void DriverStation::joystickCallback(const msgs::ConstJoystickPtr &msg,
int i)
{
CRITICAL_REGION(m_joystickSemaphore)
*(joysticks[i]) = *msg;
END_REGION;
}
void DriverStation::stateCallback(const msgs::ConstDriverStationPtr &msg)
{
CRITICAL_REGION(m_stateSemaphore)
*state = *msg;
END_REGION;
giveMultiWait(m_waitForDataSem);
}
/**
* @brief Set the current error information associated with this sensor.
*
* @param code The error code
* @param filename Filename of the error source
* @param lineNumber Line number of the error source
*/
void ErrorBase::SetError(Error::Code code, const char* filename, UINT32 lineNumber) const
{
// If there was an error
if (code != 0) {
// Set the current error information for this object.
error.Set(code, filename, lineNumber, this);
// Update the global error if there is not one already set.
CRITICAL_REGION(globalErrorMutex);
if (globalError.GetCode() == 0) {
globalError = error;
}
END_REGION
}
/**
* The state of the buttons on the joystick.
* 12 buttons (4 msb are unused) from the joystick.
*
* @param stick The joystick to read.
* @return The state of the buttons on the joystick.
*/
short DriverStation::GetStickButtons(uint32_t stick)
{
if (stick < 0 || stick >= 6)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "stick must be between 0 and 5");
return false;
}
short btns = 0, btnid;
CRITICAL_REGION(m_joystickSemaphore)
msgs::JoystickPtr joy = joysticks[stick];
for (btnid = 0; btnid < joy->buttons().size() && btnid < 12; btnid++)
{
if (joysticks[stick]->buttons(btnid))
{
btns |= (1 << btnid);
}
}
return btns;
END_REGION
}
