DriverStationData.h

Go to the documentation of this file.

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <cstddef>
 
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/hal/Types.h"
#include "wpi/hal/simulation/NotifyListener.h"
#include "wpi/util/string.h"
 
typedef void (*HAL_OpModeOptionsCallback)(const char* name, void* param,
                                          const HAL_OpModeOption* opmodes,
                                          int32_t count);
typedef void (*HAL_JoystickAxesCallback)(const char* name, void* param,
                                         int32_t joystickNum,
                                         const HAL_JoystickAxes* axes);
typedef void (*HAL_JoystickPOVsCallback)(const char* name, void* param,
                                         int32_t joystickNum,
                                         const HAL_JoystickPOVs* povs);
typedef void (*HAL_JoystickButtonsCallback)(const char* name, void* param,
                                            int32_t joystickNum,
                                            const HAL_JoystickButtons* buttons);
typedef void (*HAL_JoystickTouchpadsCallback)(
    const char* name, void* param, int32_t joystickNum,
    const HAL_JoystickTouchpads* touchpads);
typedef void (*HAL_JoystickDescriptorCallback)(
    const char* name, void* param, int32_t joystickNum,
    const HAL_JoystickDescriptor* descriptor);
typedef void (*HAL_JoystickLedsCallback)(const char* name, void* param,
                                         int32_t joystickNum, int32_t leds);
typedef void (*HAL_JoystickRumblesCallback)(
    const char* name, void* param, int32_t joystickNum, int32_t leftRumble,
    int32_t rightRumble, int32_t leftTriggerRumble, int32_t rightTriggerRumble);
typedef void (*HAL_MatchInfoCallback)(const char* name, void* param,
                                      const HAL_MatchInfo* info);
typedef void (*HAL_GameDataCallback)(const char* name, void* param,
                                     const HAL_GameData* gameData);
 
#ifdef __cplusplus
extern "C" {
#endif
 
void HALSIM_ResetDriverStationData(void);
 
int32_t HALSIM_RegisterDriverStationEnabledCallback(HAL_NotifyCallback callback,
                                                    void* param,
                                                    HAL_Bool initialNotify);
void HALSIM_CancelDriverStationEnabledCallback(int32_t uid);
HAL_Bool HALSIM_GetDriverStationEnabled(void);
void HALSIM_SetDriverStationEnabled(HAL_Bool enabled);
 
int32_t HALSIM_RegisterDriverStationRobotModeCallback(
    HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify);
void HALSIM_CancelDriverStationRobotModeCallback(int32_t uid);
HAL_RobotMode HALSIM_GetDriverStationRobotMode(void);
void HALSIM_SetDriverStationRobotMode(HAL_RobotMode mode);
 
int32_t HALSIM_RegisterDriverStationEStopCallback(HAL_NotifyCallback callback,
                                                  void* param,
                                                  HAL_Bool initialNotify);
void HALSIM_CancelDriverStationEStopCallback(int32_t uid);
HAL_Bool HALSIM_GetDriverStationEStop(void);
void HALSIM_SetDriverStationEStop(HAL_Bool eStop);
 
int32_t HALSIM_RegisterDriverStationFmsAttachedCallback(
    HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify);
void HALSIM_CancelDriverStationFmsAttachedCallback(int32_t uid);
HAL_Bool HALSIM_GetDriverStationFmsAttached(void);
void HALSIM_SetDriverStationFmsAttached(HAL_Bool fmsAttached);
 
int32_t HALSIM_RegisterDriverStationDsAttachedCallback(
    HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify);
void HALSIM_CancelDriverStationDsAttachedCallback(int32_t uid);
HAL_Bool HALSIM_GetDriverStationDsAttached(void);
void HALSIM_SetDriverStationDsAttached(HAL_Bool dsAttached);
 
int32_t HALSIM_RegisterDriverStationAllianceStationIdCallback(
    HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify);
void HALSIM_CancelDriverStationAllianceStationIdCallback(int32_t uid);
HAL_AllianceStationID HALSIM_GetDriverStationAllianceStationId(void);
void HALSIM_SetDriverStationAllianceStationId(
    HAL_AllianceStationID allianceStationId);
 
int32_t HALSIM_RegisterDriverStationMatchTimeCallback(
    HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify);
void HALSIM_CancelDriverStationMatchTimeCallback(int32_t uid);
double HALSIM_GetDriverStationMatchTime(void);
void HALSIM_SetDriverStationMatchTime(double matchTime);
 
int32_t HALSIM_RegisterDriverStationOpModeCallback(HAL_NotifyCallback callback,
                                                   void* param,
                                                   HAL_Bool initialNotify);
void HALSIM_CancelDriverStationOpModeCallback(int32_t uid);
int64_t HALSIM_GetDriverStationOpMode(void);
void HALSIM_SetDriverStationOpMode(int64_t opmode);
 
int32_t HALSIM_RegisterOpModeOptionsCallback(HAL_OpModeOptionsCallback callback,
                                             void* param,
                                             HAL_Bool initialNotify);
void HALSIM_CancelOpModeOptionsCallback(int32_t uid);
struct HAL_OpModeOption* HALSIM_GetOpModeOptions(int32_t* len);
 
void HALSIM_FreeOpModeOptionsArray(struct HAL_OpModeOption* arr, size_t length);
 
int32_t HALSIM_RegisterJoystickAxesCallback(int32_t joystickNum,
                                            HAL_JoystickAxesCallback callback,
                                            void* param,
                                            HAL_Bool initialNotify);
void HALSIM_CancelJoystickAxesCallback(int32_t uid);
void HALSIM_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
void HALSIM_SetJoystickAxes(int32_t joystickNum, const HAL_JoystickAxes* axes);
 
int32_t HALSIM_RegisterJoystickPOVsCallback(int32_t joystickNum,
                                            HAL_JoystickPOVsCallback callback,
                                            void* param,
                                            HAL_Bool initialNotify);
void HALSIM_CancelJoystickPOVsCallback(int32_t uid);
void HALSIM_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
void HALSIM_SetJoystickPOVs(int32_t joystickNum, const HAL_JoystickPOVs* povs);
 
int32_t HALSIM_RegisterJoystickButtonsCallback(
    int32_t joystickNum, HAL_JoystickButtonsCallback callback, void* param,
    HAL_Bool initialNotify);
void HALSIM_CancelJoystickButtonsCallback(int32_t uid);
void HALSIM_GetJoystickButtons(int32_t joystickNum,
                               HAL_JoystickButtons* buttons);
void HALSIM_SetJoystickButtons(int32_t joystickNum,
                               const HAL_JoystickButtons* buttons);
 
int32_t HALSIM_RegisterJoystickTouchpadsCallback(
    int32_t joystickNum, HAL_JoystickTouchpadsCallback callback, void* param,
    HAL_Bool initialNotify);
void HALSIM_CancelJoystickTouchpadsCallback(int32_t uid);
void HALSIM_GetJoystickTouchpads(int32_t joystickNum,
                                 HAL_JoystickTouchpads* touchpads);
void HALSIM_SetJoystickTouchpads(int32_t joystickNum,
                                 const HAL_JoystickTouchpads* touchpads);
 
int32_t HALSIM_RegisterJoystickDescriptorCallback(
    int32_t joystickNum, HAL_JoystickDescriptorCallback callback, void* param,
    HAL_Bool initialNotify);
void HALSIM_CancelJoystickDescriptorCallback(int32_t uid);
void HALSIM_GetJoystickDescriptor(int32_t joystickNum,
                                  HAL_JoystickDescriptor* descriptor);
void HALSIM_SetJoystickDescriptor(int32_t joystickNum,
                                  const HAL_JoystickDescriptor* descriptor);
 
int32_t HALSIM_RegisterJoystickLedsCallback(int32_t joystickNum,
                                            HAL_JoystickLedsCallback callback,
                                            void* param,
                                            HAL_Bool initialNotify);
void HALSIM_CancelJoystickLedsCallback(int32_t uid);
void HALSIM_GetJoystickLeds(int32_t joystickNum, int32_t* leds);
void HALSIM_SetJoystickLeds(int32_t joystickNum, int32_t leds);
 
int32_t HALSIM_RegisterJoystickRumblesCallback(
    int32_t joystickNum, HAL_JoystickRumblesCallback callback, void* param,
    HAL_Bool initialNotify);
void HALSIM_CancelJoystickRumblesCallback(int32_t uid);
void HALSIM_GetJoystickRumbles(int32_t joystickNum, int32_t* leftRumble,
                               int32_t* rightRumble, int32_t* leftTriggerRumble,
                               int32_t* rightTriggerRumble);
void HALSIM_SetJoystickRumbles(int32_t joystickNum, int32_t leftRumble,
                               int32_t rightRumble, int32_t leftTriggerRumble,
                               int32_t rightTriggerRumble);
 
int32_t HALSIM_RegisterMatchInfoCallback(HAL_MatchInfoCallback callback,
                                         void* param, HAL_Bool initialNotify);
void HALSIM_CancelMatchInfoCallback(int32_t uid);
void HALSIM_GetMatchInfo(HAL_MatchInfo* info);
void HALSIM_SetMatchInfo(const HAL_MatchInfo* info);
 
int32_t HALSIM_RegisterGameDataCallback(HAL_GameDataCallback callback,
                                        void* param, HAL_Bool initialNotify);
void HALSIM_CancelGameDataCallback(int32_t uid);
void HALSIM_GetGameData(HAL_GameData* gameData);
void HALSIM_SetGameData(const HAL_GameData* gameData);
 
void HALSIM_SetJoystickButton(int32_t stick, int32_t button, HAL_Bool state);
void HALSIM_SetJoystickAxis(int32_t stick, int32_t axis, double value);
void HALSIM_SetJoystickPOV(int32_t stick, int32_t pov, HAL_JoystickPOV value);
void HALSIM_SetJoystickButtonsValue(int32_t stick, uint64_t buttons);
void HALSIM_SetJoystickAxesAvailable(int32_t stick, uint16_t available);
void HALSIM_SetJoystickPOVsAvailable(int32_t stick, uint8_t available);
void HALSIM_SetJoystickButtonsAvailable(int32_t stick, uint64_t available);
void HALSIM_GetJoystickAvailables(int32_t stick, uint16_t* axesAvailable,
                                  uint64_t* buttonsAvailable,
                                  uint8_t* povsAvailable);
void HALSIM_SetJoystickTouchpadCounts(int32_t stick, uint8_t touchpadCount,
                                      const uint8_t* fingerCount);
void HALSIM_SetJoystickTouchpadFinger(int32_t stick, int32_t touchpad,
                                      int32_t finger, HAL_Bool down, double x,
                                      double y);
 
void HALSIM_SetJoystickIsGamepad(int32_t stick, HAL_Bool isGamepad);
void HALSIM_SetJoystickGamepadType(int32_t stick, int32_t type);
void HALSIM_SetJoystickName(int32_t stick, const struct WPI_String* name);
void HALSIM_SetJoystickSupportedOutputs(int32_t stick,
                                        int32_t supportedOutputs);
 
void HALSIM_SetGameDataString(const struct WPI_String* name);
void HALSIM_SetEventName(const struct WPI_String* name);
void HALSIM_SetMatchType(HAL_MatchType type);
void HALSIM_SetMatchNumber(int32_t matchNumber);
void HALSIM_SetReplayNumber(int32_t replayNumber);
 
void HALSIM_RegisterDriverStationAllCallbacks(HAL_NotifyCallback callback,
                                              void* param,
                                              HAL_Bool initialNotify);
 
int32_t HALSIM_RegisterDriverStationNewDataCallback(HAL_NotifyCallback callback,
                                                    void* param,
                                                    HAL_Bool initialNotify);
void HALSIM_CancelDriverStationNewDataCallback(int32_t uid);
void HALSIM_NotifyDriverStationNewData(void);
 
#ifdef __cplusplus
}  // extern "C"
#endif