mirror of
https://github.com/wpilibsuite/allwpilib
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8bba58b9ab
Packing, unpacking, caching, receiving, and sending CAN messages can be done with a thin wrapper around CANSessionMux now, removing the need for duplicated code between different CAN devices and languages. Change-Id: If40181e479f45a443db7a1c264437f7f89ff54d9
316 lines
7.7 KiB
C++
316 lines
7.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2013. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#ifdef __vxworks
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#include <vxWorks.h>
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#else
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#include <stdint.h>
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#endif
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#include <cmath>
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#include "Analog.hpp"
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#include "CAN.hpp"
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#include "Compressor.hpp"
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#include "Digital.hpp"
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#include "Solenoid.hpp"
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#include "Notifier.hpp"
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#include "Interrupts.hpp"
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#include "Errors.hpp"
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#include "PDP.hpp"
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#include "Utilities.hpp"
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#include "Semaphore.hpp"
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#include "Task.hpp"
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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 (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
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#define HAL_USER_DS_LCD_DATA_SIZE 128
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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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namespace HALUsageReporting
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{
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enum tResourceType
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{
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kResourceType_Controller,
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kResourceType_Module,
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kResourceType_Language,
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kResourceType_CANPlugin,
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kResourceType_Accelerometer,
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kResourceType_ADXL345,
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kResourceType_AnalogChannel,
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kResourceType_AnalogTrigger,
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kResourceType_AnalogTriggerOutput,
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kResourceType_CANJaguar,
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kResourceType_Compressor,
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kResourceType_Counter,
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kResourceType_Dashboard,
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kResourceType_DigitalInput,
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kResourceType_DigitalOutput,
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kResourceType_DriverStationCIO,
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kResourceType_DriverStationEIO,
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kResourceType_DriverStationLCD,
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kResourceType_Encoder,
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kResourceType_GearTooth,
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kResourceType_Gyro,
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kResourceType_I2C,
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kResourceType_Framework,
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kResourceType_Jaguar,
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kResourceType_Joystick,
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kResourceType_Kinect,
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kResourceType_KinectStick,
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kResourceType_PIDController,
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kResourceType_Preferences,
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kResourceType_PWM,
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kResourceType_Relay,
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kResourceType_RobotDrive,
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kResourceType_SerialPort,
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kResourceType_Servo,
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kResourceType_Solenoid,
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kResourceType_SPI,
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kResourceType_Task,
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kResourceType_Ultrasonic,
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kResourceType_Victor,
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kResourceType_Button,
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kResourceType_Command,
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kResourceType_AxisCamera,
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kResourceType_PCVideoServer,
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kResourceType_SmartDashboard,
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kResourceType_Talon,
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kResourceType_HiTechnicColorSensor,
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kResourceType_HiTechnicAccel,
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kResourceType_HiTechnicCompass,
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kResourceType_SRF08,
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};
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enum tInstances
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{
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kLanguage_LabVIEW = 1,
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kLanguage_CPlusPlus = 2,
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kLanguage_Java = 3,
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kLanguage_Python = 4,
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kCANPlugin_BlackJagBridge = 1,
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kCANPlugin_2CAN = 2,
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kFramework_Iterative = 1,
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kFramework_Simple = 2,
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kRobotDrive_ArcadeStandard = 1,
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kRobotDrive_ArcadeButtonSpin = 2,
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kRobotDrive_ArcadeRatioCurve = 3,
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kRobotDrive_Tank = 4,
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kRobotDrive_MecanumPolar = 5,
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kRobotDrive_MecanumCartesian = 6,
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kDriverStationCIO_Analog = 1,
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kDriverStationCIO_DigitalIn = 2,
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kDriverStationCIO_DigitalOut = 3,
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kDriverStationEIO_Acceleration = 1,
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kDriverStationEIO_AnalogIn = 2,
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kDriverStationEIO_AnalogOut = 3,
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kDriverStationEIO_Button = 4,
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kDriverStationEIO_LED = 5,
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kDriverStationEIO_DigitalIn = 6,
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kDriverStationEIO_DigitalOut = 7,
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kDriverStationEIO_FixedDigitalOut = 8,
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kDriverStationEIO_PWM = 9,
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kDriverStationEIO_Encoder = 10,
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kDriverStationEIO_TouchSlider = 11,
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kADXL345_SPI = 1,
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kADXL345_I2C = 2,
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kCommand_Scheduler = 1,
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kSmartDashboard_Instance = 1,
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};
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}
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struct HALCommonControlData
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{
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uint16_t packetIndex;
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union
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{
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uint8_t control;
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#ifndef __vxworks
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struct
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{
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uint8_t checkVersions :1;
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uint8_t test :1;
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uint8_t resync :1;
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uint8_t fmsAttached :1;
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uint8_t autonomous :1;
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uint8_t enabled :1;
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uint8_t notEStop :1;
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uint8_t reset :1;
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};
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#else
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struct
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{
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uint8_t reset : 1;
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uint8_t notEStop : 1;
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uint8_t enabled : 1;
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uint8_t autonomous : 1;
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uint8_t fmsAttached:1;
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uint8_t resync : 1;
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uint8_t test :1;
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uint8_t checkVersions :1;
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};
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#endif
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};
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uint8_t dsDigitalIn;
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uint16_t teamID;
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char dsID_Alliance;
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char dsID_Position;
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union
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{
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int8_t stick0Axes[6];
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struct
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{ // TODO: ???
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int8_t stick0Axis1;
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int8_t stick0Axis2;
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int8_t stick0Axis3;
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int8_t stick0Axis4;
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int8_t stick0Axis5;
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int8_t stick0Axis6;
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};
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};
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uint16_t stick0Buttons; // Left-most 4 bits are unused
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union
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{
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int8_t stick1Axes[6];
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struct
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{ // TODO: ???
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int8_t stick1Axis1;
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int8_t stick1Axis2;
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int8_t stick1Axis3;
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int8_t stick1Axis4;
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int8_t stick1Axis5;
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int8_t stick1Axis6;
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};
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};
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uint16_t stick1Buttons; // Left-most 4 bits are unused
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union
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{
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int8_t stick2Axes[6];
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struct
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{ // TODO: ???
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int8_t stick2Axis1;
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int8_t stick2Axis2;
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int8_t stick2Axis3;
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int8_t stick2Axis4;
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int8_t stick2Axis5;
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int8_t stick2Axis6;
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};
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};
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uint16_t stick2Buttons; // Left-most 4 bits are unused
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union
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{
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int8_t stick3Axes[6];
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struct
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{ // TODO: ???
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int8_t stick3Axis1;
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int8_t stick3Axis2;
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int8_t stick3Axis3;
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int8_t stick3Axis4;
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int8_t stick3Axis5;
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int8_t stick3Axis6;
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};
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};
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uint16_t stick3Buttons; // Left-most 4 bits are unused
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//Analog inputs are 10 bit right-justified
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uint16_t analog1;
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uint16_t analog2;
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uint16_t analog3;
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uint16_t analog4;
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uint64_t cRIOChecksum;
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uint32_t FPGAChecksum0;
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uint32_t FPGAChecksum1;
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uint32_t FPGAChecksum2;
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uint32_t FPGAChecksum3;
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char versionData[8];
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};
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inline float intToFloat(int value)
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{
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return (float)value;
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}
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inline int floatToInt(float value)
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{
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return round(value);
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}
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extern "C"
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{
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extern const uint32_t dio_kNumSystems;
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extern const uint32_t solenoid_kNumDO7_0Elements;
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extern const uint32_t interrupt_kNumSystems;
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extern const uint32_t kSystemClockTicksPerMicrosecond;
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void* getPort(uint8_t pin);
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void* getPortWithModule(uint8_t module, uint8_t pin);
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const char* getHALErrorMessage(int32_t code);
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uint16_t getFPGAVersion(int32_t *status);
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uint32_t getFPGARevision(int32_t *status);
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uint32_t getFPGATime(int32_t *status);
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void setFPGALED(uint32_t state, int32_t *status);
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int32_t getFPGALED(int32_t *status);
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int HALSetErrorData(const char *errors, int errorsLength, int wait_ms);
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int HALSetUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
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int HALOverrideIOConfig(const char *ioConfig, int wait_ms);
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int HALGetDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
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int HALGetCommonControlData(HALCommonControlData *data, int wait_ms);
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void HALSetNewDataSem(pthread_mutex_t *);
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int HALSetStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
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const char *userDataHigh, int userDataHighLength, const char *userDataLow,
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int userDataLowLength, int wait_ms);
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int HALInitialize(int mode = 0);
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void HALNetworkCommunicationObserveUserProgramStarting();
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void HALNetworkCommunicationObserveUserProgramDisabled();
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void HALNetworkCommunicationObserveUserProgramAutonomous();
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void HALNetworkCommunicationObserveUserProgramTeleop();
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void HALNetworkCommunicationObserveUserProgramTest();
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uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, uint8_t context = 0,
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const char *feature = NULL);
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}
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// TODO: HACKS for now...
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extern "C"
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{
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void NumericArrayResize();
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void RTSetCleanupProc();
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void EDVR_CreateReference();
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void Occur();
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}
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