DriverStationJNI.java

// TODO - RobotCore - Modified file
 
// 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.
 
package org.wpilib.hardware.hal;
 
import org.wpilib.driverstation.GenericHID.HIDType;
 
import robotCore.JoystickBase;
import robotCore.Logger;
import robotCore.RobotCore;

public class DriverStationJNI  {

  public static final int MAX_JOYSTICK_AXES = 12;
 
  public static final int MAX_JOYSTICK_BUTTONS = 64;

  public static final int MAX_JOYSTICK_POVS = 8;

  public static final int MAX_JOYSTICKS = 6;

  public static final int MAX_JOYSTICK_TOUCHPADS = 2;

  public static final int MAX_JOYSTICK_TOUCHPAD_FINGERS = 2; 
  
  private static JoystickBase m_joystick = null;
  private static JoystickBase joystick()
  {
    if (m_joystick == null)
    {
      m_joystick = JoystickBase.getInstance();
    }
 
    return m_joystick;
  }
 
  public static void observeUserProgram(long word) {
    // System.out.println(String.format("DriverStationJNI.observeUserProgram(%d)", word));
    // throw new UnsupportedOperationException("Unimplemented method 'DriverStationJNI.observeUserProgram'");
    // TODO - Must verify
  }
 
  public static int setJoystickLeds(byte joystickNum, int leds) {
    throw new UnsupportedOperationException("Unimplemented method 'DriverStationJNI.setJoystickLeds'");
    // return 0; // TODO - Must fix
  }
 
  public static int setJoystickRumble(
      byte joystickNum,
      int leftRumble,
      int rightRumble,
      int leftTriggerRumble,
      int rightTriggerRumble) {
    throw new UnsupportedOperationException("Unimplemented method 'DriverStationJNI.setjoystickRumble'");
        // return 0;   // TODO - Must fix
      } 
 
  public static AllianceStationID getAllianceStation() {
      return AllianceStationID.BLUE_1;
  };
  
  public static long selectOpMode(RobotMode mode) {
    for (OpModeOption o : s_opModes) {
      if (o.getMode() == mode)
        return o.id; // first opmode of that type
    }
    return 0;
  }
  
  public static void getControlWord(ControlWord controlWord) {
    // controlWord.update(nativeGetControlWord());
    RobotCore.getInstance().getControlWord(controlWord);  // TODO - Must verify
  }  
 
  public static  int sendError(
      boolean isError,
      int errorCode,
      String details,
      String location,
      String callStack,
      boolean printMsg) {
        if (isError) {
          System.out.println(String.format("DriverStationJNI.sendError(%b,%d,%s,%s,%s,%b", isError, errorCode, details, location, callStack, printMsg));
        }
        // System.out.println((isError ? "Error: " : "Warning: ") + details);
        return 0; // TODO - Must verify
      }  
 
  public static int sendProgramCrash(String details, String location, String callStack) {
    System.out.println(String.format("DriverStationJNI.sendProgramCrash(%s,%s,%s", details, location, callStack));
    return 0; // TODO - Must  verify
  }
 
  public static int getJoystickIsGamepad(byte joystickNum) {
    return joystick().isGamepad() ? 1 : 0;    // TODO - Must verify
  }  
 
  public static int getJoystickGamepadType(byte joystickNum) {
    // System.out.println("DriverStationJNI.getJoystickGamepadType");
    return HIDType.UNKNOWN.value; // TODO - Must verify
  }
 
  public static int getJoystickSupportedOutputs(byte joystickNum) {
    // System.out.println("DriverStationJNI.getJoystickSupportedOutputs");
    return 0; // TODO - Must verify
  }  
 
  public static String getJoystickName(byte joystickNum) {
    // System.out.println("DriverStationJNI.getJoystickName");
    return "Joystick";  // TODO - Must verify
  }
 
  
  private static volatile OpModeOption[] s_opModes = new OpModeOption[0];
 
  public static void setOpModeOptions(OpModeOption[] options) {
    // Logger.log("DriverStationJNI", 1, String.format("options.length=%d", options.length));
    for (OpModeOption o : options) {
      // Logger.log("DriverStation", 1, String.format("option %s mode=%s id=0x%x%n", o.name, o.getMode(), o.id));
    }
    s_opModes = options.clone();
  }
 
  public static void observeUserProgramStarting() {
    // System.out.println("DriverStationJNI.observeUserProgramStarting");
    // TODO - Must verify
  }  
 
  public static void getAllJoystickData(
      int stick,
      float[] axesArray,
      short[] rawAxesArray,
      byte[] povsArray,
      float[] touchpadFingersArray,
      long[] buttonsAndMetadata) {
        // Logger.log("DriverStationJNI", 1, "getAllJoystickData");
        joystick().getAllJoystickData(stick, axesArray, rawAxesArray, povsArray, touchpadFingersArray, buttonsAndMetadata);
        // if (buttonsAndMetadata[3] != 0)
        // {
        //   Logger.log("DriverStationJNI", 1, String.format("b[3]=0x%x", buttonsAndMetadata[3]));
        // }
    } 
 
  public static boolean refreshDSData() {
    // System.out.println("DriverStationJNI.refreshData");
    return true;  // TODO Must verify
  }
 
  public static int getMatchInfo(MatchInfoData info) {
    // System.out.println("DriverStationJNI.getMatchInfo");
    return 0; // TODO - Must verify
  } 
 
  public static String getGameData(String gameData) {
    // System.out.println("DeiverSationJNI.getGameData");
    return gameData;  // TODO - Must Verify
  } 
 
  public static double getMatchTime() {
    System.out.println("DriverStationJNI.getMatchTime");
    return 0; // TODO - Must Verify
  }  
 
 
  // /**
  //  * Sets the program starting flag in the DS.
  //  *
  //  * <p>This is what changes the DS to showing robot code ready.
  //  *
  //  * @see "HAL_ObserveUserProgramStarting"
  //  */
  // public static native void observeUserProgramStarting();
 
  // /**
  //  * Sets the control state returned to the DS.
  //  *
  //  * <p>This is used for the DS to ensure the robot is properly responding to its state request.
  //  * Ensure this gets called about every 50ms, or the robot will be disabled by the DS.
  //  *
  //  * @param word control word returned by nativeGetControlWord()
  //  */
  // public static native void observeUserProgram(long word);
 
  // /**
  //  * Gets the current control word of the driver station.
  //  *
  //  * <p>The control word contains the robot state.
  //  *
  //  * @return the control word
  //  * @see "HAL_GetControlWord"
  //  * @see getControlWord for a version easier to parse
  //  */
  // public static native long nativeGetControlWord();
 
  // /**
  //  * Gets the current control word of the driver station.
  //  *
  //  * <p>The control work contains the robot state.
  //  *
  //  * @param controlWord the ControlWord to update
  //  * @see "HAL_GetControlWord"
  //  */
  // public static void getControlWord(ControlWord controlWord) {
  //   controlWord.update(nativeGetControlWord());
  // }
 
  // /**
  //  * Gets the current control word of the driver station. Unlike nativeGetControlWord, this function
  //  * gets the latest value rather than using the value cached by refreshDSData().
  //  *
  //  * <p>The control word contains the robot state.
  //  *
  //  * @return the control word
  //  * @see "HAL_GetUncachedControlWord"
  //  * @see getUncachedControlWord for a version easier to parse
  //  */
  // public static native long nativeGetUncachedControlWord();
 
  // /**
  //  * Gets the current control word of the driver station. Unlike getControlWord, this function gets
  //  * the latest value rather than using the value cached by refreshDSData().
  //  *
  //  * <p>The control work contains the robot state.
  //  *
  //  * @param controlWord the ControlWord to update
  //  * @see "HAL_GetControlWord"
  //  */
  // public static void getUncachedControlWord(ControlWord controlWord) {
  //   controlWord.update(nativeGetUncachedControlWord());
  // }
 
  // /**
  //  * Sets operating mode options.
  //  *
  //  * @param options operating mode options
  //  */
  // public static native void setOpModeOptions(OpModeOption[] options);
 
  // /**
  //  * Gets the current alliance station ID.
  //  *
  //  * @return the alliance station ID int
  //  * @see "HAL_GetAllianceStation"
  //  */
  // private static native int nativeGetAllianceStation();
 
  // /** Unknown Alliance Station ID. */
  // public static final int ALLIANCE_STATION_UNKNOWN = 0;
 
  // /** Red Alliance Station 1 ID. */
  // public static final int ALLIANCE_STATION_RED_1 = 1;
 
  // /** Red Alliance Station 2 ID. */
  // public static final int ALLIANCE_STATION_RED_2 = 2;
 
  // /** Red Alliance Station 3 ID. */
  // public static final int ALLIANCE_STATION_RED_3 = 3;
 
  // /** Blue Alliance Station 1 ID. */
  // public static final int ALLIANCE_STATION_BLUE_1 = 4;
 
  // /** Blue Alliance Station 2 ID. */
  // public static final int ALLIANCE_STATION_BLUE_2 = 5;
 
  // /** Blue Alliance Station 3 ID. */
  // public static final int ALLIANCE_STATION_BLUE_3 = 6;
 
  // /**
  //  * Gets the current alliance station ID.
  //  *
  //  * @return the alliance station ID as AllianceStationID
  //  * @see "HAL_GetAllianceStation"
  //  */
  // public static AllianceStationID getAllianceStation() {
  //   return switch (nativeGetAllianceStation()) {
  //     case ALLIANCE_STATION_UNKNOWN -> AllianceStationID.UNKNOWN;
  //     case ALLIANCE_STATION_RED_1 -> AllianceStationID.RED_1;
  //     case ALLIANCE_STATION_RED_2 -> AllianceStationID.RED_2;
  //     case ALLIANCE_STATION_RED_3 -> AllianceStationID.RED_3;
  //     case ALLIANCE_STATION_BLUE_1 -> AllianceStationID.BLUE_1;
  //     case ALLIANCE_STATION_BLUE_2 -> AllianceStationID.BLUE_2;
  //     case ALLIANCE_STATION_BLUE_3 -> AllianceStationID.BLUE_3;
  //     default -> null;
  //   };
  // }
 
  // /** The maximum number of axes. */
  // public static final int MAX_JOYSTICK_AXES = 12;
 
  // public static final int MAX_JOYSTICK_BUTTONS = 64;
 
  // /** The maximum number of POVs. */
  // public static final int MAX_JOYSTICK_POVS = 8;
 
  // /** The maximum number of joysticks. */
  // public static final int MAX_JOYSTICKS = 6;
 
  // /** The maximum number of touchpads. */
  // public static final int MAX_JOYSTICK_TOUCHPADS = 2;
 
  // /** The maximum number of fingers per touchpad. */
  // public static final int MAX_JOYSTICK_TOUCHPAD_FINGERS = 2;
 
  // /**
  //  * Get all joystick data.
  //  *
  //  * @param stick the joystick to grab
  //  * @param axesArray all joystick axes
  //  * @param rawAxesArray all joystick axes as int
  //  * @param povsArray all povs
  //  * @param touchpadFingersArray all touchpad fingers
  //  * @param buttonsAndMetadata array of long joystick axes count, long joystick povs count, long
  //  *     joystick buttons count, long joystick buttons values, long joystick touchpad count, long
  //  *     pad 0 finger0 down 0x1, finger1 down 0x2, fingerCount 0xC, long pad 1 finger0 down 0x1,
  //  *     finger1 down 0x2, fingerCount 0xC
  //  * @see "HAL_GetAllJoystickData"
  //  */
  // public static native void getAllJoystickData(
  //     int stick,
  //     float[] axesArray,
  //     short[] rawAxesArray,
  //     byte[] povsArray,
  //     float[] touchpadFingersArray,
  //     long[] buttonsAndMetadata);
 
  // /**
  //  * Set joystick rumbles.
  //  *
  //  * @param joystickNum the joystick number
  //  * @param leftRumble the left rumble value (0-FFFF)
  //  * @param rightRumble the right rumble value (0-FFFF)
  //  * @param leftTriggerRumble the left trigger rumble value (0-FFFF)
  //  * @param rightTriggerRumble the right trigger rumble value (0-FFFF)
  //  * @return the error code, or 0 for success
  //  * @see "HAL_SetJoystickRumble"
  //  */
  // public static native int setJoystickRumble(
  //     byte joystickNum,
  //     int leftRumble,
  //     int rightRumble,
  //     int leftTriggerRumble,
  //     int rightTriggerRumble);
 
  // /**
  //  * Sets the LEDs on a specific joystick.
  //  *
  //  * @param joystickNum the joystick number
  //  * @param leds the rgb led color value (0xRRGGBB)
  //  * @return the error code, or 0 for success
  //  * @see "HAL_SetJoystickLeds"
  //  */
  // public static native int setJoystickLeds(byte joystickNum, int leds);
 
  // /**
  //  * Gets whether a specific joystick is considered to be an Gamepad.
  //  *
  //  * @param joystickNum the joystick number
  //  * @return 1 if gamepad, 0 otherwise
  //  * @see "HAL_GetJoystickIsGamepad"
  //  */
  // public static native int getJoystickIsGamepad(byte joystickNum);
 
  // /**
  //  * Gets the type of joystick connected.
  //  *
  //  * <p>This is device specific, and different depending on what system input type the joystick
  //  * uses.
  //  *
  //  * @param joystickNum the joystick number
  //  * @return the enumerated joystick type
  //  * @see "HAL_GetJoystickGamepadType"
  //  */
  // public static native int getJoystickGamepadType(byte joystickNum);
 
  // /**
  //  * Gets the supported outputs of a specific joystick.
  //  *
  //  * @param joystickNum the joystick number
  //  * @return bitmask of supported outputs
  //  * @see "HAL_GetJoystickSupportedOutputs"
  //  */
  // public static native int getJoystickSupportedOutputs(byte joystickNum);
 
  // /**
  //  * Gets the name of a joystick.
  //  *
  //  * <p>The returned array must be freed with HAL_FreeJoystickName.
  //  *
  //  * @param joystickNum the joystick number
  //  * @return the joystick name
  //  * @see "HAL_GetJoystickName"
  //  */
  // public static native String getJoystickName(byte joystickNum);
 
  // /**
  //  * Return the approximate match time. The FMS does not send an official match time to the robots,
  //  * but does send an approximate match time. The value will count down the time remaining in the
  //  * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to
  //  * dispute ref calls or guarantee that a function will trigger before the match ends).
  //  *
  //  * <p>When connected to the real field, this number only changes in full integer increments, and
  //  * always counts down.
  //  *
  //  * <p>When the DS is in practice mode, this number is a floating point number, and counts down.
  //  *
  //  * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
  //  *
  //  * <p>Simulation matches DS behavior without an FMS connected.
  //  *
  //  * @return time remaining in current match period (auto or teleop)
  //  * @see "HAL_GetMatchTime"
  //  */
  // public static native double getMatchTime();
 
  // /**
  //  * Gets info about a specific match.
  //  *
  //  * @param info the match info to populate
  //  * @return the error code, or 0 for success
  //  * @see "HAL_GetMatchInfo"
  //  */
  // public static native int getMatchInfo(MatchInfoData info);
 
  // /**
  //  * Gets the game-specific data for the current match.
  //  *
  //  * @param gameData The existing game data string.
  //  * @return the game-specific data
  //  * @see "HAL_GetGameData"
  //  */
  // public static native String getGameData(String gameData);
 
  // /**
  //  * Sends an error to the driver station.
  //  *
  //  * @param isError true for error, false for warning
  //  * @param errorCode the error code
  //  * @param details the details of the error
  //  * @param location the file location of the error
  //  * @param callStack the callstack of the error
  //  * @param printMsg true to print the error message to stdout as well as to the DS
  //  * @return the error code, or 0 for success
  //  * @see "HAL_SendError"
  //  */
  // public static native int sendError(
  //     boolean isError,
  //     int errorCode,
  //     String details,
  //     String location,
  //     String callStack,
  //     boolean printMsg);
 
  // /**
  //  * Sends a line to the driver station console.
  //  *
  //  * @param line the line to send
  //  * @return the error code, or 0 for success
  //  */
  // public static native int sendConsoleLine(String line);
 
  // /**
  //  * Sends a program crash to the driver station.
  //  *
  //  * @param details the details of the crash
  //  * @param location the file location of the crash
  //  * @param callStack the callstack of the crash
  //  * @return the error code, or 0 for success
  //  * @see "HAL_SendProgramCrash"
  //  */
  // public static native int sendProgramCrash(String details, String location, String callStack);
 
  // /**
  //  * Refresh the DS control word.
  //  *
  //  * @return true if updated
  //  * @see "HAL_RefreshDSData"
  //  */
  // public static native boolean refreshDSData();
 
  // /**
  //  * Adds an event handle to be signalled when new data arrives.
  //  *
  //  * @param handle the event handle to be signalled
  //  */
  // public static native void provideNewDataEventHandle(int handle);
 
  // /**
  //  * Removes the event handle from being signalled when new data arrives.
  //  *
  //  * @param handle the event handle to remove
  //  */
  // public static native void removeNewDataEventHandle(int handle);
 
  // /**
  //  * Gets if outputs are enabled by the control system.
  //  *
  //  * @return true if outputs are enabled
  //  */
  // public static native boolean getOutputsActive();
 
  // /**
  //  * Writes ANSI text to the display.
  //  *
  //  * @param data the ANSI text to write
  //  * @see "HAL_WriteDisplayAnsi"
  //  */
  // public static native void writeDisplayAnsi(String data);
 
  // /** Utility class. */
  // private DriverStationJNI() {}
}