This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/DriverStation.h b/azaleasource/WPILibCProgramming/trunk/WPILib/DriverStation.h
new file mode 100644
index 0000000..717f8d1
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/DriverStation.h
@@ -0,0 +1,133 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef __DRIVER_STATION_H__
+#define __DRIVER_STATION_H__
+
+#include "Dashboard.h"
+#include "DriverStationEnhancedIO.h"
+#include "SensorBase.h"
+#include "Task.h"
+
+struct FRCCommonControlData;
+class AnalogChannel;
+
+/**
+ * Provide access to the network communication data to / from the Driver Station.
+ */
+class DriverStation : public SensorBase
+{
+public:
+ enum Alliance {kRed, kBlue, kInvalid};
+
+ virtual ~DriverStation();
+ static DriverStation *GetInstance();
+
+ static const UINT32 kBatteryModuleNumber = 1;
+ static const UINT32 kBatteryChannel = 8;
+ static const UINT32 kJoystickPorts = 4;
+ static const UINT32 kJoystickAxes = 6;
+
+ float GetStickAxis(UINT32 stick, UINT32 axis);
+ short GetStickButtons(UINT32 stick);
+
+ float GetAnalogIn(UINT32 channel);
+ bool GetDigitalIn(UINT32 channel);
+ void SetDigitalOut(UINT32 channel, bool value);
+ bool GetDigitalOut(UINT32 channel);
+
+ bool IsEnabled();
+ bool IsDisabled();
+ bool IsAutonomous();
+ bool IsOperatorControl();
+ bool IsTest();
+ bool IsNewControlData();
+ bool IsFMSAttached();
+
+ UINT32 GetPacketNumber();
+ Alliance GetAlliance();
+ UINT32 GetLocation();
+ void WaitForData();
+ double GetMatchTime();
+ float GetBatteryVoltage();
+ UINT16 GetTeamNumber();
+
+ // Get the default dashboard packers. These instances stay around even after
+ // a call to SetHigh|LowPriorityDashboardPackerToUse() changes which packer
+ // is in use. You can restore the default high priority packer by calling
+ // SetHighPriorityDashboardPackerToUse(&GetHighPriorityDashboardPacker()).
+ Dashboard& GetHighPriorityDashboardPacker() { return m_dashboardHigh; }
+ Dashboard& GetLowPriorityDashboardPacker() { return m_dashboardLow; }
+
+ // Get/set the dashboard packers to use. This can sideline or restore the
+ // default packers. Initializing SmartDashboard changes the high priority
+ // packer in use so beware that the default packer will then be idle. These
+ // methods support any kind of DashboardBase, e.g. a Dashboard or a
+ // SmartDashboard.
+ DashboardBase* GetHighPriorityDashboardPackerInUse() { return m_dashboardInUseHigh; }
+ DashboardBase* GetLowPriorityDashboardPackerInUse() { return m_dashboardInUseLow; }
+ void SetHighPriorityDashboardPackerToUse(DashboardBase* db) { m_dashboardInUseHigh = db; }
+ void SetLowPriorityDashboardPackerToUse(DashboardBase* db) { m_dashboardInUseLow = db; }
+
+ DriverStationEnhancedIO& GetEnhancedIO() { return m_enhancedIO; }
+
+ void IncrementUpdateNumber() { m_updateNumber++; }
+ SEM_ID GetUserStatusDataSem() { return m_statusDataSemaphore; }
+
+ /** 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();
+ void SetData();
+
+private:
+ static void InitTask(DriverStation *ds);
+ static DriverStation *m_instance;
+ static UINT8 m_updateNumber;
+ ///< TODO: Get rid of this and use the semaphore signaling
+ static const float kUpdatePeriod = 0.02;
+
+ void Run();
+
+ struct FRCCommonControlData *m_controlData;
+ UINT8 m_digitalOut;
+ AnalogChannel *m_batteryChannel;
+ SEM_ID m_statusDataSemaphore;
+ Task m_task;
+ Dashboard m_dashboardHigh; // the default dashboard packers
+ Dashboard m_dashboardLow;
+ DashboardBase* m_dashboardInUseHigh; // the current dashboard packers in use
+ DashboardBase* m_dashboardInUseLow;
+ SEM_ID m_newControlData;
+ SEM_ID m_packetDataAvailableSem;
+ DriverStationEnhancedIO m_enhancedIO;
+ SEM_ID m_waitForDataSem;
+ double m_approxMatchTimeOffset;
+ bool m_userInDisabled;
+ bool m_userInAutonomous;
+ bool m_userInTeleop;
+ bool m_userInTest;
+};
+
+#endif
+