mirror of
https://github.com/wpilibsuite/allwpilib
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153 lines
5.0 KiB
C++
153 lines
5.0 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 "Accelerometer.h"
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#include "AnalogAccumulator.h"
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#include "AnalogGyro.h"
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#include "AnalogInput.h"
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#include "AnalogOutput.h"
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#include "AnalogTrigger.h"
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#include "Compressor.h"
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#include "Constants.h"
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#include "Counter.h"
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#include "DIO.h"
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#include "Errors.h"
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#include "FRC_NetworkCommunication/UsageReporting.h"
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#include "Handles.h"
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#include "I2C.h"
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#include "Interrupts.h"
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#include "Notifier.h"
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#include "PDP.h"
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#include "PWM.h"
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#include "Ports.h"
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#include "Power.h"
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#include "Relay.h"
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#include "SPI.h"
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#include "Semaphore.h"
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#include "SerialPort.h"
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#include "Solenoid.h"
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#include "Task.h"
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namespace HALUsageReporting = nUsageReporting;
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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 {
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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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static constexpr size_t HAL_kMaxJoystickAxes = 12;
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static constexpr size_t HAL_kMaxJoystickPOVs = 12;
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struct HAL_JoystickAxes {
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uint16_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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uint16_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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extern "C" {
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HAL_PortHandle HAL_GetPort(uint8_t pin);
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HAL_PortHandle HAL_GetPortWithModule(uint8_t module, uint8_t pin);
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const char* HAL_GetErrorMessage(int32_t code);
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uint16_t HAL_GetFPGAVersion(int32_t* status);
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uint32_t HAL_GetFPGARevision(int32_t* status);
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uint64_t HAL_GetFPGATime(int32_t* status);
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bool HAL_GetFPGAButton(int32_t* status);
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int HAL_SetErrorData(const char* errors, int errorsLength, int wait_ms);
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int HAL_SendError(int isError, int32_t errorCode, int isLVCode,
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const char* details, const char* location,
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const char* callStack, int printMsg);
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int HAL_GetControlWord(HAL_ControlWord* data);
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int HAL_GetAllianceStation(enum HAL_AllianceStationID* allianceStation);
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int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes);
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int HAL_GetJoystickPOVs(uint8_t joystickNum, HAL_JoystickPOVs* povs);
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int HAL_GetJoystickButtons(uint8_t joystickNum, HAL_JoystickButtons* buttons);
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int HAL_GetJoystickDescriptor(uint8_t joystickNum,
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HAL_JoystickDescriptor* desc);
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int HAL_GetJoystickIsXbox(uint8_t joystickNum);
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int HAL_GetJoystickType(uint8_t joystickNum);
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char* HAL_GetJoystickName(uint8_t joystickNum);
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int HAL_GetJoystickAxisType(uint8_t joystickNum, uint8_t axis);
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int HAL_SetJoystickOutputs(uint8_t joystickNum, uint32_t outputs,
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uint16_t leftRumble, uint16_t rightRumble);
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int HAL_GetMatchTime(float* matchTime);
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void HAL_SetNewDataSem(MULTIWAIT_ID sem);
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bool HAL_GetSystemActive(int32_t* status);
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bool HAL_GetBrownedOut(int32_t* status);
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int HAL_Initialize(int mode = 0);
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void HAL_NetworkCommunicationObserveUserProgramStarting();
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void HAL_NetworkCommunicationObserveUserProgramDisabled();
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void HAL_NetworkCommunicationObserveUserProgramAutonomous();
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void HAL_NetworkCommunicationObserveUserProgramTeleop();
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void HAL_NetworkCommunicationObserveUserProgramTest();
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uint32_t HAL_Report(uint8_t resource, uint8_t instanceNumber,
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uint8_t context = 0, const char* feature = nullptr);
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}
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