Package edu.wpi.first.hal

Class HALUtil

java.lang.Object
edu.wpi.first.hal.JNIWrapper
edu.wpi.first.hal.HALUtil
public final class HALUtil extends JNIWrapper
Hardware Abstraction Layer (HAL) Utilities JNI Functions.
See Also:
  • "hal/HALBase.h"

  • Field Details

  • Method Details

    • getFPGAVersion

      public static short getFPGAVersion()
      Returns the FPGA Version number.

      For now, expect this to be competition year.

      Returns:
      FPGA Version number.
      See Also:
      • "HAL_GetFPGAVersion"

    • getFPGARevision

      public static int getFPGARevision()
      Returns the FPGA Revision number.

      The format of the revision is 3 numbers. The 12 most significant bits are the Major Revision. the next 8 bits are the Minor Revision. The 12 least significant bits are the Build Number.

      Returns:
      FPGA Revision number.
      See Also:
      • "HAL_GetFPGARevision"

    • 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"

    • getFPGATime

      public static long getFPGATime()
      Reads the microsecond-resolution timer on the FPGA.
      Returns:
      The current time in microseconds according to the FPGA (since FPGA reset).

    • getHALRuntimeType

      public static int getHALRuntimeType()
      Returns the runtime type of the HAL.
      Returns:
      HAL Runtime Type
      See Also:

    • getFPGAButton

      public static boolean getFPGAButton()
      Gets the state of the "USER" button on the roboRIO.

      Warning: the User Button is used to stop user programs from automatically loading if it is held for more then 5 seconds. Because of this, it's not recommended to be used by teams for any other purpose.

      Returns:
      true if the button is currently pressed down
      See Also:
      • "HAL_GetFPGAButton"

    • 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.