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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / ab45cad1e854ab732af0ef10fb06e7f958394449 / . / aos / externals / WPILib / WPILib / DriverStation.h
blob: acd9b168248b6c9c85c18ab074fd975361a4d0ff [file] [log] [blame]
brians343bc112013-02-10 01:53:46 +0000[diff] [blame]1/*----------------------------------------------------------------------------*/
2/* Copyright (c) FIRST 2008. All Rights Reserved. */
3/* Open Source Software - may be modified and shared by FRC teams. The code */
4/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
5/*----------------------------------------------------------------------------*/
6
7#ifndef __DRIVER_STATION_H__
8#define __DRIVER_STATION_H__
9
10#include "Dashboard.h"
11#include "DriverStationEnhancedIO.h"
12#include "SensorBase.h"
13#include "Task.h"
14
15struct FRCCommonControlData;
16class AnalogChannel;
17
18/**
19 * Provide access to the network communication data to / from the Driver Station.
20 */
21class DriverStation : public SensorBase
22{
23public:
24 enum Alliance {kRed, kBlue, kInvalid};
25
26 virtual ~DriverStation();
27 static DriverStation *GetInstance();
28
29 static const UINT32 kBatteryModuleNumber = 1;
30 static const UINT32 kBatteryChannel = 8;
31 static const UINT32 kJoystickPorts = 4;
32 static const UINT32 kJoystickAxes = 6;
33
34 float GetStickAxis(UINT32 stick, UINT32 axis);
35 short GetStickButtons(UINT32 stick);
36
37 float GetAnalogIn(UINT32 channel);
38 bool GetDigitalIn(UINT32 channel);
39 void SetDigitalOut(UINT32 channel, bool value);
40 bool GetDigitalOut(UINT32 channel);
41
42 bool IsEnabled();
43 bool IsDisabled();
briansab45cad2013-03-03 05:31:33 +0000[diff] [blame^]44 bool IsAutonomous();
brians343bc112013-02-10 01:53:46 +0000[diff] [blame]45 bool IsOperatorControl();
briansab45cad2013-03-03 05:31:33 +0000[diff] [blame^]46 bool IsTest();
brians343bc112013-02-10 01:53:46 +0000[diff] [blame]47 bool IsNewControlData();
48 bool IsFMSAttached();
49
50 UINT32 GetPacketNumber();
51 Alliance GetAlliance();
52 UINT32 GetLocation();
53 void WaitForData();
54 double GetMatchTime();
55 float GetBatteryVoltage();
56 UINT16 GetTeamNumber();
57
58 // Get the default dashboard packers. These instances stay around even after
59 // a call to SetHigh|LowPriorityDashboardPackerToUse() changes which packer
60 // is in use. You can restore the default high priority packer by calling
61 // SetHighPriorityDashboardPackerToUse(&GetHighPriorityDashboardPacker()).
62 Dashboard& GetHighPriorityDashboardPacker() { return m_dashboardHigh; }
63 Dashboard& GetLowPriorityDashboardPacker() { return m_dashboardLow; }
64
65 // Get/set the dashboard packers to use. This can sideline or restore the
66 // default packers. Initializing SmartDashboard changes the high priority
67 // packer in use so beware that the default packer will then be idle. These
68 // methods support any kind of DashboardBase, e.g. a Dashboard or a
69 // SmartDashboard.
70 DashboardBase* GetHighPriorityDashboardPackerInUse() { return m_dashboardInUseHigh; }
71 DashboardBase* GetLowPriorityDashboardPackerInUse() { return m_dashboardInUseLow; }
72 void SetHighPriorityDashboardPackerToUse(DashboardBase* db) { m_dashboardInUseHigh = db; }
73 void SetLowPriorityDashboardPackerToUse(DashboardBase* db) { m_dashboardInUseLow = db; }
74
75 DriverStationEnhancedIO& GetEnhancedIO() { return m_enhancedIO; }
76
77 void IncrementUpdateNumber() { m_updateNumber++; }
78 SEM_ID GetUserStatusDataSem() { return m_statusDataSemaphore; }
79
80 /** Only to be used to tell the Driver Station what code you claim to be executing
81 * for diagnostic purposes only
82 * @param entering If true, starting disabled code; if false, leaving disabled code */
83 void InDisabled(bool entering) {m_userInDisabled=entering;}
84 /** Only to be used to tell the Driver Station what code you claim to be executing
85 * for diagnostic purposes only
86 * @param entering If true, starting autonomous code; if false, leaving autonomous code */
87 void InAutonomous(bool entering) {m_userInAutonomous=entering;}
briansab45cad2013-03-03 05:31:33 +0000[diff] [blame^]88 /** Only to be used to tell the Driver Station what code you claim to be executing
89 * for diagnostic purposes only
90 * @param entering If true, starting teleop code; if false, leaving teleop code */
91 void InOperatorControl(bool entering) {m_userInTeleop=entering;}
92 /** Only to be used to tell the Driver Station what code you claim to be executing
93 * for diagnostic purposes only
94 * @param entering If true, starting test code; if false, leaving test code */
95 void InTest(bool entering) {m_userInTest=entering;}
brians343bc112013-02-10 01:53:46 +0000[diff] [blame]96
97protected:
98 DriverStation();
99
100 void GetData();
101 void SetData();
102
103private:
104 static void InitTask(DriverStation *ds);
105 static DriverStation *m_instance;
106 static UINT8 m_updateNumber;
107 ///< TODO: Get rid of this and use the semaphore signaling
108 static const float kUpdatePeriod = 0.02;
109
110 void Run();
111
112 struct FRCCommonControlData *m_controlData;
113 UINT8 m_digitalOut;
114 AnalogChannel *m_batteryChannel;
115 SEM_ID m_statusDataSemaphore;
116 Task m_task;
117 Dashboard m_dashboardHigh; // the default dashboard packers
118 Dashboard m_dashboardLow;
119 DashboardBase* m_dashboardInUseHigh; // the current dashboard packers in use
120 DashboardBase* m_dashboardInUseLow;
121 SEM_ID m_newControlData;
122 SEM_ID m_packetDataAvailableSem;
123 DriverStationEnhancedIO m_enhancedIO;
124 SEM_ID m_waitForDataSem;
125 double m_approxMatchTimeOffset;
126 bool m_userInDisabled;
127 bool m_userInAutonomous;
briansab45cad2013-03-03 05:31:33 +0000[diff] [blame^]128 bool m_userInTeleop;
129 bool m_userInTest;
brians343bc112013-02-10 01:53:46 +0000[diff] [blame]130};
131
132#endif
133