mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
cdbe80315f
This updates the hal headers and ni libraries for image v19. There were very few changes this time around, only some network communications stuff. Also updated the minimum version number in the build properties to the new image version Change-Id: Ic8cb384b92c54d938dec36df34fc609626b4cd5d
130 lines
4.0 KiB
C
130 lines
4.0 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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#if defined(__vxworks)
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#include <vxWorks.h>
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#define EXPORT_FUNC
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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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#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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#ifndef __vxworks
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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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#else
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uint32_t control_reserved : 26;
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uint32_t dsAttached:1;
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uint32_t fmsAttached:1;
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uint32_t eStop : 1;
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uint32_t test :1;
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uint32_t autonomous : 1;
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uint32_t enabled : 1;
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#endif
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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 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, uint8_t updateNumber,
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const char *userDataHigh, int userDataHighLength,
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const char *userDataLow, 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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# if defined (__vxworks)
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void EXPORT_FUNC setNewDataSem(SEM_ID);
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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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#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 FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
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int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
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int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
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int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
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int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
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int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
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int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
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int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
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uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, 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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