Class HALUtil

java.lang.Object

org.wpilib.hardware.hal.JNIWrapper

org.wpilib.hardware.hal.HALUtil

public final class HALUtil
extends JNIWrapper

Hardware Abstraction Layer (HAL) Utilities JNI Functions.

See Also:

• "wpi/hal/HAL.h"

Nested Class Summary

Nested classes/interfaces inherited from class JNIWrapper

JNIWrapper.Helper

Field Summary

Fields

Modifier and Type	Field	Description
static final int	INCOMPATIBLE_STATE	The operation cannot be completed.
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_SIMULATION	Simulation runtime.
static final int	RUNTIME_SYSTEMCORE	Systemcore runtime.
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 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 long	getMonotonicTime()	Reads the microsecond-resolution monotonic timer.
static String	getSerialNumber()	Returns the roboRIO serial number.
static int	getTeamNumber()	Returns the team number configured for the robot controller.

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

NULL_PARAMETER

public static final int NULL_PARAMETER

A pointer parameter to a method is NULL.

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

INCOMPATIBLE_STATE

public static final int INCOMPATIBLE_STATE

The operation cannot be completed.

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_SYSTEMCORE

public static final int RUNTIME_SYSTEMCORE

Systemcore runtime.

See Also:

• Constant Field Values

RUNTIME_SIMULATION

public static final int RUNTIME_SIMULATION

Simulation runtime.

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"

getMonotonicTime

public static long getMonotonicTime()

Reads the microsecond-resolution monotonic timer.

Returns:

The current monotonic time in microseconds.

getHALRuntimeType

public static int getHALRuntimeType()

Returns the runtime type of the HAL.

Returns:

HAL Runtime Type

See Also:

• RUNTIME_SYSTEMCORE
• 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.