| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2013-2017. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #pragma once |
| 9 | |
| 10 | #include <stdint.h> |
| 11 | |
| 12 | #include <cstddef> |
| 13 | |
| 14 | #include "HAL/Types.h" |
| 15 | |
| 16 | #define HAL_IO_CONFIG_DATA_SIZE 32 |
| 17 | #define HAL_SYS_STATUS_DATA_SIZE 44 |
| 18 | #define HAL_USER_STATUS_DATA_SIZE \ |
| 19 | (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE) |
| 20 | |
| 21 | #define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17 |
| 22 | #define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18 |
| 23 | #define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19 |
| 24 | #define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20 |
| 25 | #define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21 |
| 26 | #define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22 |
| 27 | #define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23 |
| 28 | #define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24 |
| 29 | #define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25 |
| 30 | |
| 31 | struct HAL_ControlWord { |
| 32 | uint32_t enabled : 1; |
| 33 | uint32_t autonomous : 1; |
| 34 | uint32_t test : 1; |
| 35 | uint32_t eStop : 1; |
| 36 | uint32_t fmsAttached : 1; |
| 37 | uint32_t dsAttached : 1; |
| 38 | uint32_t control_reserved : 26; |
| 39 | }; |
| 40 | |
| 41 | enum HAL_AllianceStationID : int32_t { |
| 42 | HAL_AllianceStationID_kRed1, |
| 43 | HAL_AllianceStationID_kRed2, |
| 44 | HAL_AllianceStationID_kRed3, |
| 45 | HAL_AllianceStationID_kBlue1, |
| 46 | HAL_AllianceStationID_kBlue2, |
| 47 | HAL_AllianceStationID_kBlue3, |
| 48 | }; |
| 49 | |
| 50 | /* The maximum number of axes that will be stored in a single HALJoystickAxes |
| 51 | * struct. This is used for allocating buffers, not bounds checking, since |
| 52 | * there are usually less axes in practice. |
| 53 | */ |
| 54 | #define HAL_kMaxJoystickAxes 12 |
| 55 | #define HAL_kMaxJoystickPOVs 12 |
| 56 | |
| 57 | struct HAL_JoystickAxes { |
| 58 | int16_t count; |
| 59 | float axes[HAL_kMaxJoystickAxes]; |
| 60 | }; |
| 61 | |
| 62 | struct HAL_JoystickPOVs { |
| 63 | int16_t count; |
| 64 | int16_t povs[HAL_kMaxJoystickPOVs]; |
| 65 | }; |
| 66 | |
| 67 | struct HAL_JoystickButtons { |
| 68 | uint32_t buttons; |
| 69 | uint8_t count; |
| 70 | }; |
| 71 | |
| 72 | struct HAL_JoystickDescriptor { |
| 73 | uint8_t isXbox; |
| 74 | uint8_t type; |
| 75 | char name[256]; |
| 76 | uint8_t axisCount; |
| 77 | uint8_t axisTypes[HAL_kMaxJoystickAxes]; |
| 78 | uint8_t buttonCount; |
| 79 | uint8_t povCount; |
| 80 | }; |
| 81 | |
| 82 | #ifdef __cplusplus |
| 83 | extern "C" { |
| 84 | #endif |
| 85 | int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength, |
| 86 | int32_t waitMs); |
| 87 | int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode, |
| 88 | const char* details, const char* location, |
| 89 | const char* callStack, HAL_Bool printMsg); |
| 90 | |
| 91 | int32_t HAL_GetControlWord(HAL_ControlWord* controlWord); |
| 92 | HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status); |
| 93 | int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes); |
| 94 | int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs); |
| 95 | int32_t HAL_GetJoystickButtons(int32_t joystickNum, |
| 96 | HAL_JoystickButtons* buttons); |
| 97 | int32_t HAL_GetJoystickDescriptor(int32_t joystickNum, |
| 98 | HAL_JoystickDescriptor* desc); |
| 99 | HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum); |
| 100 | int32_t HAL_GetJoystickType(int32_t joystickNum); |
| 101 | char* HAL_GetJoystickName(int32_t joystickNum); |
| 102 | int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis); |
| 103 | int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs, |
| 104 | int32_t leftRumble, int32_t rightRumble); |
| 105 | double HAL_GetMatchTime(int32_t* status); |
| 106 | |
| 107 | #ifndef HAL_USE_LABVIEW |
| 108 | |
| 109 | void HAL_WaitForDSData(void); |
| 110 | void HAL_InitializeDriverStation(void); |
| 111 | |
| 112 | void HAL_ObserveUserProgramStarting(void); |
| 113 | void HAL_ObserveUserProgramDisabled(void); |
| 114 | void HAL_ObserveUserProgramAutonomous(void); |
| 115 | void HAL_ObserveUserProgramTeleop(void); |
| 116 | void HAL_ObserveUserProgramTest(void); |
| 117 | |
| 118 | #endif // HAL_USE_LABVIEW |
| 119 | |
| 120 | #ifdef __cplusplus |
| 121 | } // extern "C" |
| 122 | #endif |