void consoleService() {
char ch ;
ch = readKey();
if ( ch < 1 ) {
ch = readServer();
if (ch < 1) return;
}
if ( controlMode(ch) ) { p(" -> %02d:%02d:%02d ", getHours(), getMinutes(), getSeconds() ); }
}
/**
* Changes the control \a mode of the robot
*/
void DriverStation::setControlMode (const Control mode)
{
LOG << "Setting control mode to" << mode;
if (isEnabled() && mode != controlMode())
setEnabled (false);
if (mode != controlMode())
resetElapsedTime();
switch (mode) {
case ControlTest:
DS_SetControlMode (DS_CONTROL_TEST);
break;
case ControlAutonomous:
DS_SetControlMode (DS_CONTROL_AUTONOMOUS);
break;
case ControlTeleoperated:
DS_SetControlMode (DS_CONTROL_TELEOPERATED);
break;
default:
DS_SetControlMode (DS_CONTROL_TELEOPERATED);
break;
}
}
QString DriverStation::getRobotStatus()
{
if (m_manager->isValid()
&& m_manager->currentProtocol()->isConnectedToRobot())
{
if (m_manager->currentProtocol()->isEmergencyStopped())
return "Emergency Stopped";
if (!m_manager->currentProtocol()->hasCode())
return "No Robot Code";
return QString ("%1 %2")
.arg (DS_GetControlModeString (controlMode()))
.arg (isEnabled() ? "Enabled" : "Disabled");
}
return QString ("No Robot Communication");
}
/**
* Returns \c true if the robot is currently in teleop mode.
* You can change the control mode with the \c setControlMode() function
* or with the \c switchToAutonomous(), \c switchToTestMode() or
* \c switchToTeleoperated() functions
*/
bool DriverStation::isTeleoperated() const
{
return (controlMode() == ControlTeleoperated);
}
/**
* Returns \c true if the robot is currently in autonomous mode.
* You can change the control mode with the \c setControlMode() function
* or with the \c switchToAutonomous(), \c switchToTestMode() or
* \c switchToTeleoperated() functions
*/
bool DriverStation::isAutonomous() const
{
return (controlMode() == ControlAutonomous);
}
/**
* Returns \c true if the robot is currently in test mode.
* You can change the control mode with the \c setControlMode() function
* or with the \c switchToAutonomous(), \c switchToTestMode() or
* \c switchToTeleoperated() functions
*/
bool DriverStation::isTestMode() const
{
return (controlMode() == ControlTest);
}
/**
* Polls for new LibDS events and emits Qt signals as appropiate.
* This function is called every 5 milliseconds.
*/
void DriverStation::processEvents()
{
DS_Event event;
while (DS_PollEvent (&event)) {
switch (event.type) {
case DS_FMS_COMMS_CHANGED:
emit fmsAddressChanged();
emit fmsCommunicationsChanged (event.fms.connected);
break;
case DS_RADIO_COMMS_CHANGED:
emit radioAddressChanged();
emit radioCommunicationsChanged (event.radio.connected);
break;
case DS_NETCONSOLE_NEW_MESSAGE:
emit newMessage (QString::fromUtf8 (event.netconsole.message));
break;
case DS_ROBOT_ENABLED_CHANGED:
emit enabledChanged (event.robot.enabled);
break;
case DS_ROBOT_MODE_CHANGED:
emit controlModeChanged (controlMode());
break;
case DS_ROBOT_COMMS_CHANGED:
emit robotAddressChanged();
emit robotCommunicationsChanged (event.robot.connected);
break;
case DS_ROBOT_CODE_CHANGED:
emit robotCodeChanged (event.robot.code);
break;
case DS_ROBOT_VOLTAGE_CHANGED:
emit voltageChanged (event.robot.voltage);
break;
case DS_ROBOT_CAN_UTIL_CHANGED:
emit canUsageChanged (event.robot.can_util);
break;
case DS_ROBOT_CPU_INFO_CHANGED:
emit cpuUsageChanged (event.robot.cpu_usage);
break;
case DS_ROBOT_RAM_INFO_CHANGED:
emit ramUsageChanged (event.robot.ram_usage);
break;
case DS_ROBOT_DISK_INFO_CHANGED:
emit diskUsageChanged (event.robot.disk_usage);
break;
case DS_ROBOT_STATION_CHANGED:
emit stationChanged();
emit allianceChanged (teamAlliance());
emit positionChanged (teamPosition());
break;
case DS_ROBOT_ESTOP_CHANGED:
emit emergencyStoppedChanged (event.robot.estopped);
break;
case DS_STATUS_STRING_CHANGED:
emit statusChanged (QString::fromUtf8 (DS_GetStatusString()));
break;
default:
break;
}
}
QTimer::singleShot (5, Qt::CoarseTimer, this, SLOT (processEvents()));
}
void SyntroHAServer::runConsole()
{
bool stopRunning = false;
QStringList db;
#ifndef WIN32
struct termios ctty;
tcgetattr(fileno(stdout), &ctty);
ctty.c_lflag &= ~(ICANON);
tcsetattr(fileno(stdout), TCSANOW, &ctty);
#endif
while (!stopRunning) {
printf("\nEnter option: ");
#ifdef WIN32
switch (tolower(_getch()))
#else
switch (tolower(getchar()))
#endif
{
case 'h':
showHelp();
break;
case 's':
showStatus();
break;
case 'x':
printf("\nExiting\n");
stopRunning = true;
break;
case 'a':
addEntryMode();
break;
case 'r':
removeEntry();
break;
case 'c':
controlMode();
break;
case 'm':
timerManagement();
break;
case 'd':
putchar('\n');
db = m_insteonDriver->getDatabase();
for (int i = 0; i < db.count(); i++)
printf("%s\n", qPrintable(db.at(i)));
break;
case 't':
if (m_insteonDriver->getTrace()) {
m_insteonDriver->setTrace(false);
printf("\nInsteon trace is off\n");
} else {
m_insteonDriver->setTrace(true);
printf("\nInsteon trace is on\n");
}
case '\n':
continue;
}
}
}
