16 #include <HAL/DriverStation.h> 17 #include <wpi/Twine.h> 18 #include <wpi/condition_variable.h> 19 #include <wpi/deprecated.h> 20 #include <wpi/mutex.h> 22 #include "ErrorBase.h" 23 #include "RobotState.h" 28 class MatchDataSender;
36 enum Alliance { kRed, kBlue, kInvalid };
37 enum MatchType { kNone, kPractice, kQualification, kElimination };
70 static constexpr
int kJoystickPorts = 6;
217 bool IsTest()
const override;
254 WPI_DEPRECATED(
"Use RobotController static class method")
263 WPI_DEPRECATED(
"Use RobotController static class method")
266 std::string GetGameSpecificMessage()
const;
267 std::string GetEventName()
const;
268 MatchType GetMatchType()
const;
269 int GetMatchNumber()
const;
270 int GetReplayNumber()
const;
350 void InDisabled(
bool entering) { m_userInDisabled = entering; }
376 void InTest(
bool entering) { m_userInTest = entering; }
400 void ReportJoystickUnpluggedError(
const wpi::Twine& message);
407 void ReportJoystickUnpluggedWarning(
const wpi::Twine& message);
420 void UpdateControlWord(
bool force, HAL_ControlWord& controlWord)
const;
422 void SendMatchData();
425 std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
426 std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
427 std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
428 std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
429 std::unique_ptr<MatchInfoData> m_matchInfo;
432 std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
433 std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
434 std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
435 std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
436 std::unique_ptr<MatchInfoData> m_matchInfoCache;
438 std::unique_ptr<MatchDataSender> m_matchDataSender;
441 std::array<uint32_t, kJoystickPorts> m_joystickButtonsPressed;
442 std::array<uint32_t, kJoystickPorts> m_joystickButtonsReleased;
445 std::thread m_dsThread;
446 std::atomic<bool> m_isRunning{
false};
448 wpi::mutex m_waitForDataMutex;
449 wpi::condition_variable m_waitForDataCond;
450 int m_waitForDataCounter;
452 mutable wpi::mutex m_cacheDataMutex;
455 bool m_userInDisabled =
false;
456 bool m_userInAutonomous =
false;
457 bool m_userInTeleop =
false;
458 bool m_userInTest =
false;
461 mutable HAL_ControlWord m_controlWordCache;
462 mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
463 mutable wpi::mutex m_controlWordMutex;
465 double m_nextMessageTime = 0;
Definition: Utility.cpp:119
int GetStickPOV(int stick, int pov)
Get the state of a POV on the joystick.
Definition: DriverStation.cpp:217
static void ReportWarning(const wpi::Twine &error)
Report a warning to the DriverStation messages window.
Definition: DriverStation.cpp:95
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:368
int GetJoystickType(int stick) const
Returns the type of joystick at a given port.
Definition: DriverStation.cpp:289
int GetStickAxisCount(int stick) const
Returns the number of axes on a given joystick port.
Definition: DriverStation.cpp:249
static void ReportError(const wpi::Twine &error)
Report an error to the DriverStation messages window.
Definition: DriverStation.cpp:89
void GetData()
Copy data from the DS task for the user.
Definition: DriverStation.cpp:470
Provide access to the network communication data to / from the Driver Station.
Definition: DriverStation.h:34
int GetStickPOVCount(int stick) const
Returns the number of POVs on a given joystick port.
Definition: DriverStation.cpp:259
int GetStickButtons(int stick) const
The state of the buttons on the joystick.
Definition: DriverStation.cpp:239
bool IsAutonomous() const override
Check if the DS is commanding autonomous mode.
Definition: DriverStation.cpp:330
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:350
bool GetStickButtonReleased(int stick, int button)
Whether one joystick button was released since the last check.
Definition: DriverStation.cpp:166
static DriverStation & GetInstance()
Return a reference to the singleton DriverStation.
Definition: DriverStation.cpp:84
bool IsEnabled() const override
Check if the DS has enabled the robot.
Definition: DriverStation.cpp:318
double GetStickAxis(int stick, int axis)
Get the value of the axis on a joystick.
Definition: DriverStation.cpp:195
void WaitForData()
Wait until a new packet comes from the driver station.
Definition: DriverStation.cpp:436
double GetBatteryVoltage() const
Read the battery voltage.
Definition: DriverStation.cpp:462
bool IsNewControlData() const
Has a new control packet from the driver station arrived since the last time this function was called...
Definition: DriverStation.cpp:354
bool IsBrownedOut() const
Check if the system is browned out.
Definition: DriverStation.cpp:369
bool IsTest() const override
Check if the DS is commanding test mode.
Definition: DriverStation.cpp:342
bool GetJoystickIsXbox(int stick) const
Returns a boolean indicating if the controller is an xbox controller.
Definition: DriverStation.cpp:279
bool GetStickButton(int stick, int button)
The state of one joystick button.
Definition: DriverStation.cpp:114
Definition: RobotState.h:14
Alliance GetAlliance() const
Return the alliance that the driver station says it is on.
Definition: DriverStation.cpp:401
Base class for most objects.
Definition: ErrorBase.h:74
int GetStickButtonCount(int stick) const
Returns the number of buttons on a given joystick port.
Definition: DriverStation.cpp:269
bool GetStickButtonPressed(int stick, int button)
Whether one joystick button was pressed since the last check.
Definition: DriverStation.cpp:137
bool IsDSAttached() const
Check if the DS is attached.
Definition: DriverStation.cpp:348
bool IsDisabled() const override
Check if the robot is disabled.
Definition: DriverStation.cpp:324
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:376
int GetLocation() const
Return the driver station location on the field.
Definition: DriverStation.cpp:418
std::string GetJoystickName(int stick) const
Returns the name of the joystick at the given port.
Definition: DriverStation.cpp:299
int GetJoystickAxisType(int stick, int axis) const
Returns the types of Axes on a given joystick port.
Definition: DriverStation.cpp:308
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79
bool IsSysActive() const
Check if the FPGA outputs are enabled.
Definition: DriverStation.cpp:362
double GetMatchTime() const
Return the approximate match time.
Definition: DriverStation.cpp:457
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:359
bool IsFMSAttached() const
Is the driver station attached to a Field Management System?
Definition: DriverStation.cpp:356
bool IsOperatorControl() const override
Check if the DS is commanding teleop mode.
Definition: DriverStation.cpp:336