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

Namespaces
namespace	sim
namespace	impl

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

Enumerations
enum class	HAL_HandleEnum { Undefined = 0 , DIO = wpi::util::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 , Alert = 29 }
	Enum of HAL handle types. More...
enum class	RobotMode { UNKNOWN = HAL_ROBOTMODE_UNKNOWN , AUTONOMOUS = HAL_ROBOTMODE_AUTONOMOUS , TELEOPERATED = HAL_ROBOTMODE_TELEOPERATED , TEST = HAL_ROBOTMODE_TEST }
	The overall robot mode (not including enabled state). 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.
bool	operator== (const ControlWord &lhs, const ControlWord &rhs)
bool	operator!= (const ControlWord &lhs, const ControlWord &rhs)
void	InitializeDashboardOpMode ()
void	SetDashboardOpModeOptions (std::span< const HAL_OpModeOption > options)
void	StartDashboardOpMode ()
void	EnableDashboardOpMode ()
int64_t	GetDashboardSelectedOpMode (HAL_RobotMode robotMode)
ControlWord	GetControlWord ()
ControlWord	GetUncachedControlWord ()

Variables
constexpr int16_t	InvalidHandleIndex = -1

Detailed Description

WPILib Hardware Abstraction Layer (HAL) namespace.

Enumeration Type Documentation

◆ HAL_HandleEnum

enum class wpi::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
Alert

◆ RobotMode

enum class wpi::hal::RobotMode

strong

The overall robot mode (not including enabled state).

Enumerator
UNKNOWN	Unknown.
AUTONOMOUS	Autonomous.
TELEOPERATED	Teleoperated.
TEST	Test.

Function Documentation

◆ createHandle()

HAL_Handle wpi::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

◆ EnableDashboardOpMode()

void wpi::hal::EnableDashboardOpMode ( )

◆ GetControlWord()

ControlWord wpi::hal::GetControlWord ( )

inline

◆ GetDashboardSelectedOpMode()

int64_t wpi::hal::GetDashboardSelectedOpMode ( HAL_RobotMode robotMode )

◆ getHandleIndex()

int16_t wpi::hal::getHandleIndex ( HAL_Handle handle )

inlinestatic

Get the handle index from a handle.

Parameters

handle the handle

Returns: the index

◆ getHandleType()

HAL_HandleEnum wpi::hal::getHandleType ( HAL_Handle handle )

inlinestatic

Get the handle type from a handle.

Parameters

handle the handle

Returns: the type

◆ getHandleTypedIndex()

int16_t wpi::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.

◆ GetUncachedControlWord()

ControlWord wpi::hal::GetUncachedControlWord ( )

inline

◆ InitializeDashboardOpMode()

void wpi::hal::InitializeDashboardOpMode ( )

◆ isHandleCorrectVersion()

bool wpi::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()

bool wpi::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

◆ operator!=()

bool wpi::hal::operator!=	(	const ControlWord &	lhs,
		const ControlWord &	rhs )

inline

◆ operator==()

bool wpi::hal::operator==	(	const ControlWord &	lhs,
		const ControlWord &	rhs )

inline

◆ SetDashboardOpModeOptions()

void wpi::hal::SetDashboardOpModeOptions ( std::span< const HAL_OpModeOption > options )

◆ StartDashboardOpMode()

void wpi::hal::StartDashboardOpMode ( )

Variable Documentation

◆ InvalidHandleIndex

int16_t wpi::hal::InvalidHandleIndex = -1

constexpr

Namespaces

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ HAL_HandleEnum

◆ RobotMode

Function Documentation

◆ createHandle()

◆ EnableDashboardOpMode()

◆ GetControlWord()

◆ GetDashboardSelectedOpMode()

◆ getHandleIndex()

◆ getHandleType()

◆ getHandleTypedIndex()

◆ GetUncachedControlWord()

◆ InitializeDashboardOpMode()

◆ isHandleCorrectVersion()

◆ isHandleType()

◆ operator!=()

◆ operator==()

◆ SetDashboardOpModeOptions()

◆ StartDashboardOpMode()

Variable Documentation

◆ InvalidHandleIndex