mirror of
https://github.com/wpilibsuite/allwpilib
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bff67887fd
They can only include HAL/LV/HAL.h, HAL/cpp/*.h, and HAL/handles/*.h. Nothing else will work properly.
123 lines
4.0 KiB
C
123 lines
4.0 KiB
C
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2013-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include <cstddef>
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#include "HAL/Types.h"
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#define HAL_IO_CONFIG_DATA_SIZE 32
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#define HAL_SYS_STATUS_DATA_SIZE 44
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#define HAL_USER_STATUS_DATA_SIZE \
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(984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
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#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
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#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
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struct HAL_ControlWord {
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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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enum HAL_AllianceStationID : int32_t {
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HAL_AllianceStationID_kRed1,
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HAL_AllianceStationID_kRed2,
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HAL_AllianceStationID_kRed3,
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HAL_AllianceStationID_kBlue1,
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HAL_AllianceStationID_kBlue2,
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HAL_AllianceStationID_kBlue3,
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};
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/* The maximum number of axes that will be stored in a single HALJoystickAxes
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* struct. This is used for allocating buffers, not bounds checking, since
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* there are usually less axes in practice.
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*/
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#define HAL_kMaxJoystickAxes 12
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#define HAL_kMaxJoystickPOVs 12
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struct HAL_JoystickAxes {
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int16_t count;
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float axes[HAL_kMaxJoystickAxes];
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};
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struct HAL_JoystickPOVs {
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int16_t count;
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int16_t povs[HAL_kMaxJoystickPOVs];
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};
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struct HAL_JoystickButtons {
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uint32_t buttons;
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uint8_t count;
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};
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struct HAL_JoystickDescriptor {
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uint8_t isXbox;
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uint8_t type;
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char name[256];
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uint8_t axisCount;
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uint8_t axisTypes[HAL_kMaxJoystickAxes];
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uint8_t buttonCount;
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uint8_t povCount;
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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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int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
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int32_t waitMs);
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int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
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const char* details, const char* location,
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const char* callStack, HAL_Bool printMsg);
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int32_t HAL_GetControlWord(HAL_ControlWord* controlWord);
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HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status);
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int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
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int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
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int32_t HAL_GetJoystickButtons(int32_t joystickNum,
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HAL_JoystickButtons* buttons);
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int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
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HAL_JoystickDescriptor* desc);
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HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum);
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int32_t HAL_GetJoystickType(int32_t joystickNum);
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char* HAL_GetJoystickName(int32_t joystickNum);
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int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis);
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int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
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int32_t leftRumble, int32_t rightRumble);
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double HAL_GetMatchTime(int32_t* status);
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#ifndef HAL_USE_LABVIEW
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void HAL_WaitForDSData(void);
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void HAL_InitializeDriverStation(void);
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void HAL_ObserveUserProgramStarting(void);
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void HAL_ObserveUserProgramDisabled(void);
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void HAL_ObserveUserProgramAutonomous(void);
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void HAL_ObserveUserProgramTeleop(void);
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void HAL_ObserveUserProgramTest(void);
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#endif // HAL_USE_LABVIEW
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#ifdef __cplusplus
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} // extern "C"
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#endif
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