DriverStationModeThread.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <atomic>
#include <thread>
 
namespace frc::internal {
/**
 * For internal use only.
 */
class DriverStationModeThread {
 public:
  /**
   * For internal use only.
   */
  DriverStationModeThread();
 
  ~DriverStationModeThread();
 
  DriverStationModeThread(const DriverStationModeThread& other) = delete;
  DriverStationModeThread(DriverStationModeThread&& other) = delete;
  DriverStationModeThread& operator=(const DriverStationModeThread& other) =
      delete;
  DriverStationModeThread& operator=(DriverStationModeThread&& other) = delete;
 
  /**
   * Only to be used to tell the Driver Station what code you claim to be
   * executing for diagnostic purposes only.
   *
   * @param entering If true, starting disabled code; if false, leaving disabled
   * code
   */
  void InDisabled(bool entering);
 
  /**
   * Only to be used to tell the Driver Station what code you claim to be
   * executing for diagnostic purposes only.
   *
   * @param entering If true, starting autonomous code; if false, leaving
   * autonomous code
   */
  void InAutonomous(bool entering);
 
  /**
   * Only to be used to tell the Driver Station what code you claim to be
   * executing for diagnostic purposes only.
   *
   * @param entering If true, starting teleop code; if false, leaving teleop
   * code
   */
  void InTeleop(bool entering);
 
  /**
   * Only to be used to tell the Driver Station what code you claim to be
   * executing for diagnostic purposes only.
   *
   * @param entering If true, starting test code; if false, leaving test code
   */
  void InTest(bool entering);
 
 private:
  std::atomic_bool m_keepAlive{false};
  std::thread m_thread;
  void Run();
  bool m_userInDisabled{false};
  bool m_userInAutonomous{false};
  bool m_userInTeleop{false};
  bool m_userInTest{false};
};
}  // namespace frc::internal