hal Namespace Reference

WPILib Hardware Abstraction Layer (HAL) namespace. More...

Namespaces
namespace	impl

Classes
class	DigitalHandleResource
	The DigitalHandleResource class is a way to track handles. More...
class	fpga_clock
	A std::chrono compatible wrapper around the FPGA Timer. More...
struct	HalCallbackListener
class	Handle
	A move-only C++ wrapper around a HAL handle. More...
class	HandleBase
	Base for all HAL Handles. More...
class	IndexedClassedHandleResource
	The IndexedClassedHandleResource class is a way to track handles. More...
class	IndexedHandleResource
	The IndexedHandleResource class is a way to track handles. More...
class	LimitedClassedHandleResource
	The LimitedClassedHandleResource class is a way to track handles. More...
class	LimitedHandleResource
	The LimitedHandleResource class is a way to track handles. More...
class	SimBoolean
	C++ wrapper around a HAL simulator boolean value handle. More...
class	SimCallbackRegistry
	Simulation callback registry. More...
class	SimDataValue
	Simulation data value wrapper. More...
class	SimDevice
	A move-only C++ wrapper around a HAL simulator device handle. More...
class	SimDouble
	C++ wrapper around a HAL simulator double value handle. More...
class	SimEnum
	C++ wrapper around a HAL simulator enum value handle. More...
class	SimInt
	C++ wrapper around a HAL simulator int value handle. More...
class	SimLong
	C++ wrapper around a HAL simulator long value handle. More...
class	SimValue
	C++ wrapper around a HAL simulator value handle. More...
class	UnlimitedHandleResource
	The UnlimitedHandleResource class is a way to track handles. More...

Enumerations
enum class	HAL_HandleEnum {   Undefined = 0 , DIO = wpi::kHandleTypeHALBase , Port = 2 , Notifier = 3 ,   Interrupt = 4 , AnalogOutput = 5 , AnalogInput = 6 , AnalogTrigger = 7 ,   Relay = 8 , PWM = 9 , DigitalPWM = 10 , Counter = 11 ,   FPGAEncoder = 12 , Encoder = 13 , Compressor = 14 , Solenoid = 15 ,   AnalogGyro = 16 , Vendor = 17 , SimulationJni = 18 , CAN = 19 ,   SerialPort = 20 , DutyCycle = 21 , DMA = 22 , AddressableLED = 23 ,   CTREPCM = 24 , CTREPDP = 25 , REVPDH = 26 , REVPH = 27 ,   CANStream = 28 }
	Enum of HAL handle types. More...

Functions
static int16_t	getHandleIndex (HAL_Handle handle)
	Get the handle index from a handle.
static HAL_HandleEnum	getHandleType (HAL_Handle handle)
	Get the handle type from a handle.
static bool	isHandleType (HAL_Handle handle, HAL_HandleEnum handleType)
	Get if the handle is a specific type.
static bool	isHandleCorrectVersion (HAL_Handle handle, int16_t version)
	Get if the version of the handle is correct.
int16_t	getHandleTypedIndex (HAL_Handle handle, HAL_HandleEnum enumType, int16_t version)
	Get if the handle is a correct type and version.
HAL_Handle	createHandle (int16_t index, HAL_HandleEnum handleType, int16_t version)
	Create a handle for a specific index, type and version.

Variables
constexpr int16_t	InvalidHandleIndex = -1

Detailed Description

WPILib Hardware Abstraction Layer (HAL) namespace.

Enumeration Type Documentation

HAL_HandleEnum

enum class hal::HAL_HandleEnum

strong

Enum of HAL handle types.

Vendors/Teams should use Vendor (17).

Enumerator
Undefined
DIO
Port
Notifier
Interrupt
AnalogOutput
AnalogInput
AnalogTrigger
Relay
PWM
DigitalPWM
Counter
FPGAEncoder
Encoder
Compressor
Solenoid
AnalogGyro
Vendor
SimulationJni
CAN
SerialPort
DutyCycle
DMA
AddressableLED
CTREPCM
CTREPDP
REVPDH
REVPH
CANStream

Function Documentation

createHandle()

HAL_Handle hal::createHandle	(	int16_t	index,
		HAL_HandleEnum	handleType,
		int16_t	version )

Create a handle for a specific index, type and version.

Note the version is not checked on the roboRIO.

Parameters

index	the index
handleType	the handle type
version	the handle version

Returns

the created handle

getHandleIndex()

static int16_t hal::getHandleIndex ( HAL_Handle handle )

inlinestatic

Get the handle index from a handle.

Parameters

handle

the handle

Returns

the index

getHandleType()

static HAL_HandleEnum hal::getHandleType ( HAL_Handle handle )

inlinestatic

Get the handle type from a handle.

Parameters

handle

the handle

Returns

the type

getHandleTypedIndex()

int16_t hal::getHandleTypedIndex ( HAL_Handle handle, HAL_HandleEnum enumType, int16_t version )

inline

Get if the handle is a correct type and version.

Note the version is not checked on the roboRIO.

Parameters

handle	the handle
enumType	the type to check
version	the handle version to check

Returns

true if the handle is proper version and type, otherwise false.

isHandleCorrectVersion()

static bool hal::isHandleCorrectVersion ( HAL_Handle handle, int16_t version )

inlinestatic

Get if the version of the handle is correct.

Do not use on the roboRIO, used specifically for the sim to handle resets.

Parameters

handle	the handle
version	the handle version to check

Returns

true if the handle is the right version, otherwise false

isHandleType()

static bool hal::isHandleType ( HAL_Handle handle, HAL_HandleEnum handleType )

inlinestatic

Get if the handle is a specific type.

Parameters

handle	the handle
handleType	the type to check

Returns

true if the type is correct, otherwise false

Variable Documentation

InvalidHandleIndex

int16_t hal::InvalidHandleIndex = -1

constexpr