/**
* Check if the DS is attached
* @return True if the DS is connected to the robot
*/
bool DriverStation::IsDSAttached()
{
HALControlWord controlWord;
memset(&controlWord, 0, sizeof(controlWord));
HALGetControlWord(&controlWord);
return controlWord.dsAttached;
}
/**
* Check if the DS is commanding teleop mode
* @return True if the robot is being commanded to be in teleop mode
*/
bool DriverStation::IsOperatorControl()
{
HALControlWord controlWord;
memset(&controlWord, 0, sizeof(controlWord));
HALGetControlWord(&controlWord);
return !(controlWord.autonomous || controlWord.test);
}
/**
* Check if the DS is commanding autonomous mode
* @return True if the robot is being commanded to be in autonomous mode
*/
bool DriverStation::IsAutonomous()
{
HALControlWord controlWord;
memset(&controlWord, 0, sizeof(controlWord));
HALGetControlWord(&controlWord);
return controlWord.autonomous;
}
/**
* Check if the robot is disabled
* @return True if the robot is explicitly disabled or the DS is not connected
*/
bool DriverStation::IsDisabled()
{
HALControlWord controlWord;
memset(&controlWord, 0, sizeof(controlWord));
HALGetControlWord(&controlWord);
return !(controlWord.enabled && controlWord.dsAttached);
}
/**
* Report an error to the DriverStation messages window.
* The error is also printed to the program console.
*/
void DriverStation::ReportError(std::string error) {
std::cout << error << std::endl;
HALControlWord controlWord;
HALGetControlWord(&controlWord);
if (controlWord.dsAttached) {
HALSetErrorData(error.c_str(), error.size(), 0);
}
}
/**
* Is the driver station attached to a Field Management System?
* @return True if the robot is competing on a field being controlled by a Field Management System
*/
bool DriverStation::IsFMSAttached()
{
HALControlWord controlWord;
HALGetControlWord(&controlWord);
return controlWord.fmsAttached;
}
/**
* Check if the DS is commanding test mode
* @return True if the robot is being commanded to be in test mode
*/
bool DriverStation::IsTest()
{
HALControlWord controlWord;
HALGetControlWord(&controlWord);
return controlWord.test;
}
