From ef3a31aa20a3ed97a5675df535e3e8d9a31353d0 Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Thu, 15 Nov 2018 19:33:50 -0800
Subject: [PATCH] Add an example of using the HAL directly (#1374)

This is useful for advanced users, and shows a few things like error messages, and DS things that are needed.
---
 wpilibcExamples/build.gradle                  |  13 ++
 .../src/main/cpp/examples/HAL/c/Robot.c       | 123 ++++++++++++++++++
 .../src/main/cpp/examples/examples.json       |   9 ++
 3 files changed, 145 insertions(+)
 create mode 100644 wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c

diff --git a/wpilibcExamples/build.gradle b/wpilibcExamples/build.gradle
index 08a1c68f25..3c8720385a 100644
--- a/wpilibcExamples/build.gradle
+++ b/wpilibcExamples/build.gradle
@@ -1,6 +1,7 @@
 import org.gradle.language.base.internal.ProjectLayout
 
 apply plugin: 'cpp'
+apply plugin: 'c'
 apply plugin: 'visual-studio'
 apply plugin: 'edu.wpi.first.NativeUtils'
 apply plugin: ExtraTasks
@@ -112,6 +113,18 @@ model {
                         }
                     }
                 }
+                sources {
+                    c {
+                        source {
+                            srcDirs 'src/main/cpp/examples/' + "${key}" + "/c"
+                            include '**/*.c'
+                        }
+                        exportedHeaders {
+                            srcDirs 'src/main/cpp/examples/' + "${key}" + "/include"
+                            include '**/*.h'
+                        }
+                    }
+                }
             }
         }
         templatesMap.each { key, value ->
diff --git a/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c b/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
new file mode 100644
index 0000000000..dedb0f2b98
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
@@ -0,0 +1,123 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+/*
+This example shows how to use the HAL directly, and what is needed to run a
+basic program. The sample is compiled in C, however the functionality works from
+C++ as well.
+
+The HAL is considered a stable but changeable API. The API is stable during a
+season, and is safe to use for events. However, between seasons there might be
+changes to the API. This is an advanced sample, and should only be used by users
+that want even more control over what code runs on their robot.
+*/
+
+#include <stdio.h>
+
+#include "hal/HAL.h"
+
+enum DriverStationMode {
+  DisabledMode,
+  TeleopMode,
+  TestMode,
+  AutoMode,
+};
+
+enum DriverStationMode getDSMode(void) {
+  // Get Robot State
+  HAL_ControlWord word;
+  HAL_GetControlWord(&word);
+
+  // We send the observes, otherwise the DS disables
+  if (!word.enabled) {
+    HAL_ObserveUserProgramDisabled();
+    return DisabledMode;
+  } else {
+    if (word.autonomous) {
+      HAL_ObserveUserProgramAutonomous();
+      return AutoMode;
+    } else if (word.test) {
+      HAL_ObserveUserProgramTest();
+      return TestMode;
+    } else {
+      HAL_ObserveUserProgramTeleop();
+      return TeleopMode;
+    }
+  }
+}
+
+int main(void) {
+  // Must initialize the HAL, 500ms timeout
+  HAL_Bool initialized = HAL_Initialize(500, 0);
+  if (!initialized) {
+    printf("Failed to initialize the HAL\n");
+    return 1;
+  }
+
+  int32_t status = 0;
+
+  // For DS to see valid robot code
+  HAL_ObserveUserProgramStarting();
+
+  // Create a Motor Controller
+  status = 0;
+  HAL_DigitalHandle pwmPort = HAL_InitializePWMPort(HAL_GetPort(2), &status);
+
+  if (status != 0) {
+    const char* message = HAL_GetErrorMessage(status);
+    printf("%s\n", message);
+    return 1;
+  }
+
+  // Set PWM config to standard servo speeds
+  HAL_SetPWMConfig(pwmPort, 2.0, 1.501, 1.5, 1.499, 1.0, &status);
+
+  // Create an Input
+  status = 0;
+  HAL_DigitalHandle dio = HAL_InitializeDIOPort(HAL_GetPort(2), 1, &status);
+
+  if (status != 0) {
+    const char* message = HAL_GetErrorMessage(status);
+    printf("%s\n", message);
+    status = 0;
+    HAL_FreePWMPort(pwmPort, &status);
+    return 1;
+  }
+
+  while (1) {
+    // Wait for DS data, with a timeout
+    HAL_Bool validData = HAL_WaitForDSDataTimeout(1.0);
+    if (!validData) {
+      // Do something here on no packet
+      continue;
+    }
+    enum DriverStationMode dsMode = getDSMode();
+    switch (dsMode) {
+      case DisabledMode:
+        break;
+      case TeleopMode:
+        status = 0;
+        if (HAL_GetDIO(dio, &status)) {
+          HAL_SetPWMSpeed(pwmPort, 1.0, &status);
+        } else {
+          HAL_SetPWMSpeed(pwmPort, 0, &status);
+        }
+        break;
+      case AutoMode:
+        break;
+      case TestMode:
+        break;
+      default:
+        break;
+    }
+  }
+
+  // Clean up resources
+  status = 0;
+  HAL_FreeDIOPort(dio);
+  HAL_FreePWMPort(pwmPort, &status);
+}
diff --git a/wpilibcExamples/src/main/cpp/examples/examples.json b/wpilibcExamples/src/main/cpp/examples/examples.json
index 8bd1e21fc9..2b1990386f 100644
--- a/wpilibcExamples/src/main/cpp/examples/examples.json
+++ b/wpilibcExamples/src/main/cpp/examples/examples.json
@@ -225,5 +225,14 @@
     ],
     "foldername": "PacGoat",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "HAL",
+    "description": "A program created using the HAL exclusively. This example is for advanced users",
+    "tags": [
+      "HAL"
+    ],
+    "foldername": "HAL",
+    "gradlebase": "c"
   }
 ]