DriverStation.h

/*----------------------------------------------------------------------------*/
/* 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;

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 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; }

        void InDisabled(bool entering) {m_userInDisabled=entering;}
        void InAutonomous(bool entering) {m_userInAutonomous=entering;}
        void InOperatorControl(bool entering) {m_userInTeleop=entering;}

protected:
        DriverStation();

        void GetData();
        void SetData();

private:
        static void InitTask(DriverStation *ds);
        static DriverStation *m_instance;
        static UINT8 m_updateNumber;
        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;
        bool 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;
};

#endif