Provides access to robot state information from the Driver Station. More...

#include <wpi/driverstation/RobotState.hpp>

Public Member Functions
	RobotState ()=delete

Static Public Member Functions
static bool	IsEnabled ()
	Check if the DS has enabled the robot.
static bool	IsDisabled ()
	Check if the robot is disabled.
static bool	IsEStopped ()
	Check if the robot is e-stopped.
static RobotMode	GetRobotMode ()
	Gets the current robot mode.
static bool	IsAutonomous ()
	Check if the DS is commanding autonomous mode.
static bool	IsAutonomousEnabled ()
	Check if the DS is commanding autonomous mode and if it has enabled the robot.
static bool	IsTeleop ()
	Check if the DS is commanding teleop mode.
static bool	IsTeleopEnabled ()
	Check if the DS is commanding teleop mode and if it has enabled the robot.
static bool	IsUtility ()
	Check if the DS is commanding utility mode.
static bool	IsUtilityEnabled ()
	Check if the DS is commanding Utility mode and if it has enabled the robot.
static int64_t	AddOpMode (RobotMode mode, std::string_view name, std::string_view group, std::string_view description, const wpi::util::Color &textColor, const wpi::util::Color &backgroundColor)
	Adds an operating mode option.
static int64_t	AddOpMode (RobotMode mode, std::string_view name, std::string_view group={}, std::string_view description={})
	Adds an operating mode option.
static int64_t	RemoveOpMode (RobotMode mode, std::string_view name)
	Removes an operating mode option.
static void	PublishOpModes ()
	Publishes the operating mode options to the driver station.
static void	ClearOpModes ()
	Clears all operating mode options and publishes an empty list to the driver station.
static int64_t	GetOpModeId ()
	Gets the operating mode selected on the driver station.
static std::string	GetOpMode ()
	Gets the operating mode selected on the driver station.
static bool	IsOpMode (int64_t id)
	Check to see if the selected operating mode is a particular value.
static bool	IsOpMode (std::string_view mode)
	Check to see if the selected operating mode is a particular value.
static bool	IsDSAttached ()
	Check if the DS is attached.
static bool	IsFMSAttached ()
	Is the driver station attached to a Field Management System?

Detailed Description

Provides access to robot state information from the Driver Station.

Constructor & Destructor Documentation

◆ RobotState()

wpi::RobotState::RobotState ( )

delete

Member Function Documentation

◆ AddOpMode() [1/2]

int64_t wpi::RobotState::AddOpMode	(	RobotMode	mode,
		std::string_view	name,
		std::string_view	group,
		std::string_view	description,
		const wpi::util::Color &	textColor,
		const wpi::util::Color &	backgroundColor )

inlinestatic

Adds an operating mode option.

It's necessary to call PublishOpModes() to make the added modes visible to the driver station.

Parameters

mode	robot mode
name	name of the operating mode
group	group of the operating mode
description	description of the operating mode
textColor	text color
backgroundColor	background color

Returns: unique ID used to later identify the operating mode; if a blank name is passed, 0 is returned; identical names for the same robot mode result in a 0 return value

◆ AddOpMode() [2/2]

int64_t wpi::RobotState::AddOpMode	(	RobotMode	mode,
		std::string_view	name,
		std::string_view	group = {},
		std::string_view	description = {} )

inlinestatic

Adds an operating mode option.

It's necessary to call PublishOpModes() to make the added modes visible to the driver station.

Parameters

mode	robot mode
name	name of the operating mode
group	group of the operating mode
description	description of the operating mode

Returns: unique ID used to later identify the operating mode; if a blank name is passed, 0 is returned; identical names for the same robot mode result in a 0 return value

◆ ClearOpModes()

void wpi::RobotState::ClearOpModes ( )

inlinestatic

Clears all operating mode options and publishes an empty list to the driver station.

◆ GetOpMode()

std::string wpi::RobotState::GetOpMode ( )

inlinestatic

Gets the operating mode selected on the driver station.

Note this does not mean the robot is enabled; use IsEnabled() for that. In a match, this will indicate the operating mode selected for auto before the match starts (i.e., while the robot is disabled in auto mode); after the auto period ends, this will change to reflect the operating mode selected for teleop.

Returns: Operating mode string; may return a string not in the list of options, so callers should be prepared to handle that case

◆ GetOpModeId()

int64_t wpi::RobotState::GetOpModeId ( )

inlinestatic

Gets the operating mode selected on the driver station.

Note this does not mean the robot is enabled; use IsEnabled() for that. In a match, this will indicate the operating mode selected for auto before the match starts (i.e., while the robot is disabled in auto mode); after the auto period ends, this will change to reflect the operating mode selected for teleop.

Returns: the unique ID provided by the AddOpMode() function; may return 0 or a unique ID not added, so callers should be prepared to handle that case

◆ GetRobotMode()

RobotMode wpi::RobotState::GetRobotMode ( )

inlinestatic

Gets the current robot mode.

Note that this does not indicate whether the robot is enabled or disabled.

Returns: robot mode

◆ IsAutonomous()

bool wpi::RobotState::IsAutonomous ( )

inlinestatic

Check if the DS is commanding autonomous mode.

Returns: True if the robot is being commanded to be in autonomous mode

◆ IsAutonomousEnabled()

bool wpi::RobotState::IsAutonomousEnabled ( )

inlinestatic

Check if the DS is commanding autonomous mode and if it has enabled the robot.

Returns: True if the robot is being commanded to be in autonomous mode and enabled.

◆ IsDisabled()

bool wpi::RobotState::IsDisabled ( )

inlinestatic

Check if the robot is disabled.

Returns: True if the robot is explicitly disabled or the DS is not connected

◆ IsDSAttached()

bool wpi::RobotState::IsDSAttached ( )

inlinestatic

Check if the DS is attached.

Returns: True if the DS is connected to the robot

◆ IsEnabled()

bool wpi::RobotState::IsEnabled ( )

inlinestatic

Check if the DS has enabled the robot.

Returns: True if the robot is enabled and the DS is connected

◆ IsEStopped()

bool wpi::RobotState::IsEStopped ( )

inlinestatic

Check if the robot is e-stopped.

Returns: True if the robot is e-stopped

◆ IsFMSAttached()

bool wpi::RobotState::IsFMSAttached ( )

inlinestatic

Is the driver station attached to a Field Management System?

Returns: True if the robot is competing on a field being controlled by a Field Management System

◆ IsOpMode() [1/2]

bool wpi::RobotState::IsOpMode ( int64_t id )

inlinestatic

Check to see if the selected operating mode is a particular value.

Note this does not mean the robot is enabled; use IsEnabled() for that.

Parameters

id	operating mode unique ID

Returns: True if that mode is the current mode

◆ IsOpMode() [2/2]

bool wpi::RobotState::IsOpMode ( std::string_view mode )

inlinestatic

Check to see if the selected operating mode is a particular value.

Note this does not mean the robot is enabled; use IsEnabled() for that.

Parameters

mode	operating mode

Returns: True if that mode is the current mode

◆ IsTeleop()

bool wpi::RobotState::IsTeleop ( )

inlinestatic

Check if the DS is commanding teleop mode.

Returns: True if the robot is being commanded to be in teleop mode

◆ IsTeleopEnabled()

bool wpi::RobotState::IsTeleopEnabled ( )

inlinestatic

Check if the DS is commanding teleop mode and if it has enabled the robot.

Returns: True if the robot is being commanded to be in teleop mode and enabled.

◆ IsUtility()

bool wpi::RobotState::IsUtility ( )

inlinestatic

Check if the DS is commanding utility mode.

Returns: True if the robot is being commanded to be in utility mode

◆ IsUtilityEnabled()

bool wpi::RobotState::IsUtilityEnabled ( )

inlinestatic

Check if the DS is commanding Utility mode and if it has enabled the robot.

Returns: True if the robot is being commanded to be in Utility mode and enabled.

◆ PublishOpModes()

void wpi::RobotState::PublishOpModes ( )

inlinestatic

Publishes the operating mode options to the driver station.

◆ RemoveOpMode()

int64_t wpi::RobotState::RemoveOpMode	(	RobotMode	mode,
		std::string_view	name )

inlinestatic

Removes an operating mode option.

It's necessary to call PublishOpModes() to make the removed mode no longer visible to the driver station.

Parameters

mode	robot mode
name	name of the operating mode

Returns: unique ID for the opmode, or 0 if not found

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

wpi/driverstation/RobotState.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RobotState()

Member Function Documentation

◆ AddOpMode() [1/2]

◆ AddOpMode() [2/2]

◆ ClearOpModes()

◆ GetOpMode()

◆ GetOpModeId()

◆ GetRobotMode()

◆ IsAutonomous()

◆ IsAutonomousEnabled()

◆ IsDisabled()

◆ IsDSAttached()

◆ IsEnabled()

◆ IsEStopped()

◆ IsFMSAttached()

◆ IsOpMode() [1/2]

◆ IsOpMode() [2/2]

◆ IsTeleop()

◆ IsTeleopEnabled()

◆ IsUtility()

◆ IsUtilityEnabled()

◆ PublishOpModes()

◆ RemoveOpMode()