Add newer DriverStation methods to ahal
Change-Id: I30c5bf4ccbf72cb135dedc08ef7ee23e101c90fc
Signed-off-by: Lee Mracek <lee@valkyrierobotics.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/input/joystick_state.fbs b/frc971/input/joystick_state.fbs
index 2f48bdf..49d2690 100644
--- a/frc971/input/joystick_state.fbs
+++ b/frc971/input/joystick_state.fbs
@@ -1,5 +1,7 @@
namespace aos;
+enum MatchType : byte { kNone, kPractice, kQualification, kElimination }
+
table Joystick {
// A bitmask of the butotn state.
buttons:ushort (id: 0);
@@ -44,6 +46,14 @@
// String corresponding to the game data string
game_data:string (id: 10);
+
+ // Driver station location.
+ location:ubyte (id: 11);
+
+ match_number:int (id: 12);
+ replay_number:int (id: 13);
+ match_type:MatchType (id: 14);
+ event_name:string (id: 15);
}
root_type JoystickState;
diff --git a/frc971/wpilib/ahal/DriverStation.cc b/frc971/wpilib/ahal/DriverStation.cc
index 2ed0a97..8b31af7 100644
--- a/frc971/wpilib/ahal/DriverStation.cc
+++ b/frc971/wpilib/ahal/DriverStation.cc
@@ -272,6 +272,54 @@
}
/**
+ * Returns the game specific message provided by the FMS.
+ *
+ * @return A string containing the game specific message.
+ */
+std::string_view DriverStation::GetGameSpecificMessage() const {
+ return std::string_view(
+ reinterpret_cast<const char *>(info_.gameSpecificMessage),
+ info_.gameSpecificMessageSize);
+}
+
+/**
+ * Returns the name of the competition event provided by the FMS.
+ *
+ * @return A string containing the event name
+ */
+std::string_view DriverStation::GetEventName() const {
+ return info_.eventName;
+}
+
+/**
+ * Returns the match number provided by the FMS.
+ *
+ * @return The number of the match
+ */
+DriverStation::MatchType DriverStation::GetMatchType() const {
+ return static_cast<DriverStation::MatchType>(info_.matchType);
+}
+
+/**
+ * Returns the match number provided by the FMS.
+ *
+ * @return The number of the match
+ */
+int DriverStation::GetMatchNumber() const {
+ return info_.matchNumber;
+}
+
+/**
+ * Returns the number of times the current match has been replayed from the
+ * FMS.
+ *
+ * @return The number of replays
+ */
+int DriverStation::GetReplayNumber() const {
+ return info_.replayNumber;
+}
+
+/**
* Return the alliance that the driver station says it is on.
*
* This could return kRed or kBlue.
@@ -374,10 +422,14 @@
HAL_ControlWord control_word;
HAL_GetControlWord(&control_word);
- is_enabled_ = control_word.enabled;
+ is_enabled_ = control_word.enabled && control_word.dsAttached;
is_autonomous_ = control_word.autonomous;
is_test_mode_ = control_word.test;
is_fms_attached_ = control_word.fmsAttached;
+ is_ds_attached_ = control_word.dsAttached;
+ is_teleop_ = !(control_word.autonomous || control_word.test);
+
+ HAL_GetMatchInfo(&info_);
}
/**
diff --git a/frc971/wpilib/ahal/DriverStation.h b/frc971/wpilib/ahal/DriverStation.h
index 5150360..8bcdcf1 100644
--- a/frc971/wpilib/ahal/DriverStation.h
+++ b/frc971/wpilib/ahal/DriverStation.h
@@ -27,6 +27,7 @@
class DriverStation {
public:
enum Alliance { kRed, kBlue, kInvalid };
+ enum MatchType { kNone, kPractice, kQualification, kElimination };
virtual ~DriverStation();
static DriverStation &GetInstance();
@@ -55,10 +56,18 @@
bool IsTestMode() const { return is_test_mode_; }
bool IsFmsAttached() const { return is_fms_attached_; }
bool IsAutonomous() const { return is_autonomous_; }
+ bool IsTeleop() const { return is_teleop_; }
+ bool IsDSAttached() const { return is_ds_attached_; }
bool IsSysActive() const;
bool IsBrownedOut() const;
+ std::string_view GetGameSpecificMessage() const;
+
+ std::string_view GetEventName() const;
+ MatchType GetMatchType() const;
+ int GetMatchNumber() const;
+ int GetReplayNumber() const;
Alliance GetAlliance() const;
int GetLocation() const;
double GetMatchTime() const;
@@ -88,6 +97,11 @@
bool is_test_mode_ = false;
bool is_autonomous_ = false;
bool is_fms_attached_ = false;
+ bool is_teleop_ = false;
+ bool is_ds_attached_ = false;
+
+ // statically allocated match info so we can return string_views into it.
+ HAL_MatchInfo info_;
};
} // namespace frc
diff --git a/frc971/wpilib/joystick_sender.cc b/frc971/wpilib/joystick_sender.cc
index fab3d05..9137a99 100644
--- a/frc971/wpilib/joystick_sender.cc
+++ b/frc971/wpilib/joystick_sender.cc
@@ -30,9 +30,6 @@
ds->RunIteration([&]() {
auto builder = joystick_state_sender_.MakeBuilder();
- HAL_MatchInfo match_info;
- auto status = HAL_GetMatchInfo(&match_info);
-
std::array<flatbuffers::Offset<Joystick>,
frc971::input::driver_station::JoystickFeature::kJoysticks>
joysticks;
@@ -67,32 +64,26 @@
joysticks_offset = builder.fbb()->CreateVector(joysticks.begin(),
joysticks.size());
- flatbuffers::Offset<flatbuffers::String> game_data_offset;
- if (status == 0) {
- static_assert(sizeof(match_info.gameSpecificMessage) == 64,
- "Check that the match info game specific message size "
- "hasn't changed and is still sane.");
- CHECK_LE(match_info.gameSpecificMessageSize,
- sizeof(match_info.gameSpecificMessage));
- game_data_offset = builder.fbb()->CreateString(
- reinterpret_cast<const char *>(match_info.gameSpecificMessage),
- match_info.gameSpecificMessageSize);
- }
+ flatbuffers::Offset<flatbuffers::String> game_data_offset =
+ builder.fbb()->CreateString(ds->GetGameSpecificMessage());
+
+ flatbuffers::Offset<flatbuffers::String> event_name_offset =
+ builder.fbb()->CreateString(ds->GetEventName());
aos::JoystickState::Builder joystick_state_builder =
builder.MakeBuilder<aos::JoystickState>();
joystick_state_builder.add_joysticks(joysticks_offset);
- if (status == 0) {
+ if (ds->GetGameSpecificMessage().size() >= 2u) {
joystick_state_builder.add_switch_left(
- match_info.gameSpecificMessage[0] == 'L' ||
- match_info.gameSpecificMessage[0] == 'l');
+ ds->GetGameSpecificMessage()[0] == 'L' ||
+ ds->GetGameSpecificMessage()[0] == 'l');
joystick_state_builder.add_scale_left(
- match_info.gameSpecificMessage[1] == 'L' ||
- match_info.gameSpecificMessage[1] == 'l');
- joystick_state_builder.add_game_data(game_data_offset);
+ ds->GetGameSpecificMessage()[1] == 'L' ||
+ ds->GetGameSpecificMessage()[1] == 'l');
}
+ joystick_state_builder.add_game_data(game_data_offset);
joystick_state_builder.add_test_mode(ds->IsTestMode());
joystick_state_builder.add_fms_attached(ds->IsFmsAttached());
@@ -109,7 +100,28 @@
joystick_state_builder.add_alliance(aos::Alliance::kInvalid);
break;
}
+ joystick_state_builder.add_location(ds->GetLocation());
+
joystick_state_builder.add_team_id(team_id_);
+ joystick_state_builder.add_match_number(ds->GetMatchNumber());
+ joystick_state_builder.add_replay_number(ds->GetReplayNumber());
+
+ switch (ds->GetMatchType()) {
+ case frc::DriverStation::kNone:
+ joystick_state_builder.add_match_type(aos::MatchType::kNone);
+ break;
+ case frc::DriverStation::kPractice:
+ joystick_state_builder.add_match_type(aos::MatchType::kPractice);
+ break;
+ case frc::DriverStation::kQualification:
+ joystick_state_builder.add_match_type(
+ aos::MatchType::kQualification);
+ break;
+ case frc::DriverStation::kElimination:
+ joystick_state_builder.add_match_type(aos::MatchType::kElimination);
+ break;
+ }
+ joystick_state_builder.add_event_name(event_name_offset);
if (builder.Send(joystick_state_builder.Finish()) !=
aos::RawSender::Error::kOk) {