Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/DriverStation.h b/wpilibc/athena/include/DriverStation.h
new file mode 100644
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+++ b/wpilibc/athena/include/DriverStation.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+#include <condition_variable>
+#include <memory>
+#include <string>
+#include <thread>
+
+#include "HAL/DriverStation.h"
+#include "HAL/cpp/priority_condition_variable.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "RobotState.h"
+#include "SensorBase.h"
+#include "llvm/StringRef.h"
+
+namespace frc {
+
+/**
+ * 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(llvm::StringRef error);
+ static void ReportWarning(llvm::StringRef error);
+ static void ReportError(bool is_error, int code, llvm::StringRef error,
+ llvm::StringRef location, llvm::StringRef stack);
+
+ static const int kJoystickPorts = 6;
+
+ double GetStickAxis(int stick, int axis);
+ int GetStickPOV(int stick, int pov);
+ int GetStickButtons(int stick) const;
+ bool GetStickButton(int stick, int button);
+
+ int GetStickAxisCount(int stick) const;
+ int GetStickPOVCount(int stick) const;
+ int GetStickButtonCount(int stick) const;
+
+ bool GetJoystickIsXbox(int stick) const;
+ int GetJoystickType(int stick) const;
+ std::string GetJoystickName(int stick) const;
+ int GetJoystickAxisType(int stick, int 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 IsBrownedOut() const;
+
+ Alliance GetAlliance() const;
+ int GetLocation() const;
+ void WaitForData();
+ bool WaitForData(double timeout);
+ double GetMatchTime() const;
+ double 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:
+ void GetData();
+
+ private:
+ DriverStation();
+ void ReportJoystickUnpluggedError(llvm::StringRef message);
+ void ReportJoystickUnpluggedWarning(llvm::StringRef message);
+ void Run();
+ void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
+
+ // Joystick User Data
+ std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
+ std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
+ std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
+ std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
+
+ // Joystick Cached Data
+ std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
+ std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
+ std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
+ std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
+
+ // Internal Driver Station thread
+ std::thread m_dsThread;
+ std::atomic<bool> m_isRunning{false};
+
+ // WPILib WaitForData control variables
+ bool m_waitForDataPredicate = false;
+ std::condition_variable_any m_waitForDataCond;
+ priority_mutex m_waitForDataMutex;
+
+ mutable std::atomic<bool> m_newControlData{false};
+
+ mutable priority_mutex m_joystickDataMutex;
+
+ // Robot state status variables
+ bool m_userInDisabled = false;
+ bool m_userInAutonomous = false;
+ bool m_userInTeleop = false;
+ bool m_userInTest = false;
+
+ // Control word variables
+ mutable HAL_ControlWord m_controlWordCache;
+ mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
+ mutable priority_mutex m_controlWordMutex;
+
+ double m_nextMessageTime = 0;
+};
+
+} // namespace frc