Frc/2012/code: ReboundRumble/DashboardDataFormat.cpp@8139457abeed

     1 #include "DashboardDataFormat.h"

     2 #include "RobotInfo.h"

     4 DashboardDataFormat::DashboardDataFormat(void)

5 {

     6     analogModule1 = AnalogModule::GetInstance(1);

     7     analogModule2 = AnalogModule::GetInstance(2);

     8     digitalModule1 = DigitalModule::GetInstance(1);

     9     digitalModule2 = DigitalModule::GetInstance(2);

    10 }

    12 DashboardDataFormat::~DashboardDataFormat()

    13 {

    14 }

    16 void DashboardDataFormat::SendVisionData(

    17         vector<ParticleAnalysisReport> *particles,

    18         UINT8 currIdx)

    19 {

    20     Dashboard &dash =

    21             DriverStation::GetInstance()->GetHighPriorityDashboardPacker();

    22     //

    23     // Vision target Info.

    24     //

    25     dash.AddCluster();                  //Begin: Target Info

    26     {

    27         int targetsSent = 0;

    28         //

    29         // Loop through all particles, but stop after you send 4

    30         //

    31         for (unsigned i = 0; i < particles->size() && targetsSent < 4; i++)

    32         {

    33             ParticleAnalysisReport *p = &(particles->at(i));

    34             float aspectRatio = p->boundingRect.width/

    35                                 p->boundingRect.height;

    37             if (aspectRatio >= MINIMUM_TARGET_ASPECT_RATIO &&

    38                 aspectRatio <= MAXIMUM_TARGET_ASPECT_RATIO)

    39             {

    40                 targetsSent++;

    41                 dash.AddCluster();      //  Begin: Target Rect

    42                 {

    43                     //

    44                     // The dashboard will select color based on this bool

    45                     //

    46                     dash.AddBoolean(i == currIdx);

    47                     dash.AddU16(p->boundingRect.left);

    48                     dash.AddU16(p->boundingRect.top);

    49                     dash.AddU16(p->boundingRect.left +

    50                                 p->boundingRect.width);

    51                     dash.AddU16(p->boundingRect.top +

    52                                 p->boundingRect.height);

    53                 }

    54                 dash.FinalizeCluster(); //  End: Target Rect

    55             }

    56         }

    58         //

    59         // If we have less than 4 targets, we need to send null info for

    60         // the rest.

    61         //

    62         while (targetsSent < 4)

    63         {

    64             targetsSent++;

    65             dash.AddCluster();          //  Begin: Target Rect

    66             {

    67                 dash.AddU16(0);

    68                 dash.AddU16(0);

    69                 dash.AddU16(0);

    70                 dash.AddU16(0);

    71                 dash.AddBoolean(false);

    72             }

    73             dash.FinalizeCluster();     //  End: Target Rect

    74         }

    75     }

    76     dash.FinalizeCluster();             //End: Target Info

    77     dash.Finalize();

    78 }

    80 void DashboardDataFormat::SendIOPortData()

    81 {

    82     Dashboard &dash =

    83             DriverStation::GetInstance()->GetLowPriorityDashboardPacker();

    84     dash.AddCluster();

    85     {

    86         dash.AddCluster();

    87         { //analog modules

    88             dash.AddCluster();

    89             {

    90                 if (analogModule1 != NULL)

    91                 {

    92                     for (int i = 1; i <= 8; i++)

    93                     {

    94                         dash.AddFloat(

    95                                 (float) analogModule1->GetAverageVoltage(i));

    96                     }

    97                 }

    98                 else

    99                 {

   100                     for (int i = 1; i <= 8; i++)

   101                     {

   102                         dash.AddFloat(0.0);

   103                     }

   104                 }

   105             }

   106             dash.FinalizeCluster();

   107             dash.AddCluster();

   108             {

   109                 if (analogModule2 != NULL)

   110                 {

   111                     for (int i = 1; i <= 8; i++)

   112                     {

   113                         dash.AddFloat(

   114                                 (float) analogModule2->GetAverageVoltage(i));

   115                     }

   116                 }

   117                 else

   118                 {

   119                     for (int i = 1; i <= 8; i++)

   120                     {

   121                         dash.AddFloat(0.0);

   122                     }

   123                 }

   124             }

   125             dash.FinalizeCluster();

   126         }

   127         dash.FinalizeCluster();

   129         dash.AddCluster();

   130         { //digital modules

   131             dash.AddCluster();

   132             {

   133                 if (digitalModule1 != NULL)

   134                 {

   135                     dash.AddU8(digitalModule1->GetRelayForward());

   136                     dash.AddU8(digitalModule1->GetRelayReverse());

   137                     dash.AddU16((short) digitalModule1->GetDIO());

   138                     dash.AddU16((short) digitalModule1->GetDIODirection());

   139                     dash.AddCluster();

   140                     {

   141                         for (int i = 1; i <= 10; i++)

   142                         {

   143                             dash.AddU8(

   144                                     (unsigned char) digitalModule1->GetPWM(

   145                                             i));

   146                         }

   147                     }

   148                     dash.FinalizeCluster();

   149                 }

   150                 else

   151                 {

   152                     dash.AddU8(0);

   153                     dash.AddU8(0);

   154                     dash.AddU16(0);

   155                     dash.AddU16(0);

   156                     dash.AddCluster();

   157                     {

   158                         for (int i = 1; i <= 10; i++)

   159                             dash.AddU8(0);

   160                     }

   161                     dash.FinalizeCluster();

   162                 }

   163             }

   164             dash.FinalizeCluster();

   166             dash.AddCluster();

   167             {

   168                 if (digitalModule2 != NULL)

   169                 {

   170                     dash.AddU8(digitalModule2->GetRelayForward());

   171                     dash.AddU8(digitalModule2->GetRelayForward());

   172                     dash.AddU16((short) digitalModule2->GetDIO());

   173                     dash.AddU16(digitalModule2->GetDIODirection());

   174                     dash.AddCluster();

   175                     {

   176                         for (int i = 1; i <= 10; i++)

   177                         {

   178                             dash.AddU8(

   179                                     (unsigned char) digitalModule2->GetPWM(

   180                                             i));

   181                         }

   182                     }

   183                     dash.FinalizeCluster();

   184                 }

   185                 else

   186                 {

   187                     dash.AddU8(0);

   188                     dash.AddU8(0);

   189                     dash.AddU16(0);

   190                     dash.AddU16(0);

   191                     dash.AddCluster();

   192                     {

   193                         for (int i = 1; i <= 10; i++)

   194                             dash.AddU8(0);

   195                     }

   196                     dash.FinalizeCluster();

   197                 }

   198             }

   199             dash.FinalizeCluster();

   200         }

   201         dash.FinalizeCluster();

   203         // Can't read solenoids without an instance of the object

   204         dash.AddU8((char) 0);

   205     }

   206     dash.FinalizeCluster();

   207     dash.Finalize();

   208 }

author	andrew
	Sun Apr 01 21:03:49 2012 -0700 (2012-04-01)
changeset 207	8139457abeed
parent 165	e0f680599ef6
child 215	5ef7a9025e19
permissions	-rw-r--r--