#include "DashboardDataFormat.h"

DashboardDataFormat::DashboardDataFormat(void)

: m_ds (DriverStation::GetInstance())

{

}

DashboardDataFormat::~DashboardDataFormat()

{

}

/**

* Pack data using the correct types and in the correct order to match the

* default "Dashboard Datatype" in the LabVIEW Dashboard project.

*/

void DashboardDataFormat::PackAndSend(void)

{

Dashboard &dashboardPacker = m_ds->GetDashboardPacker();

UINT32 module;

UINT32 channel;

// Pack the analog modules

for (module = 0; module < kAnalogModules; module++)

{

dashboardPacker.AddCluster();

for (channel = 0; channel < kAnalogChannels; channel++)

{

dashboardPacker.AddFloat(m_AnalogChannels[module][channel]);

}

dashboardPacker.FinalizeCluster();

}

// Pack the digital module

for (module = 0; module < kDigitalModules; module++)

{

dashboardPacker.AddCluster();

dashboardPacker.AddU8(m_RelayFwd[module]);

dashboardPacker.AddU8(m_RelayRev[module]);

dashboardPacker.AddU16(m_DIOChannels[module]);

dashboardPacker.AddU16(m_DIOChannelsOutputEnable[module]);

dashboardPacker.AddCluster();

for(channel = 0; channel < kPwmChannels; channel++)

{

dashboardPacker.AddU8(m_PWMChannels[module][channel]);

}

dashboardPacker.FinalizeCluster();

dashboardPacker.FinalizeCluster();

}

// Pack the solenoid module

dashboardPacker.AddU8(m_SolenoidChannels);

// Pack user data

/* User data format (according to Dashboard Datatype):

* Ready to Fire (boolean)

* Turret Clockwise Limit (bool)

* Turret CC Limit (bool)

* Turret Heading (I32)

* Collector Jamming (bool)

*/

dashboardPacker.AddCluster();

dashboardPacker.AddBoolean(boolUserData[0]);

dashboardPacker.AddBoolean(boolUserData[1]);

dashboardPacker.AddBoolean(boolUserData[2]);

dashboardPacker.AddI32(intUserData);

dashboardPacker.AddBoolean(boolUserData[3]);

dashboardPacker.FinalizeCluster();

// Flush the data to the driver station.

dashboardPacker.Finalize();

}