Hardware Abstraction Layer (HAL) to hardware or simulator. More...

Topics
	CAN Functions
	CAN Stream Functions
	Analog Input Functions
	Error Defines
	Notifier Functions
	REV Pneumatic Hub (PH) Functions
	Addressable LED Functions
	CAN API Functions
	Threads Functions
	Encoder Functions
	Main loop functions
	Simulator Device Framework
	HAL Simulator Device Framework.
	Driver Station Functions
	Simulator Extensions
	HAL Simulator Extensions.
	CTRE Pneumatic Control Module (PCM) Functions
	I2C Functions
	Alert Functions
	Type Definitions
	DutyCycle Functions
	Power Distribution Functions
	Functions to control Power Distribution devices.
	Counter Functions
	IMU Functions
	Power Functions
	Ports Functions
	DIO Functions
	Serial Port Functions
	PWM Output Functions

Enumerations
enum	HAL_RuntimeType : int32_t { HAL_RUNTIME_SYSTEMCORE , HAL_RUNTIME_SIMULATION }
	Runtime type. More...

Functions
const char *	HAL_GetLastError (HAL_Status *status)
	Gets the last error set on this thread, or the message for the status code.
const char *	HAL_GetErrorMessage (int32_t code)
	Gets the error message for a specific status code.
void	HAL_GetSerialNumber (struct WPI_String *serialNumber)
	Returns the roboRIO serial number.
void	HAL_GetComments (struct WPI_String *comments)
	Returns the comments from the roboRIO web interface.
int32_t	HAL_GetTeamNumber (void)
	Returns the team number configured for the robot controller.
HAL_RuntimeType	HAL_GetRuntimeType (void)
	Returns the runtime type of the HAL.
HAL_Bool	HAL_GetSystemActive (int32_t *status)
	Gets if the system outputs are currently active.
HAL_Bool	HAL_GetBrownedOut (int32_t *status)
	Gets if the system is in a browned out state.
int32_t	HAL_GetCommsDisableCount (int32_t *status)
	Gets the number of times the system has been disabled due to communication errors with the Driver Station.
uint64_t	HAL_GetMonotonicTime (void)
	Reads the microsecond-resolution monotonic timer.
HAL_Bool	HAL_GetRSLState (int32_t *status)
	Gets the current state of the Robot Signal Light (RSL).
HAL_Bool	HAL_GetSystemTimeValid (int32_t *status)
	Gets if the system time is valid.
HAL_Bool	HAL_Initialize (int32_t timeout, int32_t mode)
	Call this to start up HAL.
void	HAL_Shutdown (void)
	Call this to shut down HAL.
void	HAL_SimPeriodicBefore (void)
	Calls registered SimPeriodic "before" callbacks (only in simulation mode).
void	HAL_SimPeriodicAfter (void)
	Calls registered SimPeriodic "after" callbacks (only in simulation mode).

Detailed Description

Hardware Abstraction Layer (HAL) to hardware or simulator.

Enumeration Type Documentation

◆ HAL_RuntimeType

enum HAL_RuntimeType : int32_t

Runtime type.

Enumerator
HAL_RUNTIME_SYSTEMCORE	Systemcore runtime.
HAL_RUNTIME_SIMULATION	Simulation runtime.

Function Documentation

◆ HAL_GetBrownedOut()

HAL_Bool HAL_GetBrownedOut ( int32_t * status )

Gets if the system is in a browned out state.

Parameters

[out] status the error code, or 0 for success

Returns: true if the system is in a low voltage brown out, false otherwise

◆ HAL_GetComments()

void HAL_GetComments ( struct WPI_String * comments )

Returns the comments from the roboRIO web interface.

Parameters

[out] comments The comments string. Free with WPI_FreeString

◆ HAL_GetCommsDisableCount()

int32_t HAL_GetCommsDisableCount ( int32_t * status )

Gets the number of times the system has been disabled due to communication errors with the Driver Station.

Returns: number of disables due to communication errors.

◆ HAL_GetErrorMessage()

const char * HAL_GetErrorMessage ( int32_t code )

Gets the error message for a specific status code.

Parameters

code	the status code

Returns: the error message for the code. This does not need to be freed.

◆ HAL_GetLastError()

const char * HAL_GetLastError ( HAL_Status * status )

Gets the last error set on this thread, or the message for the status code.

If passed HAL_USE_LAST_ERROR, the last error set on the thread will be returned.

Parameters

[out] status the status code, set to the error status code if input is HAL_USE_LAST_ERROR

Returns: the error message for the code. This does not need to be freed, but can be overwritten by another hal call on the same thread.

◆ HAL_GetMonotonicTime()

uint64_t HAL_GetMonotonicTime ( void )

Reads the microsecond-resolution monotonic timer.

Returns: The current monotonic time in microseconds.

◆ HAL_GetRSLState()

HAL_Bool HAL_GetRSLState ( int32_t * status )

Gets the current state of the Robot Signal Light (RSL).

Parameters

[out] status the error code, or 0 for success

Returns: The current state of the RSL- true if on, false if off

◆ HAL_GetRuntimeType()

HAL_RuntimeType HAL_GetRuntimeType ( void )

Returns the runtime type of the HAL.

Returns: HAL Runtime Type

◆ HAL_GetSerialNumber()

void HAL_GetSerialNumber ( struct WPI_String * serialNumber )

Returns the roboRIO serial number.

Parameters

[out] serialNumber The roboRIO serial number. Free with WPI_FreeString

◆ HAL_GetSystemActive()

HAL_Bool HAL_GetSystemActive ( int32_t * status )

Gets if the system outputs are currently active.

Parameters

[out] status the error code, or 0 for success

Returns: true if the system outputs are active, false if disabled

◆ HAL_GetSystemTimeValid()

HAL_Bool HAL_GetSystemTimeValid ( int32_t * status )

Gets if the system time is valid.

Parameters

[out] status the error code, or 0 for success

Returns: True if the system time is valid, false otherwise

◆ HAL_GetTeamNumber()

int32_t HAL_GetTeamNumber ( void )

Returns the team number configured for the robot controller.

Returns: team number, or 0 if not found.

◆ HAL_Initialize()

HAL_Bool HAL_Initialize	(	int32_t	timeout,
		int32_t	mode )

Call this to start up HAL.

This is required for robot programs.

This must be called before any other HAL functions. Failure to do so will result in undefined behavior, and likely segmentation faults. This means that any statically initialized variables in a program MUST call this function in their constructors if they want to use other HAL calls.

The common parameters are 500 for timeout and 0 for mode.

This function is safe to call from any thread, and as many times as you wish. It internally guards from any reentrancy.

The applicable modes are: 0: Try to kill an existing HAL from another program, if not successful, error. 1: Force kill a HAL from another program. 2: Just warn if another hal exists and cannot be killed. Will likely result in undefined behavior.

Parameters

timeout	the initialization timeout (ms)
mode	the initialization mode (see remarks)

Returns: true if initialization was successful, otherwise false.

◆ HAL_Shutdown()

void HAL_Shutdown ( void )

Call this to shut down HAL.

This must be called at termination of the robot program to avoid potential segmentation faults with simulation extensions at exit.

◆ HAL_SimPeriodicAfter()

void HAL_SimPeriodicAfter ( void )

Calls registered SimPeriodic "after" callbacks (only in simulation mode).

This should be called after user code periodic simulation functions.

◆ HAL_SimPeriodicBefore()

void HAL_SimPeriodicBefore ( void )

Calls registered SimPeriodic "before" callbacks (only in simulation mode).

This should be called prior to user code periodic simulation functions.

Topics

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ HAL_RuntimeType

Function Documentation

◆ HAL_GetBrownedOut()

◆ HAL_GetComments()

◆ HAL_GetCommsDisableCount()

◆ HAL_GetErrorMessage()

◆ HAL_GetLastError()

◆ HAL_GetMonotonicTime()

◆ HAL_GetRSLState()

◆ HAL_GetRuntimeType()

◆ HAL_GetSerialNumber()

◆ HAL_GetSystemActive()

◆ HAL_GetSystemTimeValid()

◆ HAL_GetTeamNumber()

◆ HAL_Initialize()

◆ HAL_Shutdown()

◆ HAL_SimPeriodicAfter()

◆ HAL_SimPeriodicBefore()