HALBase.h File Reference

#include <stdint.h>
#include <cstddef>
#include <wpi/string.h>
#include "hal/Types.h"

Go to the source code of this file.

Enumerations
enum	HAL_RuntimeType : int32_t { HAL_Runtime_RoboRIO , HAL_Runtime_RoboRIO2 , HAL_Runtime_Simulation }
	Runtime type. More...

Functions
const char *	HAL_GetLastError (int32_t *status)
	Gets the last error set on this thread, or the message for the status code.
const char *	HAL_GetErrorMessage (int32_t code)
	Gets the error message for a specific status code.
int32_t	HAL_GetFPGAVersion (int32_t *status)
	Returns the FPGA Version number.
int64_t	HAL_GetFPGARevision (int32_t *status)
	Returns the FPGA Revision number.
void	HAL_GetSerialNumber (struct WPI_String *serialNumber)
	Returns the roboRIO serial number.
void	HAL_GetComments (struct WPI_String *comments)
	Returns the comments from the roboRIO web interface.
int32_t	HAL_GetTeamNumber (void)
	Returns the team number configured for the robot controller.
HAL_RuntimeType	HAL_GetRuntimeType (void)
	Returns the runtime type of the HAL.
HAL_Bool	HAL_GetFPGAButton (int32_t *status)
	Gets the state of the "USER" button on the roboRIO.
HAL_Bool	HAL_GetSystemActive (int32_t *status)
	Gets if the system outputs are currently active.
HAL_Bool	HAL_GetBrownedOut (int32_t *status)
	Gets if the system is in a browned out state.
int32_t	HAL_GetCommsDisableCount (int32_t *status)
	Gets the number of times the system has been disabled due to communication errors with the Driver Station.
HAL_PortHandle	HAL_GetPort (int32_t channel)
	Gets a port handle for a specific channel.
HAL_PortHandle	HAL_GetPortWithModule (int32_t module, int32_t channel)
	Gets a port handle for a specific channel and module.
uint64_t	HAL_GetFPGATime (int32_t *status)
	Reads the microsecond-resolution timer on the FPGA.
uint64_t	HAL_ExpandFPGATime (uint32_t unexpandedLower, int32_t *status)
	Given an 32 bit FPGA time, expand it to the nearest likely 64 bit FPGA time.
HAL_Bool	HAL_GetRSLState (int32_t *status)
	Gets the current state of the Robot Signal Light (RSL).
HAL_Bool	HAL_GetSystemTimeValid (int32_t *status)
	Gets if the system time is valid.
HAL_Bool	HAL_Initialize (int32_t timeout, int32_t mode)
	Call this to start up HAL.
void	HAL_Shutdown (void)
	Call this to shut down HAL.
void	HAL_SimPeriodicBefore (void)
	Calls registered SimPeriodic "before" callbacks (only in simulation mode).
void	HAL_SimPeriodicAfter (void)
	Calls registered SimPeriodic "after" callbacks (only in simulation mode).