allwpilib/hal/lib/Shared/HAL.cpp

//This file must compile on ALL PLATFORMS. Be very careful what you put in here.
#include "HAL/HAL.hpp"
#include "FRC_NetworkCommunication/FRCComm.h"
#include <cstring>

extern "C" {

int HALGetControlWord(HALControlWord *data)
{
	return FRC_NetworkCommunication_getControlWord((ControlWord_t*) data);
}

void HALSetNewDataSem(MULTIWAIT_ID sem)
{
	setNewDataSem(sem->native_handle());
}

int HALGetAllianceStation(enum HALAllianceStationID *allianceStation)
{
	return FRC_NetworkCommunication_getAllianceStation((AllianceStationID_t*) allianceStation);
}

int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes)
{
	return FRC_NetworkCommunication_getJoystickAxes(joystickNum, (JoystickAxes_t*) axes, kMaxJoystickAxes);
}

int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs)
{
	return FRC_NetworkCommunication_getJoystickPOVs(joystickNum, (JoystickPOV_t*) povs, kMaxJoystickPOVs);
}

int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons)
{
	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, &buttons->buttons, &buttons->count);
}
/**
 * Retrieve the Joystick Descriptor for particular slot
 * @param desc [out] descriptor (data transfer object) to fill in.  desc is filled in regardless of success.
 *                              In other words, if descriptor is not available, desc is filled in with default
 *                              values matching the init-values in Java and C++ Driverstation for when caller
 *                              requests a too-large joystick index.
 *
 * @return error code reported from Network Comm back-end.  Zero is good, nonzero is bad.
 */
int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc)
{
	desc->isXbox = 0;
	desc->type = -1;
	desc->name[0] = '\0';
	desc->axisCount = kMaxJoystickAxes; /* set to the desc->axisTypes's capacity */
	desc->buttonCount = 0;
	desc->povCount = 0;
	int retval = FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name),
		&desc->axisCount, (uint8_t *)&desc->axisTypes, &desc->buttonCount, &desc->povCount);
	/* check the return, if there is an error and the RIOimage predates FRC2017, then axisCount needs to be cleared */
	if(retval != 0)
	{
		/* set count to zero so downstream code doesn't decode invalid axisTypes. */
		desc->axisCount = 0;
	}
	return retval;
}

int HALGetJoystickIsXbox(uint8_t joystickNum)
{
	HALJoystickDescriptor joystickDesc;
	if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
	{
		return 0;
	}else
	{
	return joystickDesc.isXbox;
	}
}

int HALGetJoystickType(uint8_t joystickNum)
{
	HALJoystickDescriptor joystickDesc;
	if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
	{
		return -1;
	} else
	{
	return joystickDesc.type;
	}
}

char* HALGetJoystickName(uint8_t joystickNum)
{
	HALJoystickDescriptor joystickDesc;
	if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
	{
		char* name = (char*)std::malloc(1);
		name[0] = '\0';
		return name;
	} else
	{
		size_t len = std::strlen(joystickDesc.name);
		char* name = (char*)std::malloc(len+1);
		std::strcpy(name, joystickDesc.name);
		return name;
	}
}

int HALGetJoystickAxisType(uint8_t joystickNum, uint8_t axis)
{
	HALJoystickDescriptor joystickDesc;
	if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
	{
		return -1;
	} else
	{
	return joystickDesc.axisTypes[axis];
	}
}

int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble)
{
	return FRC_NetworkCommunication_setJoystickOutputs(joystickNum, outputs, leftRumble, rightRumble);
}

int HALGetMatchTime(float *matchTime)
{
	return FRC_NetworkCommunication_getMatchTime(matchTime);
}

void HALNetworkCommunicationObserveUserProgramStarting(void)
{
	FRC_NetworkCommunication_observeUserProgramStarting();
}

void HALNetworkCommunicationObserveUserProgramDisabled(void)
{
	FRC_NetworkCommunication_observeUserProgramDisabled();
}

void HALNetworkCommunicationObserveUserProgramAutonomous(void)
{
	FRC_NetworkCommunication_observeUserProgramAutonomous();
}

void HALNetworkCommunicationObserveUserProgramTeleop(void)
{
	FRC_NetworkCommunication_observeUserProgramTeleop();
}

void HALNetworkCommunicationObserveUserProgramTest(void)
{
	FRC_NetworkCommunication_observeUserProgramTest();
}

}  // extern "C"