frc971/input/joystick_state.fbs

namespace aos;

enum MatchType : byte { kNone, kPractice, kQualification, kElimination }

table Joystick {
  // A bitmask of the butotn state.
  buttons:ushort (id: 0);

  // The 6 joystick axes.
  // TODO: Should have size of 6
  axis:[double] (id: 1);

  // The POV axis.
  pov:int (id: 2);
}

enum Alliance : byte { kRed, kBlue, kInvalid }

// This message is checked by all control loops to make sure that the
// joystick code hasn't died.  It is published on "/aos"
table JoystickState {
  //TODO: should have fixed size.
  joysticks:[Joystick] (id: 0);

  test_mode:bool (id: 1);
  fms_attached:bool (id: 2);
  enabled:bool (id: 3);
  autonomous:bool (id: 4);
  team_id:ushort (id: 5);

  // 2018 scale and switch positions.
  // TODO(austin): Push these out to a new message?
  switch_left:bool (id: 6);
  scale_left:bool (id: 7);

  // If this is true, then this message isn't actually from the control
  // system and so should not be trusted as evidence that the button inputs
  // etc are actually real and should be acted on.
  // However, most things should ignore this so that sending fake messages is
  // useful for testing. The only difference in behavior should be motors not
  // actually turning on.
  fake:bool (id: 8);

  // Color of our current alliance.
  alliance:Alliance (id: 9);

  // 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;