wpilibc/sim/include/NetworkCommunication/FRCComm.h

/*************************************************************
 * 					NOTICE
 *
 * 	These are the only externally exposed functions to the
 *   NetworkCommunication library
 *
 * This is an implementation of FRC Spec for Comm Protocol
 * Revision 4.5, June 30, 2008
 *
 * Copyright (c) National Instruments 2008.  All Rights Reserved.
 *
 *************************************************************/

#ifndef __FRC_COMM_H__
#define __FRC_COMM_H__

#ifdef SIMULATION
#include <vxWorks_compat.h>
#ifdef USE_THRIFT
#define EXPORT_FUNC
#else
#define EXPORT_FUNC __declspec(dllexport) __cdecl
#endif
#else
#include <stdint.h>
#include <pthread.h>
#define EXPORT_FUNC
#endif

#define ERR_FRCSystem_NetCommNotResponding -44049
#define ERR_FRCSystem_NoDSConnection -44018

enum AllianceStationID_t {
  kAllianceStationID_red1,
  kAllianceStationID_red2,
  kAllianceStationID_red3,
  kAllianceStationID_blue1,
  kAllianceStationID_blue2,
  kAllianceStationID_blue3,
};

enum MatchType_t {
  kMatchType_none,
  kMatchType_practice,
  kMatchType_qualification,
  kMatchType_elimination,
};

struct ControlWord_t {
  uint32_t enabled : 1;
  uint32_t autonomous : 1;
  uint32_t test : 1;
  uint32_t eStop : 1;
  uint32_t fmsAttached : 1;
  uint32_t dsAttached : 1;
  uint32_t control_reserved : 26;
};

struct JoystickAxes_t {
  uint16_t count;
  int16_t axes[1];
};

struct JoystickPOV_t {
  uint16_t count;
  int16_t povs[1];
};

#ifdef __cplusplus
extern "C" {
#endif
int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
#ifndef SIMULATION
void EXPORT_FUNC
getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
#endif
int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut,
                              uint8_t updateNumber, const char *userDataHigh,
                              int userDataHighLength, const char *userDataLow,
                              int userDataLowLength, int wait_ms);
int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);

#ifdef SIMULATION
void EXPORT_FUNC setNewDataSem(HANDLE);
#else
void EXPORT_FUNC setNewDataSem(pthread_cond_t *);
#endif

// this uint32_t is really a LVRefNum
int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);

int EXPORT_FUNC
FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(
    enum AllianceStationID_t *allianceStation);
int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
int EXPORT_FUNC
FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum,
                                         struct JoystickAxes_t *axes,
                                         uint8_t maxAxes);
int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum,
                                                            uint32_t *buttons,
                                                            uint8_t *count);
int EXPORT_FUNC
FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum,
                                         struct JoystickPOV_t *povs,
                                         uint8_t maxPOVs);
int EXPORT_FUNC
FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum,
                                            uint32_t hidOutputs,
                                            uint16_t leftRumble,
                                            uint16_t rightRumble);
int EXPORT_FUNC
FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox,
                                         uint8_t *type, char *name,
                                         uint8_t *axisCount, uint8_t *axisTypes,
                                         uint8_t *buttonCount,
                                         uint8_t *povCount);

void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
#ifdef __cplusplus
}
#endif

#endif