Class to control a simulated driver station. More...

#include <wpi/simulation/DriverStationSim.hpp>

Static Public Member Functions
static std::unique_ptr< CallbackStore >	RegisterEnabledCallback (NotifyCallback callback, bool initialNotify)
	Register a callback on whether the DS is enabled.
static bool	GetEnabled ()
	Check if the DS is enabled.
static void	SetEnabled (bool enabled)
	Change whether the DS is enabled.
static std::unique_ptr< CallbackStore >	RegisterRobotModeCallback (NotifyCallback callback, bool initialNotify)
	Register a callback on DS robot mode changes.
static HAL_RobotMode	GetRobotMode ()
	Get the robot mode set by the DS.
static void	SetRobotMode (HAL_RobotMode robotMode)
	Change the robot mode set by the DS.
static std::unique_ptr< CallbackStore >	RegisterEStopCallback (NotifyCallback callback, bool initialNotify)
	Register a callback on the eStop state.
static bool	GetEStop ()
	Check if eStop has been activated.
static void	SetEStop (bool eStop)
	Set whether eStop is active.
static std::unique_ptr< CallbackStore >	RegisterFmsAttachedCallback (NotifyCallback callback, bool initialNotify)
	Register a callback on whether the FMS is connected.
static bool	GetFmsAttached ()
	Check if the FMS is connected.
static void	SetFmsAttached (bool fmsAttached)
	Change whether the FMS is connected.
static std::unique_ptr< CallbackStore >	RegisterDsAttachedCallback (NotifyCallback callback, bool initialNotify)
	Register a callback on whether the DS is connected.
static bool	GetDsAttached ()
	Check if the DS is attached.
static void	SetDsAttached (bool dsAttached)
	Change whether the DS is attached.
static std::unique_ptr< CallbackStore >	RegisterAllianceStationIdCallback (NotifyCallback callback, bool initialNotify)
	Register a callback on the alliance station ID.
static HAL_AllianceStationID	GetAllianceStationId ()
	Get the alliance station ID (color + number).
static void	SetAllianceStationId (HAL_AllianceStationID allianceStationId)
	Change the alliance station.
static std::unique_ptr< CallbackStore >	RegisterMatchTimeCallback (NotifyCallback callback, bool initialNotify)
	Register a callback on match time.
static double	GetMatchTime ()
	Get the current value of the match timer.
static void	SetMatchTime (double matchTime)
	Sets the match timer.
static std::unique_ptr< CallbackStore >	RegisterOpModeCallback (NotifyCallback callback, bool initialNotify)
	Register a callback on DS opmode changes.
static int64_t	GetOpMode ()
	Get the opmode set by the DS.
static void	SetOpMode (int64_t opmode)
	Change the opmode set by the DS.
static std::unique_ptr< CallbackStore >	RegisterOpModeOptionsCallback (OpModeOptionsCallback callback, bool initialNotify)
	Register a callback on opmode options changes.
static OpModeOptions	GetOpModeOptions ()
	Gets the list of opmode options.
static void	NotifyNewData ()
	Updates DriverStation data so that new values are visible to the user program.
static void	SetSendError (bool shouldSend)
	Sets suppression of DriverStation::ReportError and ReportWarning messages.
static void	SetSendConsoleLine (bool shouldSend)
	Sets suppression of DriverStation::SendConsoleLine messages.
static int32_t	GetJoystickLeds (int stick)
	Gets the joystick outputs.
static int	GetJoystickRumble (int stick, int rumbleNum)
	Gets the joystick rumble.
static void	SetJoystickButton (int stick, int button, bool state)
	Sets the state of one joystick button.
static void	SetJoystickAxis (int stick, int axis, double value)
	Gets the value of the axis on a joystick.
static void	SetJoystickPOV (int stick, int pov, DriverStation::POVDirection value)
	Gets the state of a POV on a joystick.
static void	SetJoystickAxesMaximumIndex (int stick, int maximumIndex)
	Sets the number of axes for a joystick.
static void	SetJoystickAxesAvailable (int stick, int available)
	Sets the number of axes for a joystick.
static void	SetJoystickPOVsMaximumIndex (int stick, int maximumIndex)
	Sets the number of POVs for a joystick.
static void	SetJoystickPOVsAvailable (int stick, int available)
	Sets the number of POVs for a joystick.
static void	SetJoystickButtonsMaximumIndex (int stick, int count)
	Sets the number of buttons for a joystick.
static void	SetJoystickButtonsAvailable (int stick, uint64_t available)
static void	SetJoystickIsGamepad (int stick, bool isGamepad)
	Sets the value of isGamepad for a joystick.
static void	SetJoystickGamepadType (int stick, int type)
	Sets the value of type for a joystick.
static void	SetJoystickName (int stick, std::string_view name)
	Sets the name of a joystick.
static void	SetJoystickSupportedOutputs (int stick, int supportedOutputs)
	Sets the supported outputs for a joystick.
static void	SetGameData (std::string_view message)
	Sets the game specific message.
static void	SetEventName (std::string_view name)
	Sets the event name.
static void	SetMatchType (DriverStation::MatchType type)
	Sets the match type.
static void	SetMatchNumber (int matchNumber)
	Sets the match number.
static void	SetReplayNumber (int replayNumber)
	Sets the replay number.
static void	ResetData ()
	Reset all simulation data for the Driver Station.

Detailed Description

Class to control a simulated driver station.

Member Function Documentation

◆ GetAllianceStationId()

HAL_AllianceStationID wpi::sim::DriverStationSim::GetAllianceStationId ( )

static

Get the alliance station ID (color + number).

Returns: the alliance station color and number

◆ GetDsAttached()

bool wpi::sim::DriverStationSim::GetDsAttached ( )

static

Check if the DS is attached.

Returns: true if attached

◆ GetEnabled()

bool wpi::sim::DriverStationSim::GetEnabled ( )

static

Check if the DS is enabled.

Returns: true if enabled

◆ GetEStop()

bool wpi::sim::DriverStationSim::GetEStop ( )

static

Check if eStop has been activated.

Returns: true if eStopped

◆ GetFmsAttached()

bool wpi::sim::DriverStationSim::GetFmsAttached ( )

static

Check if the FMS is connected.

Returns: true if FMS is connected

◆ GetJoystickLeds()

int32_t wpi::sim::DriverStationSim::GetJoystickLeds ( int stick )

static

Gets the joystick outputs.

Parameters

stick The joystick number

Returns: The joystick outputs

◆ GetJoystickRumble()

int wpi::sim::DriverStationSim::GetJoystickRumble	(	int	stick,
		int	rumbleNum )

static

Gets the joystick rumble.

Parameters

stick	The joystick number
rumbleNum	Rumble to get (0=left, 1=right, 2=left trigger, 3=right trigger)

Returns: The joystick rumble value

◆ GetMatchTime()

double wpi::sim::DriverStationSim::GetMatchTime ( )

static

Get the current value of the match timer.

Returns: the current match time

◆ GetOpMode()

int64_t wpi::sim::DriverStationSim::GetOpMode ( )

static

Get the opmode set by the DS.

Returns: opmode

◆ GetOpModeOptions()

OpModeOptions wpi::sim::DriverStationSim::GetOpModeOptions ( )

static

Gets the list of opmode options.

Returns: opmodes list

◆ GetRobotMode()

HAL_RobotMode wpi::sim::DriverStationSim::GetRobotMode ( )

static

Get the robot mode set by the DS.

Returns: robot mode

◆ NotifyNewData()

void wpi::sim::DriverStationSim::NotifyNewData ( )

static

Updates DriverStation data so that new values are visible to the user program.

◆ RegisterAllianceStationIdCallback()

std::unique_ptr< CallbackStore > wpi::sim::DriverStationSim::RegisterAllianceStationIdCallback	(	NotifyCallback	callback,
		bool	initialNotify )

staticnodiscard

Register a callback on the alliance station ID.

Parameters

callback	the callback that will be called whenever the alliance station changes
initialNotify	if true, the callback will be run on the initial value

Returns: the CallbackStore object associated with this callback

◆ RegisterDsAttachedCallback()

std::unique_ptr< CallbackStore > wpi::sim::DriverStationSim::RegisterDsAttachedCallback	(	NotifyCallback	callback,
		bool	initialNotify )

staticnodiscard

Register a callback on whether the DS is connected.

Parameters

callback	the callback that will be called whenever the DS connection changes
initialNotify	if true, the callback will be run on the initial value

Returns: the CallbackStore object associated with this callback

◆ RegisterEnabledCallback()

std::unique_ptr< CallbackStore > wpi::sim::DriverStationSim::RegisterEnabledCallback	(	NotifyCallback	callback,
		bool	initialNotify )

staticnodiscard

Register a callback on whether the DS is enabled.

Parameters

callback	the callback that will be called whenever the enabled state is changed
initialNotify	if true, the callback will be run on the initial value

Returns: the CallbackStore object associated with this callback

◆ RegisterEStopCallback()

std::unique_ptr< CallbackStore > wpi::sim::DriverStationSim::RegisterEStopCallback	(	NotifyCallback	callback,
		bool	initialNotify )

staticnodiscard

Register a callback on the eStop state.

Parameters

callback	the callback that will be called whenever the eStop state changes
initialNotify	if true, the callback will be run on the initial value

Returns: the CallbackStore object associated with this callback

◆ RegisterFmsAttachedCallback()

std::unique_ptr< CallbackStore > wpi::sim::DriverStationSim::RegisterFmsAttachedCallback	(	NotifyCallback	callback,
		bool	initialNotify )

staticnodiscard

Register a callback on whether the FMS is connected.

Parameters

callback	the callback that will be called whenever the FMS connection changes
initialNotify	if true, the callback will be run on the initial value

Returns: the CallbackStore object associated with this callback

◆ RegisterMatchTimeCallback()

std::unique_ptr< CallbackStore > wpi::sim::DriverStationSim::RegisterMatchTimeCallback	(	NotifyCallback	callback,
		bool	initialNotify )

staticnodiscard

Register a callback on match time.

Parameters

callback	the callback that will be called whenever match time changes
initialNotify	if true, the callback will be run on the initial value

Returns: the CallbackStore object associated with this callback

◆ RegisterOpModeCallback()

std::unique_ptr< CallbackStore > wpi::sim::DriverStationSim::RegisterOpModeCallback	(	NotifyCallback	callback,
		bool	initialNotify )

staticnodiscard

Register a callback on DS opmode changes.

Parameters

callback	the callback that will be called when opmode changes
initialNotify	if true, the callback will be run on the initial value

Returns: the CallbackStore object associated with this callback

◆ RegisterOpModeOptionsCallback()

std::unique_ptr< CallbackStore > wpi::sim::DriverStationSim::RegisterOpModeOptionsCallback	(	OpModeOptionsCallback	callback,
		bool	initialNotify )

staticnodiscard

Register a callback on opmode options changes.

Parameters

callback	the callback that will be called when the list of opmodes changes
initialNotify	if true, the callback will be run on the initial value

Returns: the CallbackStore object associated with this callback.

◆ RegisterRobotModeCallback()

std::unique_ptr< CallbackStore > wpi::sim::DriverStationSim::RegisterRobotModeCallback	(	NotifyCallback	callback,
		bool	initialNotify )

staticnodiscard

Register a callback on DS robot mode changes.

Parameters

callback	the callback that will be called when robot mode changes
initialNotify	if true, the callback will be run on the initial value

Returns: the CallbackStore object associated with this callback

◆ ResetData()

void wpi::sim::DriverStationSim::ResetData ( )

static

Reset all simulation data for the Driver Station.

◆ SetAllianceStationId()

void wpi::sim::DriverStationSim::SetAllianceStationId ( HAL_AllianceStationID allianceStationId )

static

Change the alliance station.

Parameters

allianceStationId the new alliance station

◆ SetDsAttached()

void wpi::sim::DriverStationSim::SetDsAttached ( bool dsAttached )

static

Change whether the DS is attached.

Parameters

dsAttached the new value

◆ SetEnabled()

void wpi::sim::DriverStationSim::SetEnabled ( bool enabled )

static

Change whether the DS is enabled.

Parameters

enabled the new value

◆ SetEStop()

void wpi::sim::DriverStationSim::SetEStop ( bool eStop )

static

Set whether eStop is active.

Parameters

eStop true to activate

◆ SetEventName()

void wpi::sim::DriverStationSim::SetEventName ( std::string_view name )

static

Sets the event name.

Parameters

name	the event name

◆ SetFmsAttached()

void wpi::sim::DriverStationSim::SetFmsAttached ( bool fmsAttached )

static

Change whether the FMS is connected.

Parameters

fmsAttached the new value

◆ SetGameData()

void wpi::sim::DriverStationSim::SetGameData ( std::string_view message )

static

Sets the game specific message.

Parameters

message the game specific message

◆ SetJoystickAxesAvailable()

void wpi::sim::DriverStationSim::SetJoystickAxesAvailable	(	int	stick,
		int	available )

static

Sets the number of axes for a joystick.

Parameters

stick	The joystick number
available	The number of axes on the indicated joystick

◆ SetJoystickAxesMaximumIndex()

void wpi::sim::DriverStationSim::SetJoystickAxesMaximumIndex	(	int	stick,
		int	maximumIndex )

static

Sets the number of axes for a joystick.

Parameters

stick	The joystick number
maximumIndex	The number of axes on the indicated joystick

◆ SetJoystickAxis()

void wpi::sim::DriverStationSim::SetJoystickAxis	(	int	stick,
		int	axis,
		double	value )

static

Gets the value of the axis on a joystick.

Parameters

stick	The joystick number
axis	The analog axis number
value	The value of the axis on the joystick

◆ SetJoystickButton()

void wpi::sim::DriverStationSim::SetJoystickButton	(	int	stick,
		int	button,
		bool	state )

static

Sets the state of one joystick button.

Button indexes begin at 0.

Parameters

stick	The joystick number
button	The button index, beginning at 0
state	The state of the joystick button

◆ SetJoystickButtonsAvailable()

void wpi::sim::DriverStationSim::SetJoystickButtonsAvailable	(	int	stick,
		uint64_t	available )

static

◆ SetJoystickButtonsMaximumIndex()

void wpi::sim::DriverStationSim::SetJoystickButtonsMaximumIndex	(	int	stick,
		int	count )

static

Sets the number of buttons for a joystick.

Parameters

stick	The joystick number
count	The number of buttons on the indicated joystick

◆ SetJoystickGamepadType()

void wpi::sim::DriverStationSim::SetJoystickGamepadType	(	int	stick,
		int	type )

static

Sets the value of type for a joystick.

Parameters

stick	The joystick number
type	The value of type

◆ SetJoystickIsGamepad()

void wpi::sim::DriverStationSim::SetJoystickIsGamepad	(	int	stick,
		bool	isGamepad )

static

Sets the value of isGamepad for a joystick.

Parameters

stick	The joystick number
isGamepad	The value of isGamepad

◆ SetJoystickName()

void wpi::sim::DriverStationSim::SetJoystickName	(	int	stick,
		std::string_view	name )

static

Sets the name of a joystick.

Parameters

stick	The joystick number
name	The value of name

◆ SetJoystickPOV()

void wpi::sim::DriverStationSim::SetJoystickPOV	(	int	stick,
		int	pov,
		DriverStation::POVDirection	value )

static

Gets the state of a POV on a joystick.

Parameters

stick	The joystick number
pov	The POV number
value	the angle of the POV

◆ SetJoystickPOVsAvailable()

void wpi::sim::DriverStationSim::SetJoystickPOVsAvailable	(	int	stick,
		int	available )

static

Sets the number of POVs for a joystick.

Parameters

stick	The joystick number
available	The number of POVs on the indicated joystick

◆ SetJoystickPOVsMaximumIndex()

void wpi::sim::DriverStationSim::SetJoystickPOVsMaximumIndex	(	int	stick,
		int	maximumIndex )

static

Sets the number of POVs for a joystick.

Parameters

stick	The joystick number
maximumIndex	The number of POVs on the indicated joystick

◆ SetJoystickSupportedOutputs()

void wpi::sim::DriverStationSim::SetJoystickSupportedOutputs	(	int	stick,
		int	supportedOutputs )

static

Sets the supported outputs for a joystick.

Parameters

stick	The joystick number
supportedOutputs	The supported outputs for the joystick

◆ SetMatchNumber()

void wpi::sim::DriverStationSim::SetMatchNumber ( int matchNumber )

static

Sets the match number.

Parameters

matchNumber the match number

◆ SetMatchTime()

void wpi::sim::DriverStationSim::SetMatchTime ( double matchTime )

static

Sets the match timer.

Parameters

matchTime the new match time

◆ SetMatchType()

void wpi::sim::DriverStationSim::SetMatchType ( DriverStation::MatchType type )

static

Sets the match type.

Parameters

type	the match type

◆ SetOpMode()

void wpi::sim::DriverStationSim::SetOpMode ( int64_t opmode )

static

Change the opmode set by the DS.

Parameters

opmode the new value

◆ SetReplayNumber()

void wpi::sim::DriverStationSim::SetReplayNumber ( int replayNumber )

static

Sets the replay number.

Parameters

replayNumber the replay number

◆ SetRobotMode()

void wpi::sim::DriverStationSim::SetRobotMode ( HAL_RobotMode robotMode )

static

Change the robot mode set by the DS.

Parameters

robotMode the new value

◆ SetSendConsoleLine()

void wpi::sim::DriverStationSim::SetSendConsoleLine ( bool shouldSend )

static

Sets suppression of DriverStation::SendConsoleLine messages.

Parameters

shouldSend If false then messages will be suppressed.

◆ SetSendError()

void wpi::sim::DriverStationSim::SetSendError ( bool shouldSend )

static

Sets suppression of DriverStation::ReportError and ReportWarning messages.

Parameters

shouldSend If false then messages will be suppressed.

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

wpi/simulation/DriverStationSim.hpp

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ GetAllianceStationId()

◆ GetDsAttached()

◆ GetEnabled()

◆ GetEStop()

◆ GetFmsAttached()

◆ GetJoystickLeds()

◆ GetJoystickRumble()

◆ GetMatchTime()

◆ GetOpMode()

◆ GetOpModeOptions()

◆ GetRobotMode()

◆ NotifyNewData()

◆ RegisterAllianceStationIdCallback()

◆ RegisterDsAttachedCallback()

◆ RegisterEnabledCallback()

◆ RegisterEStopCallback()

◆ RegisterFmsAttachedCallback()

◆ RegisterMatchTimeCallback()

◆ RegisterOpModeCallback()

◆ RegisterOpModeOptionsCallback()

◆ RegisterRobotModeCallback()

◆ ResetData()

◆ SetAllianceStationId()

◆ SetDsAttached()

◆ SetEnabled()

◆ SetEStop()

◆ SetEventName()

◆ SetFmsAttached()

◆ SetGameData()

◆ SetJoystickAxesAvailable()

◆ SetJoystickAxesMaximumIndex()

◆ SetJoystickAxis()

◆ SetJoystickButton()

◆ SetJoystickButtonsAvailable()

◆ SetJoystickButtonsMaximumIndex()

◆ SetJoystickGamepadType()

◆ SetJoystickIsGamepad()

◆ SetJoystickName()

◆ SetJoystickPOV()

◆ SetJoystickPOVsAvailable()

◆ SetJoystickPOVsMaximumIndex()

◆ SetJoystickSupportedOutputs()

◆ SetMatchNumber()

◆ SetMatchTime()

◆ SetMatchType()

◆ SetOpMode()

◆ SetReplayNumber()

◆ SetRobotMode()

◆ SetSendConsoleLine()

◆ SetSendError()