void DriverStation::GetData ( )

protected

Copy data from the DS task for the user.

If no new data exists, it will just be returned, otherwise the data will be copied from the DS polling loop.

DriverStation & DriverStation::GetInstance ( )

static

Return a pointer to the singleton DriverStation.

Returns: Pointer to the DS instance

int DriverStation::GetJoystickAxisType	(	uint32_t	stick,
		uint8_t	axis
	)		const

Returns the types of Axes on a given joystick port.

Parameters

stick The joystick port number and the target axis

Returns: What type of axis the axis is reporting to be

bool DriverStation::GetJoystickIsXbox ( uint32_t stick ) const

Returns a boolean indicating if the controller is an xbox controller.

Parameters

stick The joystick port number

Returns: A boolean that is true if the controller is an xbox controller.

std::string DriverStation::GetJoystickName ( uint32_t stick ) const

Returns the name of the joystick at the given port.

Parameters

stick The joystick port number

Returns: The name of the joystick at the given port

int DriverStation::GetJoystickType ( uint32_t stick ) const

Returns the type of joystick at a given port.

Parameters

stick The joystick port number

Returns: The HID type of joystick at the given port

uint32_t DriverStation::GetLocation ( ) const

Return the driver station location on the field This could return 1, 2, or 3.

Returns: The location of the driver station (1-3, 0 for invalid)

double DriverStation::GetMatchTime ( ) const

Return the approximate match time The FMS does not send an official match time to the robots, but does send an approximate match time.

The value will count down the time remaining in the current period (auto or teleop). Warning: This is not an official time (so it cannot be used to dispute ref calls or guarantee that a function will trigger before the match ends) The Practice Match function of the DS approximates the behaviour seen on the field.

Returns: Time remaining in current match period (auto or teleop)

float DriverStation::GetStickAxis	(	uint32_t	stick,
		uint32_t	axis
	)

Get the value of the axis on a joystick.

This depends on the mapping of the joystick connected to the specified port.

Parameters

stick	The joystick to read.
axis	The analog axis value to read from the joystick.

Returns: The value of the axis on the joystick.

int DriverStation::GetStickAxisCount ( uint32_t stick ) const

Returns the number of axes on a given joystick port.

Parameters

stick The joystick port number

Returns: The number of axes on the indicated joystick

bool DriverStation::GetStickButton	(	uint32_t	stick,
		uint8_t	button
	)

The state of one joystick button.

Button indexes begin at 1.

Parameters

stick	The joystick to read.
button	The button index, beginning at 1.

Returns: The state of the joystick button.

int DriverStation::GetStickButtonCount ( uint32_t stick ) const

Returns the number of buttons on a given joystick port.

Parameters

stick The joystick port number

Returns: The number of buttons on the indicated joystick

uint32_t DriverStation::GetStickButtons ( uint32_t stick ) const

The state of the buttons on the joystick.

Parameters

stick The joystick to read.

Returns: The state of the buttons on the joystick.

int DriverStation::GetStickPOV	(	uint32_t	stick,
		uint32_t	pov
	)

Get the state of a POV on the joystick.

Returns: the angle of the POV in degrees, or -1 if the POV is not pressed.

int DriverStation::GetStickPOVCount ( uint32_t stick ) const

Returns the number of POVs on a given joystick port.

Parameters

stick The joystick port number

Returns: The number of POVs on the indicated joystick

void DriverStation::InAutonomous ( bool entering )

inline

Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.

Parameters

entering If true, starting autonomous code; if false, leaving autonomous code

void DriverStation::InDisabled ( bool entering )

inline

Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.

Parameters

entering If true, starting disabled code; if false, leaving disabled code

void DriverStation::InOperatorControl ( bool entering )

inline

Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.

Parameters

entering If true, starting teleop code; if false, leaving teleop code

void DriverStation::InTest ( bool entering )

inline

Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.

Parameters

entering If true, starting test code; if false, leaving test code

bool DriverStation::IsAutonomous ( ) const

overridevirtual

Check if the DS is commanding autonomous mode.

Returns: True if the robot is being commanded to be in autonomous mode

Implements RobotStateInterface.

bool DriverStation::IsDisabled ( ) const

overridevirtual

Check if the robot is disabled.

Returns: True if the robot is explicitly disabled or the DS is not connected

Implements RobotStateInterface.

bool DriverStation::IsDSAttached ( ) const

Check if the DS is attached.

Returns: True if the DS is connected to the robot

bool DriverStation::IsEnabled ( ) const

overridevirtual

Check if the DS has enabled the robot.

Returns: True if the robot is enabled and the DS is connected

Implements RobotStateInterface.

bool DriverStation::IsFMSAttached ( ) const

Is the driver station attached to a Field Management System?

Returns: True if the robot is competing on a field being controlled by a Field Management System

bool DriverStation::IsNewControlData ( ) const

Has a new control packet from the driver station arrived since the last time this function was called? Warning: If you call this function from more than one place at the same time, you will not get the get the intended behaviour.

Returns: True if the control data has been updated since the last call.

bool DriverStation::IsOperatorControl ( ) const

overridevirtual

Check if the DS is commanding teleop mode.

Returns: True if the robot is being commanded to be in teleop mode

Implements RobotStateInterface.

bool DriverStation::IsSysActive ( ) const

Check if the FPGA outputs are enabled.

The outputs may be disabled if the robot is disabled or e-stopped, the watchdog has expired, or if the roboRIO browns out.

Returns: True if the FPGA outputs are enabled.

bool DriverStation::IsSysBrownedOut ( ) const

Check if the system is browned out.

Returns: True if the system is browned out

bool DriverStation::IsTest ( ) const

overridevirtual

Check if the DS is commanding test mode.

Returns: True if the robot is being commanded to be in test mode

Implements RobotStateInterface.

void DriverStation::ReportError ( std::string error )

static

Report an error to the DriverStation messages window.

The error is also printed to the program console.

void DriverStation::ReportError	(	bool	is_error,
		int32_t	code,
		const std::string &	error,
		const std::string &	location,
		const std::string &	stack
	)

static

Report an error to the DriverStation messages window.

The error is also printed to the program console.

void DriverStation::ReportWarning ( std::string error )

static

Report a warning to the DriverStation messages window.

The warning is also printed to the program console.

void DriverStation::WaitForData ( )

Wait until a new packet comes from the driver station This blocks on a semaphore, so the waiting is efficient.

This is a good way to delay processing until there is new driver station data to act on

The documentation for this class was generated from the following files:

Athena/include/DriverStation.h
Athena/src/DriverStation.cpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation