Package edu.wpi.first.hal

Class HALUtil

java.lang.Object

edu.wpi.first.hal.JNIWrapper

edu.wpi.first.hal.HALUtil

public final class HALUtil
extends JNIWrapper

Hardware Abstraction Layer (HAL) Utilities JNI Functions.

See Also:

• "hal/HALBase.h"

Nested Class Summary

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

JNIWrapper.Helper

Field Summary

Fields

Modifier and Type	Field	Description
static final int	ANALOG_TRIGGER_PULSE_OUTPUT_ERROR	Attempted to read AnalogTrigger pulse output.
static final int	INCOMPATIBLE_STATE	The operation cannot be completed.
static final int	LOOP_TIMING_ERROR	Digital module loop timing is not the expected value.
static final int	NO_AVAILABLE_RESOURCES	No available resources to allocate.
static final int	NULL_PARAMETER	A pointer parameter to a method is NULL.
static final int	PARAMETER_OUT_OF_RANGE	A parameter is out of range.
static final int	RUNTIME_ROBORIO	roboRIO 1.0.
static final int	RUNTIME_ROBORIO2	roboRIO 2.0.
static final int	RUNTIME_SIMULATION	Simulation runtime.
static final int	RUNTIME_SYSTEMCORE	SystemCore.
static final int	SAMPLE_RATE_TOO_HIGH	Analog module sample rate is too high.
static final int	VOLTAGE_OUT_OF_RANGE	Voltage to convert to raw value is out of range [0; 5].

Method Summary

Modifier and Type	Method	Description
static String	getComments()	Returns the comments from the roboRIO web interface.
static long	getFPGATime()	Reads the microsecond-resolution timer on the FPGA.
static int	getHALErrno()	Get the last HAL error code.
static String	getHALErrorMessage(int code)	Gets the error message for a specific status code.
static int	getHALRuntimeType()	Returns the runtime type of the HAL.
static String	getHALstrerror()	Gets the error message for the last HAL error.
static String	getHALstrerror(int errno)	Returns the textual description of the system error code.
static String	getSerialNumber()	Returns the roboRIO serial number.
static int	getTeamNumber()	Returns the team number configured for the robot controller.

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

NULL_PARAMETER

public static final int NULL_PARAMETER

A pointer parameter to a method is NULL.

See Also:

• Constant Field Values

SAMPLE_RATE_TOO_HIGH

public static final int SAMPLE_RATE_TOO_HIGH

Analog module sample rate is too high.

See Also:

• Constant Field Values

VOLTAGE_OUT_OF_RANGE

public static final int VOLTAGE_OUT_OF_RANGE

Voltage to convert to raw value is out of range [0; 5].

See Also:

• Constant Field Values

LOOP_TIMING_ERROR

public static final int LOOP_TIMING_ERROR

Digital module loop timing is not the expected value.

See Also:

• Constant Field Values

INCOMPATIBLE_STATE

public static final int INCOMPATIBLE_STATE

The operation cannot be completed.

See Also:

• Constant Field Values

ANALOG_TRIGGER_PULSE_OUTPUT_ERROR

public static final int ANALOG_TRIGGER_PULSE_OUTPUT_ERROR

Attempted to read AnalogTrigger pulse output.

See Also:

• Constant Field Values

NO_AVAILABLE_RESOURCES

public static final int NO_AVAILABLE_RESOURCES

No available resources to allocate.

See Also:

• Constant Field Values

PARAMETER_OUT_OF_RANGE

public static final int PARAMETER_OUT_OF_RANGE

A parameter is out of range.

See Also:

• Constant Field Values

RUNTIME_ROBORIO

public static final int RUNTIME_ROBORIO

roboRIO 1.0.

See Also:

• Constant Field Values

RUNTIME_ROBORIO2

public static final int RUNTIME_ROBORIO2

roboRIO 2.0.

See Also:

• Constant Field Values

RUNTIME_SIMULATION

public static final int RUNTIME_SIMULATION

Simulation runtime.

See Also:

• Constant Field Values

RUNTIME_SYSTEMCORE

public static final int RUNTIME_SYSTEMCORE

SystemCore.

See Also:

• Constant Field Values

Method Details

getSerialNumber

public static String getSerialNumber()

Returns the roboRIO serial number.

Returns:

The roboRIO serial number.

See Also:

• "HAL_GetSerialNumber"

getComments

public static String getComments()

Returns the comments from the roboRIO web interface.

Returns:

The comments string.

See Also:

• "HAL_GetComments"

getTeamNumber

public static int getTeamNumber()

Returns the team number configured for the robot controller.

Returns:

team number, or 0 if not found.

See Also:

• "HAL_GetTeamNumber"

getFPGATime

public static long getFPGATime()

Reads the microsecond-resolution timer on the FPGA.

Returns:

The current time in microseconds according to the FPGA (since FPGA reset).

getHALRuntimeType

public static int getHALRuntimeType()

Returns the runtime type of the HAL.

Returns:

HAL Runtime Type

See Also:

• RUNTIME_ROBORIO
• RUNTIME_ROBORIO2
• RUNTIME_SIMULATION
• "HAL_GetRuntimeType"

getHALErrorMessage

public static String getHALErrorMessage(int 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.

See Also:

• "HAL_GetErrorMessage"

getHALErrno

public static int getHALErrno()

Get the last HAL error code.

Returns:

error code

getHALstrerror

public static String getHALstrerror(int errno)

Returns the textual description of the system error code.

Parameters:

errno - errno to get description of

Returns:

description of errno

See Also:

• "std:strerror"

getHALstrerror

public static String getHALstrerror()

Gets the error message for the last HAL error.

Returns:

the error message for the code.