def isDSAttached(self):
"""Is the driver station attached to the robot?
:returns: True if the robot is being controlled by a driver station.
"""
controlWord = hal.HALGetControlWord()
return controlWord.dsAttached != 0
def isFMSAttached(self):
"""Is the driver station attached to a Field Management System?
:returns: True if the robot is competing on a field being controlled
by a Field Management System
"""
controlWord = hal.HALGetControlWord()
return controlWord.fmsAttached != 0
def isTest(self):
"""Gets a value indicating whether the Driver Station requires the
robot to be running in test mode.
:returns: True if test mode should be enabled, False otherwise.
"""
controlWord = hal.HALGetControlWord()
return controlWord.test != 0
def isEnabled(self):
"""Gets a value indicating whether the Driver Station requires the
robot to be enabled.
:returns: True if the robot is enabled, False otherwise.
"""
controlWord = hal.HALGetControlWord()
return controlWord.enabled != 0 and controlWord.dsAttached != 0
def isOperatorControl(self):
"""Gets a value indicating whether the Driver Station requires the
robot to be running in operator-controlled mode.
:returns: True if operator-controlled mode should be enabled,
False otherwise.
"""
controlWord = hal.HALGetControlWord()
return not (controlWord.autonomous != 0 or controlWord.test != 0)
def reportError(error, printTrace):
"""Report error to Driver Station, and also prints error to `sys.stderr`.
Optionally appends stack trace to error message.
:param printTrace: If True, append stack trace to error string
"""
errorString = error
if printTrace:
exc = sys.exc_info()[0]
stack = traceback.extract_stack()[:-1] # last one is this func
if exc is not None: # i.e. if an exception is present
# remove call of full_stack, the printed exception
# will contain the caught exception caller instead
del stack[-1]
trc = 'Traceback (most recent call last):\n'
stackstr = trc + ''.join(traceback.format_list(stack))
if exc is not None:
stackstr += ' ' + traceback.format_exc().lstrip(trc)
errorString += ':\n' + stackstr
#print(errorString, file=sys.stderr)
controlWord = hal.HALGetControlWord()
if controlWord.dsAttached != 0:
hal.HALSetErrorData(errorString, 0)