| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __DRIVER_STATION_H__
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| 8 | #define __DRIVER_STATION_H__
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| 9 |
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| 10 | #include "Dashboard.h"
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| 11 | #include "DriverStationEnhancedIO.h"
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| 12 | #include "SensorBase.h"
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| 13 | #include "Task.h"
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| 14 |
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| 15 | struct FRCCommonControlData;
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| 16 | class AnalogChannel;
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| 17 |
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| 18 | /**
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| 19 | * Provide access to the network communication data to / from the Driver Station.
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| 20 | */
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| 21 | class DriverStation : public SensorBase
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| 22 | {
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| 23 | public:
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| 24 | enum Alliance {kRed, kBlue, kInvalid};
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| 25 |
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| 26 | virtual ~DriverStation();
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| 27 | static DriverStation *GetInstance();
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| 28 |
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| 29 | static const UINT32 kBatteryModuleNumber = 1;
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| 30 | static const UINT32 kBatteryChannel = 8;
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| 31 | static const UINT32 kJoystickPorts = 4;
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| 32 | static const UINT32 kJoystickAxes = 6;
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| 33 |
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| 34 | float GetStickAxis(UINT32 stick, UINT32 axis);
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| 35 | short GetStickButtons(UINT32 stick);
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| 36 |
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| 37 | float GetAnalogIn(UINT32 channel);
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| 38 | bool GetDigitalIn(UINT32 channel);
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| 39 | void SetDigitalOut(UINT32 channel, bool value);
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| 40 | bool GetDigitalOut(UINT32 channel);
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| 41 |
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| 42 | bool IsEnabled();
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| 43 | bool IsDisabled();
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| 44 | bool IsAutonomous();
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| 45 | bool IsOperatorControl();
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| 46 | bool IsTest();
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| 47 | bool IsNewControlData();
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| 48 | bool IsFMSAttached();
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| 49 |
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| 50 | UINT32 GetPacketNumber();
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| 51 | Alliance GetAlliance();
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| 52 | UINT32 GetLocation();
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| 53 | void WaitForData();
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| 54 | double GetMatchTime();
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| 55 | float GetBatteryVoltage();
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| 56 | UINT16 GetTeamNumber();
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| 57 |
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| 58 | // Get the default dashboard packers. These instances stay around even after
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| 59 | // a call to SetHigh|LowPriorityDashboardPackerToUse() changes which packer
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| 60 | // is in use. You can restore the default high priority packer by calling
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| 61 | // SetHighPriorityDashboardPackerToUse(&GetHighPriorityDashboardPacker()).
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| 62 | Dashboard& GetHighPriorityDashboardPacker() { return m_dashboardHigh; }
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| 63 | Dashboard& GetLowPriorityDashboardPacker() { return m_dashboardLow; }
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| 64 |
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| 65 | // Get/set the dashboard packers to use. This can sideline or restore the
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| 66 | // default packers. Initializing SmartDashboard changes the high priority
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| 67 | // packer in use so beware that the default packer will then be idle. These
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| 68 | // methods support any kind of DashboardBase, e.g. a Dashboard or a
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| 69 | // SmartDashboard.
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| 70 | DashboardBase* GetHighPriorityDashboardPackerInUse() { return m_dashboardInUseHigh; }
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| 71 | DashboardBase* GetLowPriorityDashboardPackerInUse() { return m_dashboardInUseLow; }
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| 72 | void SetHighPriorityDashboardPackerToUse(DashboardBase* db) { m_dashboardInUseHigh = db; }
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| 73 | void SetLowPriorityDashboardPackerToUse(DashboardBase* db) { m_dashboardInUseLow = db; }
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| 74 |
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| 75 | DriverStationEnhancedIO& GetEnhancedIO() { return m_enhancedIO; }
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| 76 |
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| 77 | void IncrementUpdateNumber() { m_updateNumber++; }
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| 78 | SEM_ID GetUserStatusDataSem() { return m_statusDataSemaphore; }
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| 79 |
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| 80 | /** Only to be used to tell the Driver Station what code you claim to be executing
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| 81 | * for diagnostic purposes only
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| 82 | * @param entering If true, starting disabled code; if false, leaving disabled code */
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| 83 | void InDisabled(bool entering) {m_userInDisabled=entering;}
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| 84 | /** Only to be used to tell the Driver Station what code you claim to be executing
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| 85 | * for diagnostic purposes only
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| 86 | * @param entering If true, starting autonomous code; if false, leaving autonomous code */
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| 87 | void InAutonomous(bool entering) {m_userInAutonomous=entering;}
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| 88 | /** Only to be used to tell the Driver Station what code you claim to be executing
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| 89 | * for diagnostic purposes only
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| 90 | * @param entering If true, starting teleop code; if false, leaving teleop code */
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| 91 | void InOperatorControl(bool entering) {m_userInTeleop=entering;}
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| 92 | /** Only to be used to tell the Driver Station what code you claim to be executing
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| 93 | * for diagnostic purposes only
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| 94 | * @param entering If true, starting test code; if false, leaving test code */
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| 95 | void InTest(bool entering) {m_userInTest=entering;}
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| 96 |
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| 97 | protected:
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| 98 | DriverStation();
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| 99 |
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| 100 | void GetData();
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| 101 | void SetData();
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| 102 |
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| 103 | private:
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| 104 | static void InitTask(DriverStation *ds);
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| 105 | static DriverStation *m_instance;
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| 106 | static UINT8 m_updateNumber;
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| 107 | ///< TODO: Get rid of this and use the semaphore signaling
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| 108 | static const float kUpdatePeriod = 0.02;
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| 109 |
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| 110 | void Run();
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| 111 |
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| 112 | struct FRCCommonControlData *m_controlData;
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| 113 | UINT8 m_digitalOut;
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| 114 | AnalogChannel *m_batteryChannel;
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| 115 | SEM_ID m_statusDataSemaphore;
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| 116 | Task m_task;
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| 117 | Dashboard m_dashboardHigh; // the default dashboard packers
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| 118 | Dashboard m_dashboardLow;
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| 119 | DashboardBase* m_dashboardInUseHigh; // the current dashboard packers in use
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| 120 | DashboardBase* m_dashboardInUseLow;
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| 121 | SEM_ID m_newControlData;
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| 122 | SEM_ID m_packetDataAvailableSem;
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| 123 | DriverStationEnhancedIO m_enhancedIO;
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| 124 | SEM_ID m_waitForDataSem;
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| 125 | double m_approxMatchTimeOffset;
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| 126 | bool m_userInDisabled;
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| 127 | bool m_userInAutonomous;
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| 128 | bool m_userInTeleop;
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| 129 | bool m_userInTest;
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| 130 | };
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| 131 |
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| 132 | #endif
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| 133 |
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