io.github.robolib

Class DriverStation

java.lang.Object

io.github.robolib.DriverStation

All Implemented Interfaces:

java.lang.Runnable

public final class DriverStation
extends java.lang.Object
implements java.lang.Runnable

Author:

noriah

Field Summary

Fields

Modifier and Type	Field and Description
private java.lang.Object	m_dataSem
private static DriverStation	m_instance
private ILogger	m_log
private int	m_modeInt
private int	m_modeNewInt
private boolean	m_newControlData
private java.nio.ByteBuffer	m_packetDataAvailableMutex
private java.nio.ByteBuffer	m_packetDataAvailableSem
private java.lang.Thread	m_thread
private boolean	m_thread_exit_error
private boolean	m_thread_keepAlive

Constructor Summary

Constructors

Modifier	Constructor and Description
private	DriverStation()

Method Summary

Modifier and Type	Method and Description
void	exit()
void	exitNoError()
static GameMode	getGameMode() Get the current driver station indicated mode.
static DriverStation	getInstance()
protected static void	initialize()
static boolean	isAutonomous() Determine if the robot is currently in Autonomous mode.
static boolean	isBrownedOut() Check if the system is browned out.
static boolean	isDisabled() Determine if the Robot is currently disabled.
static boolean	isDSAttached() Check if the Driver Station is attached to the robot
static boolean	isEnabled() Determine if the Robot is currently enabled.
static boolean	isEStopped() Determine if the robot is currently Emergency stopped.
static boolean	isFMSAttached() Check if the Field Management System is attached to the DS
protected boolean	isNewControlData() Has a new control packet from the driver station arrived since the last time this function was called?
static boolean	isOperatorControl() Determine if the robot is currently in Operator Control mode.
static boolean	isSysActive() Check on the overall status of the system.
static boolean	isTest() Determine if the robot is currently in Test mode.
protected boolean	modeChanged()
static void	reportError(java.lang.String err) Report an error to the Driver Station
void	run() Task run by the Robot to get DS data.
protected void	startThread()
void	waitForData() Wait for new data from the driver station.
void	waitForData(long timeout) Wait for new data or for timeout, which ever comes first.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

m_thread

private final java.lang.Thread m_thread

m_dataSem

private final java.lang.Object m_dataSem

m_thread_keepAlive

private volatile boolean m_thread_keepAlive

m_thread_exit_error

private volatile boolean m_thread_exit_error

m_newControlData

private boolean m_newControlData

m_packetDataAvailableMutex

private final java.nio.ByteBuffer m_packetDataAvailableMutex

m_packetDataAvailableSem

private final java.nio.ByteBuffer m_packetDataAvailableSem

m_log

private final ILogger m_log

m_instance

private static DriverStation m_instance

m_modeInt

private int m_modeInt

m_modeNewInt

private int m_modeNewInt

Constructor Detail

DriverStation

private DriverStation()

Method Detail

initialize

protected static void initialize()

getInstance

public static final DriverStation getInstance()

run

public void run()

Task run by the Robot to get DS data.

Specified by:

run in interface java.lang.Runnable

startThread

protected void startThread()

exitNoError

public void exitNoError()

exit

public void exit()

waitForData

public void waitForData()

Wait for new data from the driver station.

waitForData

public void waitForData(long timeout)

Wait for new data or for timeout, which ever comes first. If timeout is 0, wait for new data only.

Parameters:

timeout - The maximum time in milliseconds to wait.

isNewControlData

protected boolean isNewControlData()

Has a new control packet from the driver station arrived since the last time this function was called?

Returns:

True if the control data has been updated since the last call.

modeChanged

protected boolean modeChanged()

isDisabled

public static boolean isDisabled()

Determine if the Robot is currently disabled.

Returns:

True if the Robot is currently disabled by the field controls.

isEnabled

public static boolean isEnabled()

Determine if the Robot is currently enabled.

Returns:

True if the Robot is currently enabled by the field controls.

isAutonomous

public static boolean isAutonomous()

Determine if the robot is currently in Autonomous mode.

Returns:

True if the robot is currently operating Autonomously as determined by the field controls.

isTest

public static boolean isTest()

Determine if the robot is currently in Test mode.

Returns:

True if the robot is currently operating in Test mode as determined by the driver station.

isEStopped

public static boolean isEStopped()

Determine if the robot is currently Emergency stopped.

Returns:

True if the robot is currently emergency stopped.

isFMSAttached

public static boolean isFMSAttached()

Check if the Field Management System is attached to the DS

Returns:

True if the FMS is attached

isDSAttached

public static boolean isDSAttached()

Check if the Driver Station is attached to the robot

Returns:

True if we have a driver station

isOperatorControl

public static boolean isOperatorControl()

Determine if the robot is currently in Operator Control mode.

Returns:

True if the robot is currently operating in Tele-Op mode as determined by the field controls.

isSysActive

public static boolean isSysActive()

Check on the overall status of the system.

Returns:

Is the system active (i.e. PWM motor outputs, etc. enabled)?

isBrownedOut

public static boolean isBrownedOut()

Check if the system is browned out.

Returns:

True if the system is browned out

getGameMode

public static GameMode getGameMode()

Get the current driver station indicated mode.

Returns:

the driver station mode as a GameMode

reportError

public static void reportError(java.lang.String err)

Report an error to the Driver Station

Parameters:

err -