mirror of
https://github.com/wpilibsuite/allwpilib
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164 lines
5.4 KiB
C++
164 lines
5.4 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 "FRC_NetworkCommunication/UsageReporting.h"
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#include "HAL/Accelerometer.h"
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#include "HAL/AnalogAccumulator.h"
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#include "HAL/AnalogGyro.h"
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#include "HAL/AnalogInput.h"
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#include "HAL/AnalogOutput.h"
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#include "HAL/AnalogTrigger.h"
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#include "HAL/Compressor.h"
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#include "HAL/Constants.h"
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#include "HAL/Counter.h"
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#include "HAL/DIO.h"
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#include "HAL/Errors.h"
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#include "HAL/I2C.h"
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#include "HAL/Interrupts.h"
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#include "HAL/Notifier.h"
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#include "HAL/PDP.h"
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#include "HAL/PWM.h"
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#include "HAL/Ports.h"
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#include "HAL/Power.h"
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#include "HAL/Relay.h"
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#include "HAL/SPI.h"
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#include "HAL/SerialPort.h"
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#include "HAL/Solenoid.h"
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#include "HAL/Task.h"
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#include "HAL/Types.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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#ifdef __cplusplus
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extern "C" {
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#endif
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HAL_PortHandle HAL_GetPort(int32_t pin);
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HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t pin);
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const char* HAL_GetErrorMessage(int32_t code);
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int32_t HAL_GetFPGAVersion(int32_t* status);
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int64_t HAL_GetFPGARevision(int32_t* status);
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uint64_t HAL_GetFPGATime(int32_t* status);
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HAL_Bool HAL_GetFPGAButton(int32_t* status);
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int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
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int32_t wait_ms);
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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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float HAL_GetMatchTime(int32_t* status);
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void HAL_WaitForDSData(void);
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HAL_Bool HAL_GetSystemActive(int32_t* status);
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HAL_Bool HAL_GetBrownedOut(int32_t* status);
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int32_t HAL_Initialize(int32_t mode);
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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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// ifdef's definition is to allow for default parameters in C++.
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#ifdef __cplusplus
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int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
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int32_t context = 0, const char* feature = nullptr);
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#else
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int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
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const char* feature);
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#endif
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#ifdef __cplusplus
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}
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#endif
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