16 #include <HAL/DriverStation.h> 17 #include <llvm/Twine.h> 18 #include <support/deprecated.h> 19 #include <support/mutex.h> 21 #include "ErrorBase.h" 22 #include "RobotState.h" 34 enum Alliance { kRed, kBlue, kInvalid };
35 enum MatchType { kNone, kPractice, kQualification, kElimination };
45 static constexpr
int kJoystickPorts = 6;
68 bool IsTest()
const override;
72 WPI_DEPRECATED(
"Use RobotController static class method")
74 WPI_DEPRECATED(
"Use RobotController static class method")
77 std::string GetGameSpecificMessage()
const;
78 std::string GetEventName()
const;
79 MatchType GetMatchType()
const;
80 int GetMatchNumber()
const;
81 int GetReplayNumber()
const;
97 void InDisabled(
bool entering) { m_userInDisabled = entering; }
123 void InTest(
bool entering) { m_userInTest = entering; }
131 void ReportJoystickUnpluggedError(
const llvm::Twine& message);
132 void ReportJoystickUnpluggedWarning(
const llvm::Twine& message);
134 void UpdateControlWord(
bool force, HAL_ControlWord& controlWord)
const;
137 std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
138 std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
139 std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
140 std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
141 std::unique_ptr<MatchInfoData> m_matchInfo;
144 std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
145 std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
146 std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
147 std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
148 std::unique_ptr<MatchInfoData> m_matchInfoCache;
151 std::array<uint32_t, kJoystickPorts> m_joystickButtonsPressed;
152 std::array<uint32_t, kJoystickPorts> m_joystickButtonsReleased;
155 std::thread m_dsThread;
156 std::atomic<bool> m_isRunning{
false};
158 mutable wpi::mutex m_cacheDataMutex;
161 bool m_userInDisabled =
false;
162 bool m_userInAutonomous =
false;
163 bool m_userInTeleop =
false;
164 bool m_userInTest =
false;
167 mutable HAL_ControlWord m_controlWordCache;
168 mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
169 mutable wpi::mutex m_controlWordMutex;
171 double m_nextMessageTime = 0;
Definition: RobotController.cpp:14
int GetStickPOV(int stick, int pov)
Get the state of a POV on the joystick.
Definition: DriverStation.cpp:233
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:115
int GetJoystickType(int stick) const
Returns the type of joystick at a given port.
Definition: DriverStation.cpp:334
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79
int GetStickAxisCount(int stick) const
Returns the number of axes on a given joystick port.
Definition: DriverStation.cpp:274
void GetData()
Copy data from the DS task for the user.
Definition: DriverStation.cpp:634
Provide access to the network communication data to / from the Driver Station.
Definition: DriverStation.h:32
int GetStickPOVCount(int stick) const
Returns the number of POVs on a given joystick port.
Definition: DriverStation.cpp:289
int GetStickButtons(int stick) const
The state of the buttons on the joystick.
Definition: DriverStation.cpp:259
bool IsAutonomous() const override
Check if the DS is commanding autonomous mode.
Definition: DriverStation.cpp:400
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:97
bool GetStickButtonReleased(int stick, int button)
Whether one joystick button was released since the last check.
Definition: DriverStation.cpp:169
static DriverStation & GetInstance()
Return a pointer to the singleton DriverStation.
Definition: DriverStation.cpp:49
static void ReportError(const llvm::Twine &error)
Report an error to the DriverStation messages window.
Definition: DriverStation.cpp:59
bool IsEnabled() const override
Check if the DS has enabled the robot.
Definition: DriverStation.cpp:378
double GetStickAxis(int stick, int axis)
Get the value of the axis on a joystick.
Definition: DriverStation.cpp:207
Definition: DriverStation.cpp:24
void WaitForData()
Wait until a new packet comes from the driver station.
Definition: DriverStation.cpp:573
double GetBatteryVoltage() const
Read the battery voltage.
Definition: DriverStation.cpp:620
bool IsNewControlData() const
Has a new control packet from the driver station arrived since the last time this function was called...
Definition: DriverStation.cpp:448
bool IsBrownedOut() const
Check if the system is browned out.
Definition: DriverStation.cpp:484
bool IsTest() const override
Check if the DS is commanding test mode.
Definition: DriverStation.cpp:422
bool GetJoystickIsXbox(int stick) const
Returns a boolean indicating if the controller is an xbox controller.
Definition: DriverStation.cpp:319
bool GetStickButton(int stick, int button)
The state of one joystick button.
Definition: DriverStation.cpp:101
static void ReportWarning(const llvm::Twine &error)
Report a warning to the DriverStation messages window.
Definition: DriverStation.cpp:70
Definition: RobotState.h:14
Alliance GetAlliance() const
Return the alliance that the driver station says it is on.
Definition: DriverStation.cpp:523
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:304
bool GetStickButtonPressed(int stick, int button)
Whether one joystick button was pressed since the last check.
Definition: DriverStation.cpp:132
bool IsDSAttached() const
Check if the DS is attached.
Definition: DriverStation.cpp:433
bool IsDisabled() const override
Check if the robot is disabled.
Definition: DriverStation.cpp:389
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:123
int GetLocation() const
Return the driver station location on the field.
Definition: DriverStation.cpp:547
std::string GetJoystickName(int stick) const
Returns the name of the joystick at the given port.
Definition: DriverStation.cpp:349
int GetJoystickAxisType(int stick, int axis) const
Returns the types of Axes on a given joystick port.
Definition: DriverStation.cpp:364
bool IsSysActive() const
Check if the FPGA outputs are enabled.
Definition: DriverStation.cpp:471
double GetMatchTime() const
Return the approximate match time.
Definition: DriverStation.cpp:610
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:106
bool IsFMSAttached() const
Is the driver station attached to a Field Management System?
Definition: DriverStation.cpp:456
bool IsOperatorControl() const override
Check if the DS is commanding teleop mode.
Definition: DriverStation.cpp:411