Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/simulation/include/DriverStation.h b/wpilibc/simulation/include/DriverStation.h
new file mode 100644
index 0000000..f15985c
--- /dev/null
+++ b/wpilibc/simulation/include/DriverStation.h
@@ -0,0 +1,112 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "SensorBase.h"
+#include "RobotState.h"
+#include "HAL/HAL.hpp"
+#include "HAL/cpp/Semaphore.hpp"
+#include "HAL/cpp/priority_mutex.h"
+#include "HAL/cpp/priority_condition_variable.h"
+#include <condition_variable>
+
+struct HALControlWord;
+class AnalogInput;
+
+/**
+ * Provide access to the network communication data to / from the Driver
+ * Station.
+ */
+class DriverStation : public SensorBase, public RobotStateInterface {
+ public:
+ enum Alliance { kRed, kBlue, kInvalid };
+
+ virtual ~DriverStation();
+ static DriverStation &GetInstance();
+ static void ReportError(std::string error);
+
+ static const uint32_t kJoystickPorts = 6;
+
+ float GetStickAxis(uint32_t stick, uint32_t axis);
+ int GetStickPOV(uint32_t stick, uint32_t pov);
+ uint32_t GetStickButtons(uint32_t stick) const;
+ bool GetStickButton(uint32_t stick, uint8_t button);
+
+ int GetStickAxisCount(uint32_t stick) const;
+ int GetStickPOVCount(uint32_t stick) const;
+ int GetStickButtonCount(uint32_t stick) const;
+
+ bool GetJoystickIsXbox(uint32_t stick) const;
+ int GetJoystickType(uint32_t stick) const;
+ std::string GetJoystickName(uint32_t stick) const;
+ int GetJoystickAxisType(uint32_t stick, uint8_t axis) const;
+
+ bool IsEnabled() const override;
+ bool IsDisabled() const override;
+ bool IsAutonomous() const override;
+ bool IsOperatorControl() const override;
+ bool IsTest() const override;
+ bool IsDSAttached() const;
+ bool IsNewControlData() const;
+ bool IsFMSAttached() const;
+ bool IsSysActive() const;
+ bool IsSysBrownedOut() const;
+
+ Alliance GetAlliance() const;
+ uint32_t GetLocation() const;
+ void WaitForData();
+ double GetMatchTime() const;
+ float GetBatteryVoltage() const;
+
+ /** Only to be used to tell the Driver Station what code you claim to be
+ * executing
+ * for diagnostic purposes only
+ * @param entering If true, starting disabled code; if false, leaving disabled
+ * code */
+ void InDisabled(bool entering) { m_userInDisabled = entering; }
+ /** Only to be used to tell the Driver Station what code you claim to be
+ * executing
+ * for diagnostic purposes only
+ * @param entering If true, starting autonomous code; if false, leaving
+ * autonomous code */
+ void InAutonomous(bool entering) { m_userInAutonomous = entering; }
+ /** Only to be used to tell the Driver Station what code you claim to be
+ * executing
+ * for diagnostic purposes only
+ * @param entering If true, starting teleop code; if false, leaving teleop
+ * code */
+ void InOperatorControl(bool entering) { m_userInTeleop = entering; }
+ /** Only to be used to tell the Driver Station what code you claim to be
+ * executing
+ * for diagnostic purposes only
+ * @param entering If true, starting test code; if false, leaving test code */
+ void InTest(bool entering) { m_userInTest = entering; }
+
+ protected:
+ DriverStation();
+
+ void GetData();
+
+ private:
+ static DriverStation *m_instance;
+ void ReportJoystickUnpluggedError(std::string message);
+ void Run();
+
+ HALJoystickAxes m_joystickAxes[kJoystickPorts];
+ HALJoystickPOVs m_joystickPOVs[kJoystickPorts];
+ HALJoystickButtons m_joystickButtons[kJoystickPorts];
+ HALJoystickDescriptor m_joystickDescriptor[kJoystickPorts];
+ mutable Semaphore m_newControlData{Semaphore::kEmpty};
+ mutable priority_condition_variable m_packetDataAvailableCond;
+ priority_mutex m_packetDataAvailableMutex;
+ std::condition_variable_any m_waitForDataCond;
+ priority_mutex m_waitForDataMutex;
+ bool m_userInDisabled = false;
+ bool m_userInAutonomous = false;
+ bool m_userInTeleop = false;
+ bool m_userInTest = false;
+ double m_nextMessageTime = 0;
+};