17 #include <HAL/DriverStation.h> 18 #include <llvm/StringRef.h> 20 #include "RobotState.h" 21 #include "SensorBase.h" 31 enum Alliance { kRed, kBlue, kInvalid };
40 static const int kJoystickPorts = 6;
63 bool IsTest()
const override;
81 void InDisabled(
bool entering) { m_userInDisabled = entering; }
86 void InAutonomous(
bool entering) { m_userInAutonomous = entering; }
95 void InTest(
bool entering) { m_userInTest = entering; }
105 void UpdateControlWord(
bool force, HAL_ControlWord& controlWord)
const;
108 std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
109 std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
110 std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
111 std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
114 std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
115 std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
116 std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
117 std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
120 std::array<uint32_t, kJoystickPorts> m_joystickButtonsPressed;
121 std::array<uint32_t, kJoystickPorts> m_joystickButtonsReleased;
124 std::thread m_dsThread;
125 std::atomic<bool> m_isRunning{
false};
127 mutable std::mutex m_joystickDataMutex;
130 bool m_userInDisabled =
false;
131 bool m_userInAutonomous =
false;
132 bool m_userInTeleop =
false;
133 bool m_userInTest =
false;
136 mutable HAL_ControlWord m_controlWordCache;
137 mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
138 mutable std::mutex m_controlWordMutex;
140 double m_nextMessageTime = 0;
static void ReportError(llvm::StringRef error)
Report an error to the DriverStation messages window.
Definition: DriverStation.cpp:49
int GetStickPOV(int stick, int pov)
Get the state of a POV on the joystick.
Definition: DriverStation.cpp:218
Base class for all sensors.
Definition: SensorBase.h:20
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:91
int GetJoystickType(int stick) const
Returns the type of joystick at a given port.
Definition: DriverStation.cpp:319
int GetStickAxisCount(int stick) const
Returns the number of axes on a given joystick port.
Definition: DriverStation.cpp:259
void GetData()
Copy data from the DS task for the user.
Definition: DriverStation.cpp:592
Provide access to the network communication data to / from the Driver Station.
Definition: DriverStation.h:29
int GetStickPOVCount(int stick) const
Returns the number of POVs on a given joystick port.
Definition: DriverStation.cpp:274
int GetStickButtons(int stick) const
The state of the buttons on the joystick.
Definition: DriverStation.cpp:244
bool IsAutonomous() const override
Check if the DS is commanding autonomous mode.
Definition: DriverStation.cpp:385
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:81
bool GetStickButtonReleased(int stick, int button)
Whether one joystick button was released since the last check.
Definition: DriverStation.cpp:154
static DriverStation & GetInstance()
Return a pointer to the singleton DriverStation.
Definition: DriverStation.cpp:39
bool IsEnabled() const override
Check if the DS has enabled the robot.
Definition: DriverStation.cpp:363
double GetStickAxis(int stick, int axis)
Get the value of the axis on a joystick.
Definition: DriverStation.cpp:192
void WaitForData()
Wait until a new packet comes from the driver station.
Definition: DriverStation.cpp:531
double GetBatteryVoltage() const
Read the battery voltage.
Definition: DriverStation.cpp:578
bool IsNewControlData() const
Has a new control packet from the driver station arrived since the last time this function was called...
Definition: DriverStation.cpp:433
bool IsBrownedOut() const
Check if the system is browned out.
Definition: DriverStation.cpp:467
bool IsTest() const override
Check if the DS is commanding test mode.
Definition: DriverStation.cpp:407
bool GetJoystickIsXbox(int stick) const
Returns a boolean indicating if the controller is an xbox controller.
Definition: DriverStation.cpp:304
bool GetStickButton(int stick, int button)
The state of one joystick button.
Definition: DriverStation.cpp:86
Definition: RobotState.h:14
Alliance GetAlliance() const
Return the alliance that the driver station says it is on.
Definition: DriverStation.cpp:481
int GetStickButtonCount(int stick) const
Returns the number of buttons on a given joystick port.
Definition: DriverStation.cpp:289
bool GetStickButtonPressed(int stick, int button)
Whether one joystick button was pressed since the last check.
Definition: DriverStation.cpp:117
bool IsDSAttached() const
Check if the DS is attached.
Definition: DriverStation.cpp:418
bool IsDisabled() const override
Check if the robot is disabled.
Definition: DriverStation.cpp:374
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:95
int GetLocation() const
Return the driver station location on the field.
Definition: DriverStation.cpp:505
std::string GetJoystickName(int stick) const
Returns the name of the joystick at the given port.
Definition: DriverStation.cpp:334
static void ReportWarning(llvm::StringRef error)
Report a warning to the DriverStation messages window.
Definition: DriverStation.cpp:59
int GetJoystickAxisType(int stick, int axis) const
Returns the types of Axes on a given joystick port.
Definition: DriverStation.cpp:349
bool IsSysActive() const
Check if the FPGA outputs are enabled.
Definition: DriverStation.cpp:455
double GetMatchTime() const
Return the approximate match time.
Definition: DriverStation.cpp:568
StringRef - Represent a constant reference to a string, i.e.
Definition: StringRef.h:42
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:86
bool IsFMSAttached() const
Is the driver station attached to a Field Management System?
Definition: DriverStation.cpp:441
bool IsOperatorControl() const override
Check if the DS is commanding teleop mode.
Definition: DriverStation.cpp:396