allwpilib/hal/README.org

* Purpose
The HAL is a hardware abstraction layer that provides a uniform
interface that can be used to access a number of primarily I/O
features in the underlying platform. The features include:
- Analog input, accumulation and triggers
- PWM, Relay and Solenoid output
- Digital input and output
- I2C and SPI communication
- Encoders and counters
- Interrupts and Notifiers

The initial goal is to allow a higher level like WPILib to support
both the CRIO and the upcoming Athena platform only by changing which
version of the HAL it's running on.

* Editing
You can always use any text editor and then build with Maven. There
are also eclipse project files so that it can be edited in the same
eclipse environment that teams develop with. For the AthenaXX, this
can be found in the =root= directory of this project. It imports as an
FRC Robot C++ Eclipse project. The Windriver project can be imported
from the =src= directory.

* Building with Maven
There are multiple build targets that the HAL supports. Instructions
for setting up the environment and building each of these is described
below. Current targets are listed below:
- All: All of the following targets.
- include: The header files for the HAL.
- Azalea: CRIO C++ build.
- AthenaXX: Athena Dos Equis C++ build.
- AthenaXXJava: Athena Dos Equis Java build with auto-generated JNA
  wrappers.

Output from each build target is placed in the directory
=target/<target-name>=. So, the Azalea output is placed in
=target/Azalea=.

** All
Note: Windows only due to the Windriver requirement.
1. Ensure that =C:\WindRiver\gnu\3.4.4-vxworks-6.3\x86-win32\bin= is
   on the system path so that =ccppc= and =arppc= can be accessed.
2. Set the environment variable =WIND_BASE= to =C:\WindRiver\vxworks-6.3=.
3. Ensure that
   =$HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/= is on
   the system path so that =arm-none-linux-gnueabi-g++= and
   =arm-none-linux-gnueabi-ar= can be accessed.
4. Checkout and install the NI-Libraries from Github:
   [[https://github.com/first/NI-Libraries]].
5. Run the following maven command:
   =mvn clean install=
6. Success

** include
1. =cd= into the include directory: =cd include=
2. Run the following maven command:
   =mvn clean install=
3. Success

** Azalea
Note: Windows only.
1. Ensure that =C:\WindRiver\gnu\3.4.4-vxworks-6.3\x86-win32\bin= is
   on the system path so that =ccppc= and =arppc= can be accessed.
2. Set the environment variable =WIND_BASE= to =C:\WindRiver\vxworks-6.3=.
3. =cd= into the AthenaXX directory: =cd AthenaXX=
4. =cd= into the Azalea directory:  =cd Azalea=
5. Run the following maven command:
   =mvn clean install=
6. Success

** AthenaXX
1. Ensure that
   =$HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/= is on
   the system path so that =arm-none-linux-gnueabi-g++= and
   =arm-none-linux-gnueabi-ar= can be accessed.
2. Install the include target.
3. =cd= into the AthenaXX directory: =cd AthenaXX=
4. Run the following maven command:
   =mvn clean install=
5. Success

** AthenaXXJava
1. Ensure that
   =$HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/= is on
   the system path so that =arm-none-linux-gnueabi-g++= and
   =arm-none-linux-gnueabi-ar= can be accessed.
2. Checkout and install the NI-Libraries from Github:
   [[https://github.com/first/NI-Libraries]].
3. Install the include target.
4. =cd= into the AthenaXXJava directory: =cd AthenaXXJava=
5. Run the following maven command:
   =mvn clean install=
6. Success