Exposes the functionality of the LibDS to the application. More...

#include <DriverStation.h>

Inheritance diagram for DriverStation:

Public Types
enum	ProtocolType { kFRC2016 = 0, kFRC2015 = 1, kFRC2014 = 2 }

enum	TeamStation { kRed1 = 0, kRed2 = 1, kRed3 = 2, kBlue1 = 3, kBlue2 = 4, kBlue3 = 5 }

Public Types inherited from DS
enum	ControlMode { kControlTest, kControlAutonomous, kControlTeleoperated }
	Represents the available control modes of the robot. More...

enum	Alliance { kAllianceRed, kAllianceBlue }
	Represents the team alliance. More...

enum	Position { kPosition1, kPosition2, kPosition3 }
	Represents the different team positions for each alliance. More...

enum	CommStatus { kCommsWorking, kCommsFailing }
	Represents the communication status between the client and a target. More...

enum	CodeStatus { kCodeRunning, kCodeFailing }
	Represents the status of the robot code. More...

enum	EnableStatus { kEnabled, kDisabled }
	Represents the enabled state of the robot. More...

enum	OperationStatus { kNormal, kEmergencyStop }
	Represents the operation status of the robot. More...

enum	VoltageStatus { kVoltageNormal, kVoltageBrownout }
	Represents the status of the robot power supply. When the battery level is low or there are too many power spikes, the robot may report a voltage brownout. More...

enum	SocketType { kSocketTypeUDP, kSocketTypeTCP }
	Represents the socket types that can be used by the DS modules. More...

Public Slots
void	init ()

void	browseLogs ()

void	rebootRobot ()

void	enableRobot ()

void	openLogsPath ()

void	disableRobot ()

void	resetJoysticks ()

void	setTeam (int team)

void	restartRobotCode ()

void	switchToTestMode ()

void	switchToAutonomous ()

void	switchToTeleoperated ()

void	triggerEmergencyStop ()

void	reconfigureJoysticks ()

void	removeJoystick (int id)

void	setEnabled (bool enabled)

void	setTeamStation (int station)

void	openLog (const QString &file)

void	setProtocolType (int protocol)

void	setAlliance (Alliance alliance)

void	setPosition (Position position)

void	setProtocol (Protocol *protocol)

void	setControlMode (ControlMode mode)

void	updatePOV (int id, int pov, int angle)

void	setEnabled (EnableStatus statusChanged)

void	updateAxis (int id, int axis, qreal value)

void	updateButton (int id, int button, bool state)

void	setCustomFMSAddress (const QString &address)

void	setCustomRadioAddress (const QString &address)

void	setCustomRobotAddress (const QString &address)

void	setOperationStatus (OperationStatus statusChanged)

Signals
void	resetted ()

void	initialized ()

void	logFileChanged ()

void	protocolChanged ()

void	joystickCountChanged (int count)

void	newMessage (const QString &message)

Signals inherited from DS_Base
void	elapsedTimeChanged (int msecs)

void	elapsedTimeChanged (const QString &string)

void	statusChanged (const QString &status)

void	simulatedChanged (const bool isSimulation)

void	enabledChanged (const EnableStatus status)

void	allianceChanged (const Alliance alliance)

void	positionChanged (const Position position)

void	codeStatusChanged (const CodeStatus statusChanged)

void	controlModeChanged (const ControlMode mode)

void	robotAddressChanged (const QString &address)

void	radioAddressChanged (const QString &address)

void	fmsCommStatusChanged (const CommStatus statusChanged)

void	robotCommStatusChanged (const CommStatus statusChanged)

void	radioCommStatusChanged (const CommStatus statusChanged)

void	voltageStatusChanged (const VoltageStatus statusChanged)

void	operationStatusChanged (const OperationStatus statusChanged)

void	pdpVersionChanged (const QString &version)

void	pcmVersionChanged (const QString &version)

void	libVersionChanged (const QString &version)

void	voltageChanged (const qreal voltage)

void	voltageChanged (const QString &voltageString)

void	teamChanged (const int team)

void	cpuUsageChanged (const int usage)

void	ramUsageChanged (const int usage)

void	diskUsageChanged (const int usage)

Public Member Functions
Q_INVOKABLE bool	canBeEnabled ()

Q_INVOKABLE bool	running () const

Q_INVOKABLE bool	isInTest () const

Q_INVOKABLE bool	isEnabled () const

Q_INVOKABLE bool	isSimulated () const

Q_INVOKABLE bool	isInAutonomous () const

Q_INVOKABLE bool	isInTeleoperated () const

Q_INVOKABLE bool	isConnectedToFMS () const

Q_INVOKABLE bool	isVoltageBrownout () const

Q_INVOKABLE bool	isEmergencyStopped () const

Q_INVOKABLE bool	isConnectedToRobot () const

Q_INVOKABLE bool	isConnectedToRadio () const

Q_INVOKABLE bool	isRobotCodeRunning () const

Q_INVOKABLE QString	logsPath () const

Q_INVOKABLE QVariant	logVariant () const

Q_INVOKABLE QStringList	availableLogs () const

Q_INVOKABLE QJsonDocument	logDocument () const

Q_INVOKABLE qreal	maxBatteryVoltage () const

Q_INVOKABLE qreal	currentBatteryVoltage () const

Q_INVOKABLE qreal	nominalBatteryAmperage () const

Q_INVOKABLE int	team () const

Q_INVOKABLE int	cpuUsage () const

Q_INVOKABLE int	ramUsage () const

Q_INVOKABLE int	diskUsage () const

Q_INVOKABLE int	packetLoss () const

Q_INVOKABLE int	maxPOVCount () const

Q_INVOKABLE int	maxAxisCount () const

Q_INVOKABLE int	maxButtonCount () const

Q_INVOKABLE int	maxJoystickCount () const

Q_INVOKABLE int	getNumAxes (int joystick)

Q_INVOKABLE int	getNumPOVs (int joystick)

Q_INVOKABLE int	getNumButtons (int joystick)

Q_INVOKABLE int	getRealNumAxes (int joystick)

Q_INVOKABLE int	getRealNumPOVs (int joystick)

Q_INVOKABLE int	getRealNumButtons (int joystick)

Q_INVOKABLE int	joystickCount ()

Q_INVOKABLE DS_Joysticks *	joysticks ()

Q_INVOKABLE Alliance	alliance () const

Q_INVOKABLE Position	position () const

Q_INVOKABLE ControlMode	controlMode () const

Q_INVOKABLE CommStatus	fmsCommStatus () const

Q_INVOKABLE EnableStatus	enableStatus () const

Q_INVOKABLE CommStatus	radioCommStatus () const

Q_INVOKABLE CommStatus	robotCommStatus () const

Q_INVOKABLE CodeStatus	robotCodeStatus () const

Q_INVOKABLE VoltageStatus	voltageStatus () const

Q_INVOKABLE QString	fmsAddress () const

Q_INVOKABLE QString	radioAddress () const

Q_INVOKABLE QString	robotAddress () const

Q_INVOKABLE QString	generalStatus () const

Q_INVOKABLE QString	customFMSAddress () const

Q_INVOKABLE QString	customRadioAddress () const

Q_INVOKABLE QString	customRobotAddress () const

Q_INVOKABLE QString	defaultFMSAddress () const

Q_INVOKABLE QString	defaultRadioAddress () const

Q_INVOKABLE QString	defaultRobotAddress () const

Q_INVOKABLE OperationStatus	operationStatus () const

Q_INVOKABLE QStringList	protocols () const

Q_INVOKABLE QStringList	teamStations () const

Q_INVOKABLE bool	registerJoystick (int axes, int buttons, int povs)

Static Public Member Functions
static DriverStation *	getInstance ()

static void	logger (QtMsgType type, const QMessageLogContext &context, const QString &data)

Static Public Member Functions inherited from DS
static QString	getStaticIP (int net, int team, int host)
	Returns a calculated IP address based on the team address. More...

static QString	timezone ()
	Returns the current timezone as a string.

static QByteArray	readSocket (QUdpSocket *socket)
	Reads the datagrams received by the given UDP socket.

static QByteArray	readSocket (QTcpSocket *socket)
	Reads the data received by the given TCP socket.

Private Slots
void	stop ()

void	start ()

void	resetFMS ()

void	resetRadio ()

void	resetRobot ()

void	finishInit ()

void	sendFMSPacket ()

void	updateAddresses ()

void	sendRadioPacket ()

void	sendRobotPacket ()

void	updatePacketLoss ()

void	updateAddresses (int unused)

void	updateLogs (const QString &file)

void	readFMSPacket (const QByteArray &data)

void	readRadioPacket (const QByteArray &data)

void	readRobotPacket (const QByteArray &data)

Private Member Functions
DS_Config *	config () const

Protocol *	protocol () const

Private Attributes
bool	m_init

bool	m_running

int	m_packetLoss

int	m_fmsInterval

int	m_radioInterval

int	m_robotInterval

QString	m_logDocumentPath

DS_Joysticks	m_joysticks

QString	m_customFMSAddress

QJsonDocument	m_logDocument

QString	m_customRadioAddress

QString	m_customRobotAddress

Sockets *	m_sockets

Protocol *	m_protocol

NetConsole *	m_console

Watchdog *	m_fmsWatchdog

Watchdog *	m_radioWatchdog

Watchdog *	m_robotWatchdog

Detailed Description

Exposes the functionality of the LibDS to the application.

The DriverStation class exposes the LibDS library to the application, and implements functions that allow the safe operation of robots, protocol switching/lodaing and joystick management.

The DriverStation class provides several reduntant functions in order to be more user-friendly and giving application developers more flexibility regarding the use of LibDS types.

Member Function Documentation

DS::Alliance DriverStation::alliance ( ) const

Returns the current alliance (red or blue) of the robot.

References DS_Config::alliance(), and config().

Referenced by FRC_2014::getAlliance(), and FRC_2014::interpretFMSPacket().

QStringList DriverStation::availableLogs ( ) const

Returns a list with all the robot logs saved to the logs path

References Logger::availableLogs(), config(), and DS_Config::logger().

void DriverStation::browseLogs ( )

slot

Shows an open file dialog and lets the user select a DS log file to load...

References config(), Logger::extension(), DS_Config::logger(), logsPath(), and openLog().

bool DriverStation::canBeEnabled ( )

Returns true if we have communications with the robot controller and the robot code is running.

Note: This function will return false if the robot is emergency stopped.

References isConnectedToRobot(), isEmergencyStopped(), and isRobotCodeRunning().

DS_Config * DriverStation::config ( ) const

private

Returns a pointer to the DS_Config class, which is shared by the DriverStation and the protocol.

The point of having a config class is to allow the protocol to change the status of the DriverStation and the LibDS system without increasing the complexity of the Protocol and DriverStation classes, whilst ensuring that values are the same throughout the LibDS and that signals are only fired when necessary.

References DS_Config::getInstance().

Referenced by alliance(), availableLogs(), browseLogs(), controlMode(), cpuUsage(), currentBatteryVoltage(), diskUsage(), enableStatus(), fmsCommStatus(), init(), isSimulated(), logsPath(), openLog(), operationStatus(), position(), radioCommStatus(), ramUsage(), resetFMS(), resetRadio(), resetRobot(), robotCodeStatus(), robotCommStatus(), setAlliance(), setControlMode(), setEnabled(), setOperationStatus(), setPosition(), setTeam(), team(), updatePacketLoss(), and voltageStatus().

DS::ControlMode DriverStation::controlMode ( ) const

Returns the current control mode (test, auto or teleop) of the robot.

References config(), and DS_Config::controlMode().

Referenced by generalStatus(), FRC_2014::getOperationCode(), isInAutonomous(), isInTeleoperated(), and isInTest().

int DriverStation::cpuUsage ( ) const

Returns the current CPU usage of the robot. Value range is from 0 to 100.

References config(), and DS_Config::cpuUsage().

qreal DriverStation::currentBatteryVoltage ( ) const

Returns the current battery voltage of the robot

References config(), and DS_Config::voltage().

QString DriverStation::customFMSAddress ( ) const

Returns the user-set FMS address

Referenced by fmsAddress().

QString DriverStation::customRadioAddress ( ) const

Returns the user-set radio address

Referenced by radioAddress().

QString DriverStation::customRobotAddress ( ) const

Returns the user-set robot address

Referenced by robotAddress().

QString DriverStation::defaultFMSAddress ( ) const

Returns the protocol-set robot address.

Note: If the protocol is invalid, this function will return an empty string

References Protocol::fmsAddress(), and protocol().

Referenced by fmsAddress().

QString DriverStation::defaultRadioAddress ( ) const

Returns the protocol-set radio address.

Note: If the protocol is invalid, this function will return an empty string

References protocol(), and Protocol::radioAddress().

Referenced by radioAddress().

QString DriverStation::defaultRobotAddress ( ) const

Returns the protocol-set robot address.

Note: If the protocol is invalid, this function will return an empty string

References protocol(), and Protocol::robotAddress().

Referenced by robotAddress().

void DriverStation::disableRobot ( )

slot

Disables the robot directly

References DS::kDisabled, and setEnabled().

int DriverStation::diskUsage ( ) const

Returns the current disk usage of the robot. Value range is from 0 to 100.

References config(), and DS_Config::diskUsage().

void DriverStation::enableRobot ( )

slot

Enables the robot directly

References DS::kEnabled, and setEnabled().

DS::EnableStatus DriverStation::enableStatus ( ) const

Returns the current enable status of the robot.

References config(), and DS_Config::enableStatus().

Referenced by generalStatus(), and isEnabled().

void DriverStation::finishInit ( )

privateslot

Notifies the UI that the DS has been initialized

References generalStatus(), and DS_Base::statusChanged().

Referenced by init().

QString DriverStation::fmsAddress ( ) const

Returns the applied FMS address (be it DS-set or user-set)

References customFMSAddress(), and defaultFMSAddress().

Referenced by Sockets::onFMSLookupFinished(), Sockets::performLookups(), setCustomFMSAddress(), and updateAddresses().

DS::CommStatus DriverStation::fmsCommStatus ( ) const

Returns the current client/FMS communication status.

References config(), and DS_Config::fmsCommStatus().

Referenced by isConnectedToFMS().

QString DriverStation::generalStatus ( ) const

Returns the current status of the Driver Station. This string is used in the large label below the status lights of the DS.

References controlMode(), enableStatus(), isConnectedToRobot(), isEmergencyStopped(), isRobotCodeRunning(), isVoltageBrownout(), DS::kControlAutonomous, DS::kControlTeleoperated, DS::kControlTest, DS::kDisabled, and DS::kEnabled.

Referenced by finishInit(), and resetRobot().

DriverStation * DriverStation::getInstance ( )

static

Returns the one and only instance of the DriverStation class. The DriverStation class must be singleton to ensure the safe operation of the robot and also to ensure availability to the input and output sockets used by each protocol.

Referenced by Protocol::joysticks(), Sockets::performLookups(), DS_Config::updateControlMode(), DS_Config::updateEnabled(), DS_Config::updateFMSCommStatus(), DS_Config::updateOperationStatus(), DS_Config::updateRobotCodeStatus(), DS_Config::updateRobotCommStatus(), DS_Config::updateVoltage(), and DS_Config::updateVoltageStatus().

int DriverStation::getNumAxes ( int joystick )

Returns the number of axes registered with the given joystick.

Note: This will only return the value supported by the protocol, to get the actual value, use the getRealNumAxes() function

References joysticks().

int DriverStation::getNumButtons ( int joystick )

Returns the number of buttons registered with the given joystick.

Note: This will only return the value supported by the protocol, to get the actual value, use the getRealNumButtons() function

References joysticks().

int DriverStation::getNumPOVs ( int joystick )

Returns the number of POVs registered with the given joystick.

Note: This will only return the value supported by the protocol, to get the actual value, use the getRealNumPOVs() function

References joysticks().

int DriverStation::getRealNumAxes ( int joystick )

Returns the number of axes registered with the given joystick, this value can be greater than what the protocol supports. If you are interested in getting only the number of axes used by the DS, use the getNumAxes() function.

References joysticks().

int DriverStation::getRealNumButtons ( int joystick )

Returns the number of buttons registered with the given joystick, this value can be greater than what the protocol supports. If you are interested in getting only the number of buttons used by the DS, use the getNumButtons() function.

References joysticks().

int DriverStation::getRealNumPOVs ( int joystick )

Returns the number of POVs registered with the given joystick, this value can be greater than what the protocol supports. If you are interested in getting only the number of POVs used by the DS, use the getNumPOVs() function.

References joysticks().

void DriverStation::init ( )

slot

This function must be called in order to start DS operations. It is recommended to call this function AFTER your UI has been initialized, so that the UI can react to the signals sent by the DriverStation.

Note: You can safely call this function several times, however, it will only have effect the first time you call it.

References config(), finishInit(), DS_Config::logger(), Logger::registerInitialEvents(), resetFMS(), resetRadio(), resetRobot(), sendFMSPacket(), sendRadioPacket(), sendRobotPacket(), and updatePacketLoss().

bool DriverStation::isConnectedToFMS ( ) const

Returns true if the Driver Station has established communications with the FMS.

References fmsCommStatus(), and DS::kCommsWorking.

Referenced by Sockets::performLookups(), removeJoystick(), resetJoysticks(), and sendFMSPacket().

bool DriverStation::isConnectedToRadio ( ) const

Returns true if the Driver Station has established communications with the radio.

References DS::kCommsWorking, and radioCommStatus().

Referenced by Sockets::performLookups().

bool DriverStation::isConnectedToRobot ( ) const

Returns true if the Driver Station has established communications with the robot.

References DS::kCommsWorking, and robotCommStatus().

Referenced by canBeEnabled(), generalStatus(), Sockets::performLookups(), and updatePacketLoss().

bool DriverStation::isEmergencyStopped ( ) const

Returns true if the robot is emergency stopped

References DS::kEmergencyStop, and operationStatus().

Referenced by canBeEnabled(), generalStatus(), and FRC_2014::getOperationCode().

bool DriverStation::isEnabled ( ) const

Returns true if the robot is currently enabled

References enableStatus(), and DS::kEnabled.

bool DriverStation::isInAutonomous ( ) const

Returns true if the robot is currently in autonomous mode

References controlMode(), and DS::kControlAutonomous.

bool DriverStation::isInTeleoperated ( ) const

Returns true if the robot is currently in teleop mode

References controlMode(), and DS::kControlTeleoperated.

bool DriverStation::isInTest ( ) const

Returns true if the robot is currently in test mode

References controlMode(), and DS::kControlTest.

bool DriverStation::isRobotCodeRunning ( ) const

Returns true if the robot code is running

References DS::kCodeRunning, and robotCodeStatus().

Referenced by canBeEnabled(), and generalStatus().

bool DriverStation::isSimulated ( ) const

Returns true if the robot is a simulated robot

References config(), and DS_Config::isSimulated().

bool DriverStation::isVoltageBrownout ( ) const

Returns true if the robot is experiencing a brownout (ouch!)

References DS::kVoltageBrownout, and voltageStatus().

Referenced by generalStatus().

int DriverStation::joystickCount ( )

Returns the current number of joysticks registered with the DS.

References joysticks().

Referenced by registerJoystick(), removeJoystick(), and resetJoysticks().

DS_Joysticks * DriverStation::joysticks ( )

Returns the actual joysticks and their properties

Referenced by getNumAxes(), getNumButtons(), getNumPOVs(), getRealNumAxes(), getRealNumButtons(), getRealNumPOVs(), joystickCount(), Protocol::joysticks(), registerJoystick(), removeJoystick(), resetJoysticks(), updateAxis(), updateButton(), and updatePOV().

QJsonDocument DriverStation::logDocument ( ) const

Returns the current JSON log document

Referenced by logVariant().

void DriverStation::logger	(	QtMsgType	type,
		const QMessageLogContext &	context,
		const QString &	data
	)

static

Calls the custom Qt message handler of the LibDS

References DS_Config::getInstance(), DS_Config::logger(), and Logger::messageHandler().

QString DriverStation::logsPath ( ) const

Returns the path in which application log files are stored

References config(), DS_Config::logger(), and Logger::logsPath().

Referenced by browseLogs(), and openLogsPath().

QVariant DriverStation::logVariant ( ) const

Returns the current JSON document as a variant list

References logDocument().

int DriverStation::maxAxisCount ( ) const

Returns the maximum number of axes that a joystick can have

Note: If the protocol is invalid, this function will return 0

References Protocol::maxAxisCount(), and protocol().

Referenced by reconfigureJoysticks(), and registerJoystick().

qreal DriverStation::maxBatteryVoltage ( ) const

Returns the nominal battery voltage of the robot. This value, along with the currentBatteryVoltage() function, can be used to draw graphs or do other cool stuff.

Note: If there is no protocol loaded, this function will return 0

References Protocol::nominalBatteryVOltage(), and protocol().

Referenced by DS_Config::updateVoltage().

int DriverStation::maxButtonCount ( ) const

Returns the maximum number of buttons that a joystick can have

Note: If the protocol is invalid, this function will return 0

References Protocol::maxButtonCount(), and protocol().

Referenced by reconfigureJoysticks(), and registerJoystick().

int DriverStation::maxJoystickCount ( ) const

Returns the maximum number of joysticks that the protocol can handle

Note: If the protocol is invalid, this function will return 0

References Protocol::maxJoystickCount(), and protocol().

Referenced by reconfigureJoysticks(), and registerJoystick().

int DriverStation::maxPOVCount ( ) const

Returns the maximum number of POVs that a joystick can have

Note: If the protocol is invalid, this function will return 0

References Protocol::maxPOVCount(), and protocol().

Referenced by reconfigureJoysticks(), and registerJoystick().

qreal DriverStation::nominalBatteryAmperage ( ) const

Returns the nominal battery amperage of the robot. This value, along with the currentBatteryVoltage() function, can be used to calculate the power (in watts) used by the robot.

You could do some cool stuff with this function, such as making a dashboard similar to Tesla's car dashboard.

References Protocol::nominalBatteryAmperage(), and protocol().

void DriverStation::openLog ( const QString & file )

slot

Opens the given log file file and parses it as a JSON document

References config(), DS_Config::logger(), and Logger::openLog().

Referenced by browseLogs(), and updateLogs().

void DriverStation::openLogsPath ( )

slot

Opens the application logs in an explorer window

References logsPath().

DS::OperationStatus DriverStation::operationStatus ( ) const

Returns the current operation status of the robot (normal or e-stop).

References config(), and DS_Config::operationStatus().

Referenced by isEmergencyStopped().

int DriverStation::packetLoss ( ) const

Returns the current packet loss percentage (from 0 to 100).

Note: This value is updated every 250 milliseconds.

DS::Position DriverStation::position ( ) const

Returns the current position (1, 2 or 3) of the robot.

References config(), and DS_Config::position().

Referenced by FRC_2014::getPosition(), and FRC_2014::interpretFMSPacket().

Protocol * DriverStation::protocol ( ) const

private

Returns a pointer to the current loaded protocol.

Warning: Always check if the pointer is not NULL before using it!

Referenced by defaultFMSAddress(), defaultRadioAddress(), defaultRobotAddress(), maxAxisCount(), maxBatteryVoltage(), maxButtonCount(), maxJoystickCount(), maxPOVCount(), nominalBatteryAmperage(), readFMSPacket(), readRadioPacket(), readRobotPacket(), rebootRobot(), reconfigureJoysticks(), resetFMS(), resetRadio(), resetRobot(), restartRobotCode(), sendFMSPacket(), sendRadioPacket(), sendRobotPacket(), setProtocol(), and updatePacketLoss().

QStringList DriverStation::protocols ( ) const

Returns a list with the included protocols of the library. This function is meant to be used to generate your UI elements and seamessly use them with the setProtocolType() function.

QString DriverStation::radioAddress ( ) const

Returns the applied radio address (be it DS-set or user-set)

References customRadioAddress(), and defaultRadioAddress().

Referenced by Sockets::onRadioLookupFinished(), Sockets::performLookups(), setCustomRadioAddress(), and updateAddresses().

DS::CommStatus DriverStation::radioCommStatus ( ) const

Returns the current radio/FMS communication status.

References config(), and DS_Config::radioCommStatus().

Referenced by isConnectedToRadio().

int DriverStation::ramUsage ( ) const

Returns the current RAM usage of the robot. Value range is from 0 to 100.

References config(), and DS_Config::ramUsage().

void DriverStation::readFMSPacket ( const QByteArray & data )

privateslot

Instructs the current protocol to interpret the given data, which was sent by the FMS.

References protocol(), Watchdog::reset(), and running().

void DriverStation::readRadioPacket ( const QByteArray & data )

privateslot

Instructs the current protocol to interpret the given data, which was sent by the robot radio.

References protocol(), Watchdog::reset(), and running().

void DriverStation::readRobotPacket ( const QByteArray & data )

privateslot

Instructs the current protocol to interpret the given data, which was sent by the robot controller.

References protocol(), Watchdog::reset(), and running().

void DriverStation::rebootRobot ( )

slot

Reboots the robot controller (if a protocol is loaded)

References protocol(), and Protocol::rebootRobot().

void DriverStation::reconfigureJoysticks ( )

slot

Re-registers all joysticks based on the criteria specified by the new protocol.

Note: If the number of buttons of a joystick exceeds the number of buttons supported by the protocol, the DriverStation will register only the ammount of buttons supported by the protocol. The same process takes place for axes and POVs.

References maxAxisCount(), maxButtonCount(), maxJoystickCount(), maxPOVCount(), Protocol::name(), protocol(), DS::Joystick::realNumAxes, DS::Joystick::realNumButtons, DS::Joystick::realNumPOVs, registerJoystick(), and resetJoysticks().

Referenced by setProtocol().

bool DriverStation::registerJoystick	(	int	axes,
		int	buttons,
		int	povs
	)

Registers a new joystick with the given number of axes, buttons & POVs hats.

Note: If joystick registration fails, this function will return false.

References DS::Joystick::axes, DS::Joystick::buttons, joystickCount(), joysticks(), maxAxisCount(), maxButtonCount(), maxJoystickCount(), maxPOVCount(), DS::Joystick::numAxes, DS::Joystick::numButtons, DS::Joystick::numPOVs, DS::Joystick::povs, DS::Joystick::realNumAxes, DS::Joystick::realNumButtons, and DS::Joystick::realNumPOVs.

Referenced by reconfigureJoysticks().

void DriverStation::removeJoystick ( int id )

slot

Removes the joystick at the given id

References isConnectedToFMS(), joystickCount(), joysticks(), and setEnabled().

void DriverStation::resetFMS ( )

privateslot

Called when the FMS watchdog expires

References config(), DS::kCommsFailing, Protocol::onFMSWatchdogExpired(), protocol(), and DS_Config::updateFMSCommStatus().

Referenced by init(), and setProtocol().

void DriverStation::resetJoysticks ( )

slot

Removes all the registered joysticks

References isConnectedToFMS(), joystickCount(), joysticks(), and setEnabled().

Referenced by reconfigureJoysticks().

void DriverStation::resetRadio ( )

privateslot

Called when the radio watchdog expires

References config(), DS::kCommsFailing, Protocol::onRadioWatchdogExpired(), protocol(), and DS_Config::updateRadioCommStatus().

Referenced by init(), and setProtocol().

void DriverStation::resetRobot ( )

privateslot

Called when the robot watchdog expires

References config(), generalStatus(), DS::kCodeFailing, DS::kCommsFailing, DS::kDisabled, DS::kNormal, DS::kVoltageNormal, Protocol::onRobotWatchdogExpired(), protocol(), Protocol::resetLossCounter(), DS_Base::statusChanged(), DS_Config::updateEnabled(), DS_Config::updateOperationStatus(), DS_Config::updateRobotCodeStatus(), DS_Config::updateRobotCommStatus(), DS_Config::updateSimulated(), DS_Config::updateVoltage(), and DS_Config::updateVoltageStatus().

Referenced by init(), and setProtocol().

void DriverStation::restartRobotCode ( )

slot

Restarts the robot code (if a protocol is loaded)

References protocol(), and Protocol::restartRobotCode().

QString DriverStation::robotAddress ( ) const

Returns the applied robot address (be it DS-set or user-set)

References customRobotAddress(), and defaultRobotAddress().

Referenced by Sockets::onRobotLookupFinished(), Sockets::performLookups(), setCustomRobotAddress(), and updateAddresses().

DS::CodeStatus DriverStation::robotCodeStatus ( ) const

Returns the current status of the robot code

References config(), and DS_Config::robotCodeStatus().

Referenced by isRobotCodeRunning().

DS::CommStatus DriverStation::robotCommStatus ( ) const

Returns the current robot/FMS communication status.

References config(), and DS_Config::robotCommStatus().

Referenced by isConnectedToRobot().

bool DriverStation::running ( ) const

Returns true if the DS is currently allowed to send and receive data. This function is called whenever we send a packet or when we receive a packet.

Note: If this function returns false, then the DS will ignore all incoming packets and inhibit packet sending

Referenced by readFMSPacket(), readRadioPacket(), readRobotPacket(), sendFMSPacket(), sendRadioPacket(), and sendRobotPacket().

void DriverStation::sendFMSPacket ( )

privateslot

Generates and sends a new FMS packet only if we are already connected to the FMS

References isConnectedToFMS(), protocol(), running(), and Sockets::sendToFMS().

Referenced by init().

void DriverStation::sendRadioPacket ( )

privateslot

Generates and sends a new radio packet

References protocol(), running(), and Sockets::sendToRadio().

Referenced by init().

void DriverStation::sendRobotPacket ( )

privateslot

Generates and sends a new robot packet

References protocol(), running(), and Sockets::sendToRobot().

Referenced by init().

void DriverStation::setAlliance ( Alliance alliance )

slot

Updates the team alliance.

Note: This value can be overwritten by the FMS system

References config(), and DS_Config::updateAlliance().

Referenced by setTeamStation().

void DriverStation::setControlMode ( ControlMode mode )

slot

Changes the control mode of the robot.

Note: This value can be overwritten by the FMS system

References config(), and DS_Config::updateControlMode().

Referenced by switchToAutonomous(), switchToTeleoperated(), and switchToTestMode().

void DriverStation::setCustomFMSAddress ( const QString & address )

slot

Forces the system to look for the FMS at the given address instead of using the default FMS address specified by the current protocol.

References fmsAddress(), and Sockets::setFMSAddress().

void DriverStation::setCustomRadioAddress ( const QString & address )

slot

Forces the system to look for the robot radio at the given address instead of using the default radio address specified by the current protocol.

References radioAddress(), and Sockets::setRadioAddress().

void DriverStation::setCustomRobotAddress ( const QString & address )

slot

Forces the system to use the given address. This can be useful when you already know the IP address of the robot, or you are simulating your robot program with a specific virtual IP address.

Using this function is discouraged, the LibDS is fast enough to remove the need of defining the IP address of the robot by yourself.

References robotAddress(), and Sockets::setRobotAddress().

void DriverStation::setEnabled ( bool enabled )

slot

Changes the enabled status of the robot.

Note: This value can be overwritten by the FMS system or the robot application itself.

References DS::kDisabled, and DS::kEnabled.

Referenced by disableRobot(), enableRobot(), removeJoystick(), resetJoysticks(), switchToAutonomous(), switchToTeleoperated(), switchToTestMode(), and triggerEmergencyStop().

void DriverStation::setEnabled ( EnableStatus status )

slot

Changes the enabled status of the robot.

Note: This value can be overwritten by the FMS system or the robot application itself.

References config(), and DS_Config::updateEnabled().

void DriverStation::setOperationStatus ( OperationStatus status )

slot

Changes the operation status of the robot. Possible values are:

kDisconnected
kNormal
kEmergencyStop

If you are writting your own Driver Station client, we strongly encourage you to implement the hability to e-stop the robot in your custom client.

References config(), and DS_Config::updateOperationStatus().

Referenced by triggerEmergencyStop().

void DriverStation::setPosition ( Position position )

slot

Updates the team position

Note: This value can be overwritten by the FMS system

References config(), and DS_Config::updatePosition().

Referenced by setTeamStation().

void DriverStation::setProtocol ( Protocol * protocol )

slot

Loads and configures the given protocol with the LibDS system.

Note: Ths DS networking operations will be stopped while configuring the new protocol. Once the protocol has been configured, the DS networking operations will be resumed automatically.; All joysticks will be reconfigured based on the standards set by the new protocol.

References Protocol::fmsFrequency(), Protocol::fmsInputPort(), Protocol::fmsOutputPort(), Protocol::fmsSocketType(), Protocol::name(), Protocol::netconsoleInputPort(), Protocol::netconsoleOutputPort(), protocol(), Protocol::radioFrequency(), Protocol::radioInputPort(), Protocol::radioOutputPort(), Protocol::radioSocketType(), reconfigureJoysticks(), resetFMS(), resetRadio(), resetRobot(), Protocol::robotFrequency(), Protocol::robotInputPort(), Protocol::robotOutputPort(), Protocol::robotSocketType(), Watchdog::setExpirationTime(), Sockets::setFMSInputPort(), Sockets::setFMSOutputPort(), Sockets::setFMSSocketType(), NetConsole::setInputPort(), NetConsole::setOutputPort(), Sockets::setRadioInputPort(), Sockets::setRadioOutputPort(), Sockets::setRadioSocketType(), Sockets::setRobotInputPort(), Sockets::setRobotOutputPort(), Sockets::setRobotSocketType(), start(), stop(), and updateAddresses().

Referenced by setProtocolType().

void DriverStation::setProtocolType ( int protocol )

slot

Given the protocol, this function will initialize, load and configure the defined protocol.

This function is meant to be used in co-junction of the list outputted by the protocols() function.

References setProtocol().

void DriverStation::setTeam ( int team )

slot

Changes the team number to the given team.

Note: Calling this function will trigger a re-evaluation of the FMS, radio and robot IPs (only if communications have not been established yet)

References config(), and DS_Config::updateTeam().

void DriverStation::setTeamStation ( int station )

slot

If you are lazy enough to not wanting to use two function calls to change the alliance & position of the robot, we've got you covered!

Actually, this function is available so that the UI elements (such as a combobox with team stations) can interact directly with the DriverStation

References DS::kAllianceBlue, DS::kAllianceRed, DS::kPosition1, DS::kPosition2, DS::kPosition3, setAlliance(), and setPosition().

void DriverStation::start ( )

privateslot

Allows the DS to send and receive packets

Referenced by setProtocol().

void DriverStation::stop ( )

privateslot

Inhibits the DS to send and receive packets

Referenced by setProtocol().

void DriverStation::switchToAutonomous ( )

slot

Disables the robot and changes the control mode to kControlAutonomous

References DS::kControlAutonomous, DS::kDisabled, setControlMode(), and setEnabled().

void DriverStation::switchToTeleoperated ( )

slot

Disables the robot and changes the control mode to kControlTeleoperated

References DS::kControlTeleoperated, DS::kDisabled, setControlMode(), and setEnabled().

void DriverStation::switchToTestMode ( )

slot

Disables the robot and changes the control mode to kControlTest

References DS::kControlTest, DS::kDisabled, setControlMode(), and setEnabled().

int DriverStation::team ( ) const

Returns the current team number, which can be used by the client application.

References config(), and DS_Config::team().

Referenced by FRC_2014::radioAddress(), and FRC_2014::robotAddress().

QStringList DriverStation::teamStations ( ) const

Returns a list with the possible alliances and positions. This function is meant to be used to generate your UI elements and seamessly use them with the setAllianceAndPosition() function.

void DriverStation::triggerEmergencyStop ( )

slot

Disables the robot and triggers an emergency stop on the robot

References DS::kDisabled, DS::kEmergencyStop, setEnabled(), and setOperationStatus().

void DriverStation::updateAddresses ( )

privateslot

Ensures that the IP addresses are updated when the application changes the team number.

References fmsAddress(), radioAddress(), robotAddress(), Sockets::setFMSAddress(), Sockets::setRadioAddress(), and Sockets::setRobotAddress().

Referenced by setProtocol(), and updateAddresses().

void DriverStation::updateAddresses ( int unused )

privateslot

This overloaded function is called when the team number is changed (hence the int in the argument).

As its name suggests, the input value is unused, this function was implemented to avoid possible errors in the Qt signal/slot system, while maintaining the functionality of the original updateAddresses() function

References updateAddresses().

void DriverStation::updateAxis	(	int	id,
		int	axis,
		qreal	value
	)

slot

Updates the value of the given axis of the joystick with the specified id

Note: If the given joystick is invalid, this function will silently ignore your request

References joysticks().

void DriverStation::updateButton	(	int	id,
		int	button,
		bool	state
	)

slot

Updates the pressed state of the given button of the joystick with the specified id

Note: If the given joystick is invalid, this function will silently ignore your request

References joysticks().

void DriverStation::updateLogs ( const QString & file )

privateslot

Used to ensure that the log feed of the UI is constantly updated

References openLog().

void DriverStation::updatePacketLoss ( )

privateslot

Calculates the current packet loss as a percent

References config(), isConnectedToRobot(), DS_Config::logger(), protocol(), Protocol::recvRobotPacketsSinceConnect(), Logger::registerPacketLoss(), and Protocol::sentRobotPacketsSinceConnect().

Referenced by init().

void DriverStation::updatePOV	(	int	id,
		int	pov,
		int	angle
	)

slot

Updates the angle of the given pov of the joystick with the specified id

Note: If the given joystick is invalid, this function will silently ignore your request

References joysticks().

DS::VoltageStatus DriverStation::voltageStatus ( ) const

Returns the current voltage status (normal or brownout) of the robot.

References config(), and DS_Config::voltageStatus().

Referenced by isVoltageBrownout().

The documentation for this class was generated from the following files:

DriverStation.h
DriverStation.cpp

Public Types

Public Slots

Signals

Public Member Functions

Static Public Member Functions

Private Slots

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation