001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.wpilibj;
006
007import edu.wpi.first.hal.ControlWord;
008
009/** A wrapper around Driver Station control word. */
010public class DSControlWord {
011  private final ControlWord m_controlWord = new ControlWord();
012
013  /**
014   * DSControlWord constructor.
015   *
016   * <p>Upon construction, the current Driver Station control word is read and stored internally.
017   */
018  public DSControlWord() {
019    refresh();
020  }
021
022  /** Update internal Driver Station control word. */
023  public void refresh() {
024    DriverStation.refreshControlWordFromCache(m_controlWord);
025  }
026
027  /**
028   * Gets a value indicating whether the Driver Station requires the robot to be enabled.
029   *
030   * @return True if the robot is enabled, false otherwise.
031   */
032  public boolean isEnabled() {
033    return m_controlWord.getEnabled() && m_controlWord.getDSAttached();
034  }
035
036  /**
037   * Gets a value indicating whether the Driver Station requires the robot to be disabled.
038   *
039   * @return True if the robot should be disabled, false otherwise.
040   */
041  public boolean isDisabled() {
042    return !isEnabled();
043  }
044
045  /**
046   * Gets a value indicating whether the Robot is e-stopped.
047   *
048   * @return True if the robot is e-stopped, false otherwise.
049   */
050  public boolean isEStopped() {
051    return m_controlWord.getEStop();
052  }
053
054  /**
055   * Gets a value indicating whether the Driver Station requires the robot to be running in
056   * autonomous mode.
057   *
058   * @return True if autonomous mode should be enabled, false otherwise.
059   */
060  public boolean isAutonomous() {
061    return m_controlWord.getAutonomous();
062  }
063
064  /**
065   * Gets a value indicating whether the Driver Station requires the robot to be running in
066   * autonomous mode and enabled.
067   *
068   * @return True if autonomous should be set and the robot should be enabled.
069   */
070  public boolean isAutonomousEnabled() {
071    return m_controlWord.getAutonomous()
072        && m_controlWord.getEnabled()
073        && m_controlWord.getDSAttached();
074  }
075
076  /**
077   * Gets a value indicating whether the Driver Station requires the robot to be running in
078   * operator-controlled mode.
079   *
080   * @return True if operator-controlled mode should be enabled, false otherwise.
081   */
082  public boolean isTeleop() {
083    return !(isAutonomous() || isTest());
084  }
085
086  /**
087   * Gets a value indicating whether the Driver Station requires the robot to be running in
088   * operator-controller mode and enabled.
089   *
090   * @return True if operator-controlled mode should be set and the robot should be enabled.
091   */
092  public boolean isTeleopEnabled() {
093    return !m_controlWord.getAutonomous()
094        && !m_controlWord.getTest()
095        && m_controlWord.getEnabled()
096        && m_controlWord.getDSAttached();
097  }
098
099  /**
100   * Gets a value indicating whether the Driver Station requires the robot to be running in test
101   * mode.
102   *
103   * @return True if test mode should be enabled, false otherwise.
104   */
105  public boolean isTest() {
106    return m_controlWord.getTest();
107  }
108
109  /**
110   * Gets a value indicating whether the Driver Station is attached.
111   *
112   * @return True if Driver Station is attached, false otherwise.
113   */
114  public boolean isDSAttached() {
115    return m_controlWord.getDSAttached();
116  }
117
118  /**
119   * Gets if the driver station attached to a Field Management System.
120   *
121   * @return true if the robot is competing on a field being controlled by a Field Management System
122   */
123  public boolean isFMSAttached() {
124    return m_controlWord.getFMSAttached();
125  }
126}