Package edu.wpi.first.hal

Class HAL

java.lang.Object

edu.wpi.first.hal.JNIWrapper

edu.wpi.first.hal.HAL

public final class HAL
extends JNIWrapper

JNI Wrapper for HAL
.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	HAL.SimPeriodicAfterCallback
static class	HAL.SimPeriodicBeforeCallback

Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

JNIWrapper.Helper

Field Summary

Fields

Modifier and Type	Field	Description
static int	kMaxJoystickAxes
static int	kMaxJoystickPOVs

Method Summary

Modifier and Type	Method	Description
static void	exitMain()
static AllianceStationID	getAllianceStation()
static boolean	getBrownedOut()
static void	getControlWord(ControlWord controlWord)
static short	getJoystickAxes(byte joystickNum, float[] axesArray)
static int	getJoystickAxisType(byte joystickNum, byte axis)
static int	getJoystickButtons(byte joystickNum, ByteBuffer count)
static int	getJoystickIsXbox(byte joystickNum)
static String	getJoystickName(byte joystickNum)
static short	getJoystickPOVs(byte joystickNum, short[] povsArray)
static int	getJoystickType(byte joystickNum)
static int	getMatchInfo(MatchInfoData info)
static double	getMatchTime()
static int	getPort(byte channel)
static int	getPortWithModule(byte module, byte channel)
static boolean	getSystemActive()
static boolean	hasMain()
static boolean	initialize(int timeout, int mode)
static boolean	isNewControlData()
static int	nativeGetControlWord()
static void	observeUserProgramAutonomous()
static void	observeUserProgramDisabled()
static void	observeUserProgramStarting()
static void	observeUserProgramTeleop()
static void	observeUserProgramTest()
static HAL.SimPeriodicAfterCallback	registerSimPeriodicAfterCallback(Runnable r)	Registers a callback to be run by IterativeRobotBase after the user's simulationPeriodic code.
static HAL.SimPeriodicBeforeCallback	registerSimPeriodicBeforeCallback(Runnable r)	Registers a callback to be run by IterativeRobotBase prior to the user's simulationPeriodic code.
static void	releaseDSMutex()
static void	report(int resource, int instanceNumber)
static void	report(int resource, int instanceNumber, int context)
static int	report(int resource, int instanceNumber, int context, String feature)	Report the usage of a resource of interest.
static void	runMain()
static int	sendConsoleLine(String line)
static int	sendError(boolean isError, int errorCode, boolean isLVCode, String details, String location, String callStack, boolean printMsg)
static int	setJoystickOutputs(byte joystickNum, int outputs, short leftRumble, short rightRumble)
static void	shutdown()
static void	simPeriodicAfter()	Runs SimPeriodicAfter callbacks.
static void	simPeriodicBefore()	Runs SimPeriodicBefore callbacks.
static void	waitForDSData()
static boolean	waitForDSDataTimeout(double timeout)

Methods inherited from class edu.wpi.first.hal.JNIWrapper

forceLoad, suppressUnused

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

kMaxJoystickAxes

public static final int kMaxJoystickAxes

See Also:

Constant Field Values

kMaxJoystickPOVs

public static final int kMaxJoystickPOVs

See Also:

Constant Field Values

Method Details

waitForDSData

public static void waitForDSData()

initialize

public static boolean initialize(int timeout, int mode)

shutdown

public static void shutdown()

hasMain

public static boolean hasMain()

runMain

public static void runMain()

exitMain

public static void exitMain()

registerSimPeriodicBeforeCallback

public static HAL.SimPeriodicBeforeCallback registerSimPeriodicBeforeCallback(Runnable r)

Registers a callback to be run by IterativeRobotBase prior to the user's simulationPeriodic code.

Parameters:

r - runnable

Returns:

Callback object (must be retained for callback to stay active).

simPeriodicBefore

public static void simPeriodicBefore()

Runs SimPeriodicBefore callbacks. IterativeRobotBase calls this prior to the user's simulationPeriodic code.

registerSimPeriodicAfterCallback

public static HAL.SimPeriodicAfterCallback registerSimPeriodicAfterCallback(Runnable r)

Registers a callback to be run by IterativeRobotBase after the user's simulationPeriodic code.

Parameters:

r - runnable

Returns:

Callback object (must be retained for callback to stay active).

simPeriodicAfter

public static void simPeriodicAfter()

Runs SimPeriodicAfter callbacks. IterativeRobotBase calls this after the user's simulationPeriodic code.

observeUserProgramStarting

public static void observeUserProgramStarting()

observeUserProgramDisabled

public static void observeUserProgramDisabled()

observeUserProgramAutonomous

public static void observeUserProgramAutonomous()

observeUserProgramTeleop

public static void observeUserProgramTeleop()

observeUserProgramTest

public static void observeUserProgramTest()

report

public static void report(int resource, int instanceNumber)

report

public static void report(int resource, int instanceNumber, int context)

report

public static int report(int resource, int instanceNumber, int context, String feature)

Report the usage of a resource of interest.

Original signature: uint32_t report(tResourceType, uint8_t, uint8_t, const char*)

Parameters:

resource - one of the values in the tResourceType above (max value 51).

instanceNumber - an index that identifies the resource instance.

context - an optional additional context number for some cases (such as module number). Set to 0 to omit.

feature - a string to be included describing features in use on a specific resource. Setting the same resource more than once allows you to change the feature string.

Returns:

TODO

nativeGetControlWord

public static int nativeGetControlWord()

getControlWord

public static void getControlWord(ControlWord controlWord)

getAllianceStation

public static AllianceStationID getAllianceStation()

isNewControlData

public static boolean isNewControlData()

releaseDSMutex

public static void releaseDSMutex()

waitForDSDataTimeout

public static boolean waitForDSDataTimeout(double timeout)

getJoystickAxes

public static short getJoystickAxes(byte joystickNum, float[] axesArray)

getJoystickPOVs

public static short getJoystickPOVs(byte joystickNum, short[] povsArray)

getJoystickButtons

public static int getJoystickButtons(byte joystickNum, ByteBuffer count)

setJoystickOutputs

public static int setJoystickOutputs(byte joystickNum, int outputs, short leftRumble, short rightRumble)

getJoystickIsXbox

public static int getJoystickIsXbox(byte joystickNum)

getJoystickType

public static int getJoystickType(byte joystickNum)

getJoystickName

public static String getJoystickName(byte joystickNum)

getJoystickAxisType

public static int getJoystickAxisType(byte joystickNum, byte axis)

getMatchTime

public static double getMatchTime()

getSystemActive

public static boolean getSystemActive()

getBrownedOut

public static boolean getBrownedOut()

getMatchInfo

public static int getMatchInfo(MatchInfoData info)

sendError

public static int sendError(boolean isError, int errorCode, boolean isLVCode, String details, String location, String callStack, boolean printMsg)

sendConsoleLine

public static int sendConsoleLine(String line)

getPortWithModule

public static int getPortWithModule(byte module, byte channel)

getPort

public static int getPort(byte channel)