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1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
8 #pragma once
10 #include <atomic>
11 #include <condition_variable>
12 #include <memory>
13 #include <string>
14 #include <thread>
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"
21 #include "llvm/StringRef.h"
23 namespace frc {
30  public:
31  enum Alliance { kRed, kBlue, kInvalid };
33  virtual ~DriverStation();
34  static DriverStation& GetInstance();
35  static void ReportError(llvm::StringRef error);
36  static void ReportWarning(llvm::StringRef error);
37  static void ReportError(bool is_error, int code, llvm::StringRef error,
38  llvm::StringRef location, llvm::StringRef stack);
40  static const int kJoystickPorts = 6;
42  double GetStickAxis(int stick, int axis);
43  int GetStickPOV(int stick, int pov);
44  int GetStickButtons(int stick) const;
45  bool GetStickButton(int stick, int button);
47  int GetStickAxisCount(int stick) const;
48  int GetStickPOVCount(int stick) const;
49  int GetStickButtonCount(int stick) const;
51  bool GetJoystickIsXbox(int stick) const;
52  int GetJoystickType(int stick) const;
53  std::string GetJoystickName(int stick) const;
54  int GetJoystickAxisType(int stick, int axis) const;
56  bool IsEnabled() const override;
57  bool IsDisabled() const override;
58  bool IsAutonomous() const override;
59  bool IsOperatorControl() const override;
60  bool IsTest() const override;
61  bool IsDSAttached() const;
62  bool IsNewControlData() const;
63  bool IsFMSAttached() const;
64  bool IsSysActive() const;
65  bool IsBrownedOut() const;
67  Alliance GetAlliance() const;
68  int GetLocation() const;
69  void WaitForData();
70  bool WaitForData(double timeout);
71  double GetMatchTime() const;
72  double GetBatteryVoltage() const;
78  void InDisabled(bool entering) { m_userInDisabled = entering; }
83  void InAutonomous(bool entering) { m_userInAutonomous = entering; }
88  void InOperatorControl(bool entering) { m_userInTeleop = entering; }
92  void InTest(bool entering) { m_userInTest = entering; }
94  protected:
95  void GetData();
97  private:
98  DriverStation();
99  void ReportJoystickUnpluggedError(llvm::StringRef message);
100  void ReportJoystickUnpluggedWarning(llvm::StringRef message);
101  void Run();
102  void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
104  // Joystick User Data
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;
110  // Joystick Cached Data
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;
116  // Internal Driver Station thread
117  std::thread m_dsThread;
118  std::atomic<bool> m_isRunning{false};
120  // WPILib WaitForData control variables
121  bool m_waitForDataPredicate = false;
122  std::condition_variable_any m_waitForDataCond;
123  priority_mutex m_waitForDataMutex;
125  mutable std::atomic<bool> m_newControlData{false};
127  mutable priority_mutex m_joystickDataMutex;
129  // Robot state status variables
130  bool m_userInDisabled = false;
131  bool m_userInAutonomous = false;
132  bool m_userInTeleop = false;
133  bool m_userInTest = false;
135  // Control word variables
136  mutable HAL_ControlWord m_controlWordCache;
137  mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
138  mutable priority_mutex m_controlWordMutex;
140  double m_nextMessageTime = 0;
141 };
143 } // namespace frc
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:114
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:245
int GetStickAxisCount(int stick) const
Returns the number of axes on a given joystick port.
Definition: DriverStation.cpp:185
void GetData()
Copy data from the DS task for the user.
Definition: DriverStation.cpp:541
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:200
int GetStickButtons(int stick) const
The state of the buttons on the joystick.
Definition: DriverStation.cpp:140
bool IsAutonomous() const override
Check if the DS is commanding autonomous mode.
Definition: DriverStation.cpp:311
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:39
bool IsEnabled() const override
Check if the DS has enabled the robot.
Definition: DriverStation.cpp:289
double GetStickAxis(int stick, int axis)
Get the value of the axis on a joystick.
Definition: DriverStation.cpp:88
Definition: priority_mutex.h:53
void WaitForData()
Wait until a new packet comes from the driver station.
Definition: DriverStation.cpp:459
double GetBatteryVoltage() const
Read the battery voltage.
Definition: DriverStation.cpp:527
bool IsNewControlData() const
Has a new control packet from the driver station arrived since the last time this function was called...
Definition: DriverStation.cpp:359
bool IsBrownedOut() const
Check if the system is browned out.
Definition: DriverStation.cpp:395
bool IsTest() const override
Check if the DS is commanding test mode.
Definition: DriverStation.cpp:333
bool GetJoystickIsXbox(int stick) const
Returns a boolean indicating if the controller is an xbox controller.
Definition: DriverStation.cpp:230
bool GetStickButton(int stick, int button)
The state of one joystick button.
Definition: DriverStation.cpp:156
Definition: RobotState.h:14
Alliance GetAlliance() const
Return the alliance that the driver station says it is on.
Definition: DriverStation.cpp:409
int GetStickButtonCount(int stick) const
Returns the number of buttons on a given joystick port.
Definition: DriverStation.cpp:215
bool IsDSAttached() const
Check if the DS is attached.
Definition: DriverStation.cpp:344
bool IsDisabled() const override
Check if the robot is disabled.
Definition: DriverStation.cpp:300
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:433
std::string GetJoystickName(int stick) const
Returns the name of the joystick at the given port.
Definition: DriverStation.cpp:260
static void ReportWarning(llvm::StringRef error)
Report a warning to the DriverStation messages window.
Definition: DriverStation.cpp:59
Definition: DriverStation.h:31
int GetJoystickAxisType(int stick, int axis) const
Returns the types of Axes on a given joystick port.
Definition: DriverStation.cpp:275
bool IsSysActive() const
Check if the FPGA outputs are enabled.
Definition: DriverStation.cpp:383
double GetMatchTime() const
Return the approximate match time.
Definition: DriverStation.cpp:517
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:369
bool IsOperatorControl() const override
Check if the DS is commanding teleop mode.
Definition: DriverStation.cpp:322