mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
131 lines
4.2 KiB
C
131 lines
4.2 KiB
C
/*************************************************************
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* NOTICE
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*
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* These are the only externally exposed functions to the
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* NetworkCommunication library
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*
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* This is an implementation of FRC Spec for Comm Protocol
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* Revision 4.5, June 30, 2008
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*
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* Copyright (c) National Instruments 2008. All Rights Reserved.
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*
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*************************************************************/
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#ifndef __FRC_COMM_H__
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#define __FRC_COMM_H__
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#ifdef SIMULATION
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#include <vxWorks_compat.h>
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#ifdef USE_THRIFT
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#define EXPORT_FUNC
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#else
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#define EXPORT_FUNC __declspec(dllexport) __cdecl
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#endif
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#else
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#include <stdint.h>
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#include <pthread.h>
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#define EXPORT_FUNC
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#endif
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#define ERR_FRCSystem_NetCommNotResponding -44049
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#define ERR_FRCSystem_NoDSConnection -44018
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enum AllianceStationID_t {
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kAllianceStationID_red1,
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kAllianceStationID_red2,
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kAllianceStationID_red3,
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kAllianceStationID_blue1,
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kAllianceStationID_blue2,
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kAllianceStationID_blue3,
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};
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enum MatchType_t {
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kMatchType_none,
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kMatchType_practice,
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kMatchType_qualification,
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kMatchType_elimination,
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};
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struct ControlWord_t {
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uint32_t enabled : 1;
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uint32_t autonomous : 1;
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uint32_t test : 1;
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uint32_t eStop : 1;
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uint32_t fmsAttached : 1;
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uint32_t dsAttached : 1;
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uint32_t control_reserved : 26;
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};
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struct JoystickAxes_t {
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uint16_t count;
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int16_t axes[1];
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};
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struct JoystickPOV_t {
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uint16_t count;
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int16_t povs[1];
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};
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#ifdef __cplusplus
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extern "C" {
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#endif
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int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
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#ifndef SIMULATION
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void EXPORT_FUNC
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getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
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#endif
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int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut,
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uint8_t updateNumber, const char *userDataHigh,
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int userDataHighLength, const char *userDataLow,
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int userDataLowLength, int wait_ms);
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int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
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#ifdef SIMULATION
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void EXPORT_FUNC setNewDataSem(HANDLE);
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#else
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void EXPORT_FUNC setNewDataSem(pthread_cond_t *);
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#endif
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// this uint32_t is really a LVRefNum
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int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
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int EXPORT_FUNC
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FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
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int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(
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enum AllianceStationID_t *allianceStation);
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int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
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int EXPORT_FUNC
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FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum,
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struct JoystickAxes_t *axes,
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uint8_t maxAxes);
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int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum,
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uint32_t *buttons,
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uint8_t *count);
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int EXPORT_FUNC
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FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum,
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struct JoystickPOV_t *povs,
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uint8_t maxPOVs);
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int EXPORT_FUNC
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FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum,
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uint32_t hidOutputs,
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uint16_t leftRumble,
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uint16_t rightRumble);
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int EXPORT_FUNC
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FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox,
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uint8_t *type, char *name,
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uint8_t *axisCount, uint8_t *axisTypes,
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uint8_t *buttonCount,
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uint8_t *povCount);
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void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
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int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
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#ifdef __cplusplus
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}
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#endif
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#endif
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