Class DriverStationJNI

java.lang.Object

org.wpilib.hardware.hal.JNIWrapper

org.wpilib.hardware.hal.DriverStationJNI

public class DriverStationJNI
extends JNIWrapper

Driver Station JNI Functions.

See Also:

• "wpi/hal/DriverStation.h"

Nested Class Summary

Nested classes/interfaces inherited from class JNIWrapper

JNIWrapper.Helper

Field Summary

Fields

Modifier and Type	Field	Description
static final int	kBlue1AllianceStation	Blue Alliance Station 1 ID.
static final int	kBlue2AllianceStation	Blue Alliance Station 2 ID.
static final int	kBlue3AllianceStation	Blue Alliance Station 3 ID.
static final int	kMaxJoystickAxes	The maximum number of axes.
static final int	kMaxJoystickButtons
static final int	kMaxJoystickPOVs	The maximum number of POVs.
static final int	kMaxJoysticks	The maximum number of joysticks.
static final int	kMaxJoystickTouchpadFingers	The maximum number of fingers per touchpad.
static final int	kMaxJoystickTouchpads	The maximum number of touchpads.
static final int	kRed1AllianceStation	Red Alliance Station 1 ID.
static final int	kRed2AllianceStation	Red Alliance Station 2 ID.
static final int	kRed3AllianceStation	Red Alliance Station 3 ID.
static final int	kUnknownAllianceStation	Unknown Alliance Station ID.

Method Summary

Modifier and Type	Method	Description
static AllianceStationID	getAllianceStation()	Gets the current alliance station ID.
static void	getAllJoystickData(int stick, float[] axesArray, short[] rawAxesArray, byte[] povsArray, float[] touchpadFingersArray, long[] buttonsAndMetadata)	Get all joystick data.
static void	getControlWord(ControlWord controlWord)	Gets the current control word of the driver station.
static String	getGameData(String gameData)	Gets the game-specific data for the current match.
static int	getJoystickGamepadType(byte joystickNum)	Gets the type of joystick connected.
static int	getJoystickIsGamepad(byte joystickNum)	Gets whether a specific joystick is considered to be an Gamepad.
static String	getJoystickName(byte joystickNum)	Gets the name of a joystick.
static int	getJoystickSupportedOutputs(byte joystickNum)	Gets the supported outputs of a specific joystick.
static int	getMatchInfo(MatchInfoData info)	Gets info about a specific match.
static double	getMatchTime()	Return the approximate match time.
static boolean	getOutputsActive()	Gets if outputs are enabled by the control system.
static void	getUncachedControlWord(ControlWord controlWord)	Gets the current control word of the driver station.
static long	nativeGetControlWord()	Gets the current control word of the driver station.
static long	nativeGetUncachedControlWord()	Gets the current control word of the driver station.
static void	observeUserProgram(long word)	Sets the control state returned to the DS.
static void	observeUserProgramStarting()	Sets the program starting flag in the DS.
static void	provideNewDataEventHandle(int handle)	Adds an event handle to be signalled when new data arrives.
static boolean	refreshDSData()	Refresh the DS control word.
static void	removeNewDataEventHandle(int handle)	Removes the event handle from being signalled when new data arrives.
static int	sendConsoleLine(String line)	Sends a line to the driver station console.
static int	sendError(boolean isError, int errorCode, boolean isLVCode, String details, String location, String callStack, boolean printMsg)	Sends an error to the driver station.
static int	setJoystickLeds(byte joystickNum, int leds)	Sets the LEDs on a specific joystick.
static int	setJoystickRumble(byte joystickNum, int leftRumble, int rightRumble, int leftTriggerRumble, int rightTriggerRumble)	Set joystick rumbles.
static void	setOpModeOptions(OpModeOption[] options)	Sets operating mode options.

Methods inherited from class JNIWrapper

forceLoad, suppressUnused

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

kUnknownAllianceStation

public static final int kUnknownAllianceStation

Unknown Alliance Station ID.

See Also:

• Constant Field Values

kRed1AllianceStation

public static final int kRed1AllianceStation

Red Alliance Station 1 ID.

See Also:

• Constant Field Values

kRed2AllianceStation

public static final int kRed2AllianceStation

Red Alliance Station 2 ID.

See Also:

• Constant Field Values

kRed3AllianceStation

public static final int kRed3AllianceStation

Red Alliance Station 3 ID.

See Also:

• Constant Field Values

kBlue1AllianceStation

public static final int kBlue1AllianceStation

Blue Alliance Station 1 ID.

See Also:

• Constant Field Values

kBlue2AllianceStation

public static final int kBlue2AllianceStation

Blue Alliance Station 2 ID.

See Also:

• Constant Field Values

kBlue3AllianceStation

public static final int kBlue3AllianceStation

Blue Alliance Station 3 ID.

See Also:

• Constant Field Values

kMaxJoystickAxes

public static final int kMaxJoystickAxes

The maximum number of axes.

See Also:

• Constant Field Values

kMaxJoystickButtons

public static final int kMaxJoystickButtons

See Also:

• Constant Field Values

kMaxJoystickPOVs

public static final int kMaxJoystickPOVs

The maximum number of POVs.

See Also:

• Constant Field Values

kMaxJoysticks

public static final int kMaxJoysticks

The maximum number of joysticks.

See Also:

• Constant Field Values

kMaxJoystickTouchpads

public static final int kMaxJoystickTouchpads

The maximum number of touchpads.

See Also:

• Constant Field Values

kMaxJoystickTouchpadFingers

public static final int kMaxJoystickTouchpadFingers

The maximum number of fingers per touchpad.

See Also:

• Constant Field Values

Method Details

observeUserProgramStarting

public static void observeUserProgramStarting()

Sets the program starting flag in the DS.

This is what changes the DS to showing robot code ready.

See Also:

• "HAL_ObserveUserProgramStarting"

observeUserProgram

public static void observeUserProgram(long word)

Sets the control state returned to the DS.

This is used for the DS to ensure the robot is properly responding to its state request. Ensure this gets called about every 50ms, or the robot will be disabled by the DS.

Parameters:

word - control word returned by nativeGetControlWord()

nativeGetControlWord

public static long nativeGetControlWord()

Gets the current control word of the driver station.

The control word contains the robot state.

Returns:

the control word

See Also:

• "HAL_GetControlWord"
• for a version easier to parse

getControlWord

public static void getControlWord(ControlWord controlWord)

Gets the current control word of the driver station.

The control work contains the robot state.

Parameters:

controlWord - the ControlWord to update

See Also:

• "HAL_GetControlWord"

nativeGetUncachedControlWord

public static long nativeGetUncachedControlWord()

Gets the current control word of the driver station. Unlike nativeGetControlWord, this function gets the latest value rather than using the value cached by refreshDSData().

The control word contains the robot state.

Returns:

the control word

See Also:

• "HAL_GetUncachedControlWord"
• for a version easier to parse

getUncachedControlWord

public static void getUncachedControlWord(ControlWord controlWord)

Gets the current control word of the driver station. Unlike getControlWord, this function gets the latest value rather than using the value cached by refreshDSData().

The control work contains the robot state.

Parameters:

controlWord - the ControlWord to update

See Also:

• "HAL_GetControlWord"

setOpModeOptions

public static void setOpModeOptions(OpModeOption[] options)

Sets operating mode options.

Parameters:

options - operating mode options

getAllianceStation

public static AllianceStationID getAllianceStation()

Gets the current alliance station ID.

Returns:

the alliance station ID as AllianceStationID

See Also:

• "HAL_GetAllianceStation"

getAllJoystickData

public static void getAllJoystickData(int stick,
 float[] axesArray,
 short[] rawAxesArray,
 byte[] povsArray,
 float[] touchpadFingersArray,
 long[] buttonsAndMetadata)

Get all joystick data.

Parameters:

stick - the joystick to grab

axesArray - all joystick axes

rawAxesArray - all joystick axes as int

povsArray - all povs

touchpadFingersArray - all touchpad fingers

buttonsAndMetadata - array of long joystick axes count, long joystick povs count, long joystick buttons count, long joystick buttons values, long joystick touchpad count, long pad 0 finger0 down 0x1, finger1 down 0x2, fingerCount 0xC, long pad 1 finger0 down 0x1, finger1 down 0x2, fingerCount 0xC

See Also:

• "HAL_GetAllJoystickData"

setJoystickRumble

public static int setJoystickRumble(byte joystickNum,
 int leftRumble,
 int rightRumble,
 int leftTriggerRumble,
 int rightTriggerRumble)

Set joystick rumbles.

Parameters:

joystickNum - the joystick number

leftRumble - the left rumble value (0-FFFF)

rightRumble - the right rumble value (0-FFFF)

leftTriggerRumble - the left trigger rumble value (0-FFFF)

rightTriggerRumble - the right trigger rumble value (0-FFFF)

Returns:

the error code, or 0 for success

See Also:

• "HAL_SetJoystickRumble"

setJoystickLeds

public static int setJoystickLeds(byte joystickNum,
 int leds)

Sets the LEDs on a specific joystick.

Parameters:

joystickNum - the joystick number

leds - the rgb led color value (0xRRGGBB)

Returns:

the error code, or 0 for success

See Also:

• "HAL_SetJoystickLeds"

getJoystickIsGamepad

public static int getJoystickIsGamepad(byte joystickNum)

Gets whether a specific joystick is considered to be an Gamepad.

Parameters:

joystickNum - the joystick number

Returns:

1 if gamepad, 0 otherwise

See Also:

• "HAL_GetJoystickIsGamepad"

getJoystickGamepadType

public static int getJoystickGamepadType(byte joystickNum)

Gets the type of joystick connected.

This is device specific, and different depending on what system input type the joystick uses.

Parameters:

joystickNum - the joystick number

Returns:

the enumerated joystick type

See Also:

• "HAL_GetJoystickGamepadType"

getJoystickSupportedOutputs

public static int getJoystickSupportedOutputs(byte joystickNum)

Gets the supported outputs of a specific joystick.

Parameters:

joystickNum - the joystick number

Returns:

bitmask of supported outputs

See Also:

• "HAL_GetJoystickSupportedOutputs"

getJoystickName

public static String getJoystickName(byte joystickNum)

Gets the name of a joystick.

The returned array must be freed with HAL_FreeJoystickName.

Parameters:

joystickNum - the joystick number

Returns:

the joystick name

See Also:

• "HAL_GetJoystickName"

getMatchTime

public static double getMatchTime()

Return the approximate match time. The FMS does not send an official match time to the robots, but does send an approximate match time. The value will count down the time remaining in the current period (auto or teleop). Warning: This is not an official time (so it cannot be used to dispute ref calls or guarantee that a function will trigger before the match ends).

When connected to the real field, this number only changes in full integer increments, and always counts down.

When the DS is in practice mode, this number is a floating point number, and counts down.

When the DS is in teleop or autonomous mode, this number returns -1.0.

Simulation matches DS behavior without an FMS connected.

Returns:

time remaining in current match period (auto or teleop)

See Also:

• "HAL_GetMatchTime"

getMatchInfo

public static int getMatchInfo(MatchInfoData info)

Gets info about a specific match.

Parameters:

info - the match info to populate

Returns:

the error code, or 0 for success

See Also:

• "HAL_GetMatchInfo"

getGameData

public static String getGameData(String gameData)

Gets the game-specific data for the current match.

Parameters:

gameData - The existing game data string.

Returns:

the game-specific data

See Also:

• "HAL_GetGameData"

sendError

public static int sendError(boolean isError,
 int errorCode,
 boolean isLVCode,
 String details,
 String location,
 String callStack,
 boolean printMsg)

Sends an error to the driver station.

Parameters:

isError - true for error, false for warning

errorCode - the error code

isLVCode - true for a LV error code, false for a standard error code

details - the details of the error

location - the file location of the error

callStack - the callstack of the error

printMsg - true to print the error message to stdout as well as to the DS

Returns:

the error code, or 0 for success

See Also:

• "HAL_SendError"

sendConsoleLine

public static int sendConsoleLine(String line)

Sends a line to the driver station console.

Parameters:

line - the line to send

Returns:

the error code, or 0 for success

refreshDSData

public static boolean refreshDSData()

Refresh the DS control word.

Returns:

true if updated

See Also:

• "HAL_RefreshDSData"

provideNewDataEventHandle

public static void provideNewDataEventHandle(int handle)

Adds an event handle to be signalled when new data arrives.

Parameters:

handle - the event handle to be signalled

removeNewDataEventHandle

public static void removeNewDataEventHandle(int handle)

Removes the event handle from being signalled when new data arrives.

Parameters:

handle - the event handle to remove

getOutputsActive

public static boolean getOutputsActive()

Gets if outputs are enabled by the control system.

Returns:

true if outputs are enabled