11 #include <condition_variable>
16 #include "HAL/DriverStation.h"
17 #include "HAL/cpp/priority_condition_variable.h"
18 #include "HAL/cpp/priority_mutex.h"
19 #include "RobotState.h"
20 #include "SensorBase.h"
30 enum Alliance { kRed, kBlue, kInvalid };
36 static void ReportError(
bool is_error,
int code,
const std::string& error,
37 const std::string& location,
38 const std::string& stack);
40 static const int kJoystickPorts = 6;
60 bool IsTest()
const override;
78 void InDisabled(
bool entering) { m_userInDisabled = entering; }
83 void InAutonomous(
bool entering) { m_userInAutonomous = entering; }
92 void InTest(
bool entering) { m_userInTest = entering; }
99 void ReportJoystickUnpluggedError(std::string message);
100 void ReportJoystickUnpluggedWarning(std::string message);
102 void UpdateControlWord(
bool force,
HAL_ControlWord& controlWord)
const;
105 std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
106 std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
107 std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
108 std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
111 std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
112 std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
113 std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
114 std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
117 std::thread m_dsThread;
118 std::atomic<bool> m_isRunning{
false};
121 bool m_waitForDataPredicate =
false;
122 std::condition_variable_any m_waitForDataCond;
125 mutable std::atomic<bool> m_newControlData{
false};
130 bool m_userInDisabled =
false;
131 bool m_userInAutonomous =
false;
132 bool m_userInTeleop =
false;
133 bool m_userInTest =
false;
137 mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
140 double m_nextMessageTime = 0;
int GetStickPOV(int stick, int pov)
Get the state of a POV on the joystick.
Definition: DriverStation.cpp:108
Base class for all sensors.
Definition: SensorBase.h:22
void InOperatorControl(bool entering)
Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purpose...
Definition: DriverStation.h:88
int GetJoystickType(int stick) const
Returns the type of joystick at a given port.
Definition: DriverStation.cpp:239
int GetStickAxisCount(int stick) const
Returns the number of axes on a given joystick port.
Definition: DriverStation.cpp:179
void GetData()
Copy data from the DS task for the user.
Definition: DriverStation.cpp:535
Provide access to the network communication data to / from the Driver Station.
Definition: DriverStation.h:28
static void ReportWarning(std::string error)
Report a warning to the DriverStation messages window.
Definition: DriverStation.cpp:56
int GetStickPOVCount(int stick) const
Returns the number of POVs on a given joystick port.
Definition: DriverStation.cpp:194
int GetStickButtons(int stick) const
The state of the buttons on the joystick.
Definition: DriverStation.cpp:134
bool IsAutonomous() const override
Check if the DS is commanding autonomous mode.
Definition: DriverStation.cpp:305
void InDisabled(bool entering)
Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purpose...
Definition: DriverStation.h:78
static DriverStation & GetInstance()
Return a pointer to the singleton DriverStation.
Definition: DriverStation.cpp:37
bool IsEnabled() const override
Check if the DS has enabled the robot.
Definition: DriverStation.cpp:283
double GetStickAxis(int stick, int axis)
Get the value of the axis on a joystick.
Definition: DriverStation.cpp:82
Definition: priority_mutex.h:53
void WaitForData()
Wait until a new packet comes from the driver station.
Definition: DriverStation.cpp:453
double GetBatteryVoltage() const
Read the battery voltage.
Definition: DriverStation.cpp:521
bool IsNewControlData() const
Has a new control packet from the driver station arrived since the last time this function was called...
Definition: DriverStation.cpp:353
bool IsBrownedOut() const
Check if the system is browned out.
Definition: DriverStation.cpp:389
bool IsTest() const override
Check if the DS is commanding test mode.
Definition: DriverStation.cpp:327
bool GetJoystickIsXbox(int stick) const
Returns a boolean indicating if the controller is an xbox controller.
Definition: DriverStation.cpp:224
bool GetStickButton(int stick, int button)
The state of one joystick button.
Definition: DriverStation.cpp:150
Definition: RobotState.h:14
Alliance GetAlliance() const
Return the alliance that the driver station says it is on.
Definition: DriverStation.cpp:403
int GetStickButtonCount(int stick) const
Returns the number of buttons on a given joystick port.
Definition: DriverStation.cpp:209
bool IsDSAttached() const
Check if the DS is attached.
Definition: DriverStation.cpp:338
bool IsDisabled() const override
Check if the robot is disabled.
Definition: DriverStation.cpp:294
void InTest(bool entering)
Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purpose...
Definition: DriverStation.h:92
int GetLocation() const
Return the driver station location on the field.
Definition: DriverStation.cpp:427
std::string GetJoystickName(int stick) const
Returns the name of the joystick at the given port.
Definition: DriverStation.cpp:254
Definition: DriverStation.h:31
int GetJoystickAxisType(int stick, int axis) const
Returns the types of Axes on a given joystick port.
Definition: DriverStation.cpp:269
bool IsSysActive() const
Check if the FPGA outputs are enabled.
Definition: DriverStation.cpp:377
double GetMatchTime() const
Return the approximate match time.
Definition: DriverStation.cpp:511
void InAutonomous(bool entering)
Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purpose...
Definition: DriverStation.h:83
bool IsFMSAttached() const
Is the driver station attached to a Field Management System?
Definition: DriverStation.cpp:363
bool IsOperatorControl() const override
Check if the DS is commanding teleop mode.
Definition: DriverStation.cpp:316
static void ReportError(std::string error)
Report an error to the DriverStation messages window.
Definition: DriverStation.cpp:47