DriverStationTypes.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <stdint.h>
 
#include "hal/Types.h"
 
/**
 * @defgroup hal_driverstation Driver Station Functions
 * @ingroup hal_capi
 * @{
 */
 
#define HAL_IO_CONFIG_DATA_SIZE 32
#define HAL_SYS_STATUS_DATA_SIZE 44
#define HAL_USER_STATUS_DATA_SIZE \
  (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
 
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
 
struct HAL_ControlWord {
  uint32_t enabled : 1;
  uint32_t autonomous : 1;
  uint32_t test : 1;
  uint32_t eStop : 1;
  uint32_t fmsAttached : 1;
  uint32_t dsAttached : 1;
  uint32_t control_reserved : 26;
};
typedef struct HAL_ControlWord HAL_ControlWord;
 
HAL_ENUM(HAL_AllianceStationID) {
  /** Unknown Alliance Station */
  HAL_AllianceStationID_kUnknown = 0,
  /** Red Alliance Station 1 */
  HAL_AllianceStationID_kRed1,
  /** Red Alliance Station 2 */
  HAL_AllianceStationID_kRed2,
  /** Red Alliance Station 3 */
  HAL_AllianceStationID_kRed3,
  /** Blue Alliance Station 1 */
  HAL_AllianceStationID_kBlue1,
  /** Blue Alliance Station 2 */
  HAL_AllianceStationID_kBlue2,
  /** Blue Alliance Station 3 */
  HAL_AllianceStationID_kBlue3,
};
 
HAL_ENUM(HAL_MatchType) {
  HAL_kMatchType_none = 0,
  HAL_kMatchType_practice,
  HAL_kMatchType_qualification,
  HAL_kMatchType_elimination,
};
 
/**
 * The maximum number of axes that will be stored in a single HAL_JoystickAxes
 * struct. This is used for allocating buffers, not bounds checking, since there
 * are usually less axes in practice.
 */
#define HAL_kMaxJoystickAxes 12
/**
 * The maximum number of POVs that will be stored in a single HAL_JoystickPOVs
 * struct. This is used for allocating buffers, not bounds checking, since there
 * are usually less POVs in practice.
 */
#define HAL_kMaxJoystickPOVs 12
/**
 * The maximum number of joysticks.
 */
#define HAL_kMaxJoysticks 6
 
struct HAL_JoystickAxes {
  int16_t count;
  float axes[HAL_kMaxJoystickAxes];
  uint8_t raw[HAL_kMaxJoystickAxes];
};
typedef struct HAL_JoystickAxes HAL_JoystickAxes;
 
struct HAL_JoystickPOVs {
  int16_t count;
  int16_t povs[HAL_kMaxJoystickPOVs];
};
typedef struct HAL_JoystickPOVs HAL_JoystickPOVs;
 
struct HAL_JoystickButtons {
  uint32_t buttons;
  uint8_t count;
};
typedef struct HAL_JoystickButtons HAL_JoystickButtons;
 
struct HAL_JoystickDescriptor {
  uint8_t isXbox;
  uint8_t type;
  char name[256];
  uint8_t axisCount;
  uint8_t axisTypes[HAL_kMaxJoystickAxes];
  uint8_t buttonCount;
  uint8_t povCount;
};
typedef struct HAL_JoystickDescriptor HAL_JoystickDescriptor;
 
struct HAL_MatchInfo {
  char eventName[64];
  HAL_MatchType matchType;
  uint16_t matchNumber;
  uint8_t replayNumber;
  uint8_t gameSpecificMessage[64];
  uint16_t gameSpecificMessageSize;
};
typedef struct HAL_MatchInfo HAL_MatchInfo;
/** @} */