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_t kBatteryModuleNumber = 1;
    static const uint32_t kBatteryChannel = 8;
    static const uint32_t kJoystickPorts = 4;
    static const uint32_t kJoystickAxes = 6;

    float GetStickAxis(uint32_t stick, uint32_t axis);
    short GetStickButtons(uint32_t stick);

    float GetAnalogIn(uint32_t channel);
    bool GetDigitalIn(uint32_t channel);
    void SetDigitalOut(uint32_t channel, bool value);
    bool GetDigitalOut(uint32_t channel);

    bool IsEnabled();
    bool IsDisabled();
    bool IsAutonomous();
    bool IsOperatorControl();
    bool IsTest();
    bool IsNewControlData();
    bool IsFMSAttached();

    uint32_t GetPacketNumber();
    Alliance GetAlliance();
    uint32_t GetLocation();
    void WaitForData();
    double GetMatchTime();
    float GetBatteryVoltage();
    uint16_t 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;}
    void InTest(bool entering) {m_userInTest=entering;}

protected:
    DriverStation();

    void GetData();
    void SetData();

private:
    static void InitTask(DriverStation *ds);
    static DriverStation *m_instance;
    static uint8_t m_updateNumber;
    static constexpr float kUpdatePeriod = 0.02;

    void Run();

    struct FRCCommonControlData *m_controlData;
    uint8_t 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;
    SEM_ID 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;
    bool m_userInTest;
};

#endif