DriverStation::DriverStation()
{
m_init = false;
/* Initialize private members */
m_client = new DS_Client;
m_netConsole = new DS_NetConsole;
m_elapsedTime = new DS_ElapsedTime;
m_manager = new DS_ProtocolManager;
m_protocol = Q_NULLPTR;
/* Update internal values and notify object on robot status events */
connect (m_manager, SIGNAL (codeChanged (bool)),
this, SLOT (updateRobotStatus (bool)));
connect (m_manager, SIGNAL (communicationsChanged (DS_CommStatus)),
this, SLOT (updateRobotStatus (DS_CommStatus)));
connect (m_manager, SIGNAL (controlModeChanged (DS_ControlMode)),
this, SLOT (resetElapsedTimer (DS_ControlMode)));
connect (m_manager, SIGNAL (codeChanged (bool)),
this, SIGNAL (codeChanged (bool)));
connect (m_manager, SIGNAL (communicationsChanged (DS_CommStatus)),
this, SIGNAL (communicationsChanged (DS_CommStatus)));
connect (m_manager, SIGNAL (controlModeChanged (DS_ControlMode)),
this, SIGNAL (controlModeChanged (DS_ControlMode)));
connect (m_manager, SIGNAL (diskUsageChanged (int)),
this, SIGNAL (diskUsageChanged (int)));
connect (m_manager, SIGNAL (ramUsageChanged (int)),
this, SIGNAL (ramUsageChanged (int)));
connect (m_manager, SIGNAL (cpuUsageChanged (int)),
this, SIGNAL (cpuUsageChanged (int)));
connect (m_manager, SIGNAL (voltageChanged (QString)),
this, SIGNAL (voltageChanged (QString)));
connect (m_manager, SIGNAL (voltageBrownoutChanged (bool)),
this, SIGNAL (voltageBrownoutChanged (bool)));
connect (m_manager, SIGNAL (CANInfoReceived (DS_CAN)),
this, SIGNAL (CANInfoReceived (DS_CAN)));
connect (m_manager, SIGNAL (emergencyStopped (void)),
this, SIGNAL (emergencyStopped (void)));
connect (m_manager, SIGNAL (fmsChanged (bool)),
this, SIGNAL (fmsChanged (bool)));
/* Stop timer when the communications status changes */
connect (m_manager, SIGNAL (communicationsChanged (DS_CommStatus)),
m_elapsedTime, SLOT (stopTimer()));
/* Robot information has changed */
connect (m_manager, SIGNAL (libVersionChanged (QString)),
this, SIGNAL (libVersionChanged (QString)));
connect (m_manager, SIGNAL (rioVersionChanged (QString)),
this, SIGNAL (rioVersionChanged (QString)));
connect (m_manager, SIGNAL (pcmVersionChanged (QString)),
this, SIGNAL (pcmVersionChanged (QString)));
connect (m_manager, SIGNAL (pdpVersionChanged (QString)),
this, SIGNAL (pdpVersionChanged (QString)));
/* Sync robot address and calculated IPs automatically */
connect (m_manager, SIGNAL (robotAddressChanged (QString)),
m_client, SLOT (setRobotAddress (QString)));
/* Update the elapsed time text automatically */
connect (m_elapsedTime, SIGNAL (elapsedTimeChanged (QString)),
this, SIGNAL (elapsedTimeChanged (QString)));
/* New NetConsole message received */
connect (m_netConsole, SIGNAL (newMessage (QString)),
this, SIGNAL (newMessage (QString)));
/* Send and read robot packets */
connect (m_client, SIGNAL (dataReceived (QByteArray)),
this, SLOT (readRobotPacket (QByteArray)));
connect (DS_Timers::getInstance(), SIGNAL (timeout20()),
this, SLOT (sendClientPacket()));
}
/**
* 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()));
}
