WPILib Hardware Abstraction Layer (HAL) namespace. More...

Namespaces
namespace	detail

namespace	impl

Classes
class	DigitalHandleResource
	The DigitalHandleResource class is a way to track handles. More...

struct	DIOSetProxy
	Proxy class for directly manipulating the DIO pins. More...

class	fpga_clock
	A std::chrono compatible wrapper around the FPGA Timer. More...

struct	HalCallbackListener

class	Handle
	A move-only C++ wrapper around a HAL handle. More...

class	HandleBase
	Base for all HAL Handles. More...

class	IndexedClassedHandleResource
	The IndexedClassedHandleResource class is a way to track handles. More...

class	IndexedHandleResource
	The IndexedHandleResource class is a way to track handles. More...

class	InterruptManager

class	LimitedClassedHandleResource
	The LimitedClassedHandleResource class is a way to track handles. More...

class	LimitedHandleResource
	The LimitedHandleResource class is a way to track handles. More...

class	SerialHelper
	A class for deterministically getting information about Serial Ports. More...

class	SimBoolean
	C++ wrapper around a HAL simulator boolean value handle. More...

class	SimCallbackRegistry
	Simulation callback registry. More...

class	SimDataValue
	Simulation data value wrapper. More...

class	SimDevice
	A move-only C++ wrapper around a HAL simulator device handle. More...

class	SimDouble
	C++ wrapper around a HAL simulator double value handle. More...

class	SimEnum
	C++ wrapper around a HAL simulator enum value handle. More...

class	SimInt
	C++ wrapper around a HAL simulator int value handle. More...

class	SimLong
	C++ wrapper around a HAL simulator long value handle. More...

class	SimValue
	C++ wrapper around a HAL simulator value handle. More...

class	UnlimitedHandleResource
	The UnlimitedHandleResource class is a way to track handles. More...

Typedefs
using	SPIPort = Handle< HAL_SPIPort, HAL_SPI_kInvalid >
	A move-only C++ wrapper around HAL_SPIPort. More...

using	I2CPort = Handle< HAL_I2CPort, HAL_I2C_kInvalid >
	A move-only C++ wrapper around HAL_I2CPort. More...

Enumerations
enum class	HAL_HandleEnum { Undefined = 0 , DIO = wpi::kHandleTypeHALBase , Port = 2 , Notifier = 3 , Interrupt = 4 , AnalogOutput = 5 , AnalogInput = 6 , AnalogTrigger = 7 , Relay = 8 , PWM = 9 , DigitalPWM = 10 , Counter = 11 , FPGAEncoder = 12 , Encoder = 13 , Compressor = 14 , Solenoid = 15 , AnalogGyro = 16 , Vendor = 17 , SimulationJni = 18 , CAN = 19 , SerialPort = 20 , DutyCycle = 21 , DMA = 22 , AddressableLED = 23 , CTREPCM = 24 , CTREPDP = 25 , REVPDH = 26 , REVPH = 27 }
	Enum of HAL handle types. More...

Functions
template<typename Functor >
void	UnsafeManipulateDIO (HAL_DigitalHandle handle, int32_t *status, Functor func)
	Unsafe digital output set function This function can be used to perform fast and deterministically set digital outputs. More...

static int16_t	getHandleIndex (HAL_Handle handle)
	Get the handle index from a handle. More...

static HAL_HandleEnum	getHandleType (HAL_Handle handle)
	Get the handle type from a handle. More...

static bool	isHandleType (HAL_Handle handle, HAL_HandleEnum handleType)
	Get if the handle is a specific type. More...

static bool	isHandleCorrectVersion (HAL_Handle handle, int16_t version)
	Get if the version of the handle is correct. More...

int16_t	getHandleTypedIndex (HAL_Handle handle, HAL_HandleEnum enumType, int16_t version)
	Get if the handle is a correct type and version. More...

int16_t	getPortHandleChannel (HAL_PortHandle handle)
	Gets the port channel of a port handle. More...

int16_t	getPortHandleModule (HAL_PortHandle handle)
	Gets the port module of a port handle. More...

int16_t	getPortHandleSPIEnable (HAL_PortHandle handle)
	Gets the SPI channel of a port handle. More...

HAL_PortHandle	createPortHandle (uint8_t channel, uint8_t module)
	Create a port handle. More...

HAL_PortHandle	createPortHandleForSPI (uint8_t channel)
	Create a port handle for SPI. More...

HAL_Handle	createHandle (int16_t index, HAL_HandleEnum handleType, int16_t version)
	Create a handle for a specific index, type and version. More...

Variables
constexpr int16_t	InvalidHandleIndex = -1

Detailed Description

WPILib Hardware Abstraction Layer (HAL) namespace.

Typedef Documentation

◆ I2CPort

using hal::I2CPort = typedef Handle<HAL_I2CPort, HAL_I2C_kInvalid>

A move-only C++ wrapper around HAL_I2CPort.

Does not ensure destruction.

◆ SPIPort

using hal::SPIPort = typedef Handle<HAL_SPIPort, HAL_SPI_kInvalid>

A move-only C++ wrapper around HAL_SPIPort.

Does not ensure destruction.

Enumeration Type Documentation

◆ HAL_HandleEnum

enum class hal::HAL_HandleEnum

strong

Enum of HAL handle types.

Vendors/Teams should use Vendor (17).

Enumerator
Undefined
DIO
Port
Notifier
Interrupt
AnalogOutput
AnalogInput
AnalogTrigger
Relay
PWM
DigitalPWM
Counter
FPGAEncoder
Encoder
Compressor
Solenoid
AnalogGyro
Vendor
SimulationJni
CAN
SerialPort
DutyCycle
DMA
AddressableLED
CTREPCM
CTREPDP
REVPDH
REVPH

Function Documentation

◆ createHandle()

HAL_Handle hal::createHandle	(	int16_t	index,
		HAL_HandleEnum	handleType,
		int16_t	version
	)

Create a handle for a specific index, type and version.

Note the version is not checked on the roboRIO.

Parameters

index	the index
handleType	the handle type
version	the handle version

Returns: the created handle

◆ createPortHandle()

HAL_PortHandle hal::createPortHandle	(	uint8_t	channel,
		uint8_t	module
	)

Create a port handle.

Parameters

channel	the channel
module	the module

Returns: port handle for the module and channel

◆ createPortHandleForSPI()

HAL_PortHandle hal::createPortHandleForSPI ( uint8_t channel )

Create a port handle for SPI.

Parameters

channel the SPI channel

Returns: port handle for the channel

◆ getHandleIndex()

static int16_t hal::getHandleIndex ( HAL_Handle handle )

inlinestatic

Get the handle index from a handle.

Parameters

handle the handle

Returns: the index

◆ getHandleType()

static HAL_HandleEnum hal::getHandleType ( HAL_Handle handle )

inlinestatic

Get the handle type from a handle.

Parameters

handle the handle

Returns: the type

◆ getHandleTypedIndex()

int16_t hal::getHandleTypedIndex	(	HAL_Handle	handle,
		HAL_HandleEnum	enumType,
		int16_t	version
	)

inline

Get if the handle is a correct type and version.

Note the version is not checked on the roboRIO.

Parameters

handle	the handle
enumType	the type to check
version	the handle version to check

Returns: true if the handle is proper version and type, otherwise false.

◆ getPortHandleChannel()

int16_t hal::getPortHandleChannel ( HAL_PortHandle handle )

inline

Gets the port channel of a port handle.

Parameters

handle the port handle

Returns: the port channel

◆ getPortHandleModule()

int16_t hal::getPortHandleModule ( HAL_PortHandle handle )

inline

Gets the port module of a port handle.

Parameters

handle the port handle

Returns: the port module

◆ getPortHandleSPIEnable()

int16_t hal::getPortHandleSPIEnable ( HAL_PortHandle handle )

inline

Gets the SPI channel of a port handle.

Parameters

handle the port handle

Returns: the port SPI channel

◆ isHandleCorrectVersion()

static bool hal::isHandleCorrectVersion	(	HAL_Handle	handle,
		int16_t	version
	)

inlinestatic

Get if the version of the handle is correct.

Do not use on the roboRIO, used specifically for the sim to handle resets.

Parameters

handle	the handle
version	the handle version to check

Returns: true if the handle is the right version, otherwise false

◆ isHandleType()

static bool hal::isHandleType	(	HAL_Handle	handle,
		HAL_HandleEnum	handleType
	)

inlinestatic

Get if the handle is a specific type.

Parameters

handle	the handle
handleType	the type to check

Returns: true if the type is correct, otherwise false

◆ UnsafeManipulateDIO()

template<typename Functor >

void hal::UnsafeManipulateDIO	(	HAL_DigitalHandle	handle,
		int32_t *	status,
		Functor	func
	)

Unsafe digital output set function This function can be used to perform fast and deterministically set digital outputs.

This function holds the DIO lock, so calling anything other then functions on the Proxy object passed as a parameter can deadlock your program.

Parameters

[in]	handle	the HAL digital handle of the pin to toggle.
[out]	status	status check
[in]	func	A functor taking a ref to a DIOSetProxy object.

Variable Documentation

◆ InvalidHandleIndex

constexpr int16_t hal::InvalidHandleIndex = -1

constexpr

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ I2CPort

◆ SPIPort

Enumeration Type Documentation

◆ HAL_HandleEnum

Function Documentation

◆ createHandle()

◆ createPortHandle()

◆ createPortHandleForSPI()

◆ getHandleIndex()

◆ getHandleType()

◆ getHandleTypedIndex()

◆ getPortHandleChannel()

◆ getPortHandleModule()

◆ getPortHandleSPIEnable()

◆ isHandleCorrectVersion()

◆ isHandleType()

◆ UnsafeManipulateDIO()

Variable Documentation

◆ InvalidHandleIndex