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"

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

JNIWrapper.Helper

Field Summary

Fields

Modifier and Type	Field	Description
static int	ANALOG_TRIGGER_PULSE_OUTPUT_ERROR
static int	INCOMPATIBLE_STATE
static int	LOOP_TIMING_ERROR
static int	NO_AVAILABLE_RESOURCES
static int	NULL_PARAMETER
static int	PARAMETER_OUT_OF_RANGE
static int	RUNTIME_ROBORIO
static int	RUNTIME_ROBORIO2
static int	RUNTIME_SIMULATION
static int	SAMPLE_RATE_TOO_HIGH
static int	VOLTAGE_OUT_OF_RANGE

Method Summary

Modifier and Type	Method	Description
static String	getComments()	Returns the comments from the roboRIO web interface.
static boolean	getFPGAButton()	Gets the state of the "USER" button on the roboRIO.
static int	getFPGARevision()	Returns the FPGA Revision number.
static long	getFPGATime()	Reads the microsecond-resolution timer on the FPGA.
static short	getFPGAVersion()	Returns the FPGA Version number.
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 String	getSerialNumber()	Returns the roboRIO serial number.
static int	getTeamNumber()	Returns the team number configured for the robot controller.

Methods inherited from class edu.wpi.first.hal.JNIWrapper

forceLoad, suppressUnused

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

NULL_PARAMETER

public static final int NULL_PARAMETER

See Also:

Constant Field Values

SAMPLE_RATE_TOO_HIGH

public static final int SAMPLE_RATE_TOO_HIGH

See Also:

Constant Field Values

VOLTAGE_OUT_OF_RANGE

public static final int VOLTAGE_OUT_OF_RANGE

See Also:

Constant Field Values

LOOP_TIMING_ERROR

public static final int LOOP_TIMING_ERROR

See Also:

Constant Field Values

INCOMPATIBLE_STATE

public static final int INCOMPATIBLE_STATE

See Also:

Constant Field Values

ANALOG_TRIGGER_PULSE_OUTPUT_ERROR

public static final int ANALOG_TRIGGER_PULSE_OUTPUT_ERROR

See Also:

Constant Field Values

NO_AVAILABLE_RESOURCES

public static final int NO_AVAILABLE_RESOURCES

See Also:

Constant Field Values

PARAMETER_OUT_OF_RANGE

public static final int PARAMETER_OUT_OF_RANGE

See Also:

Constant Field Values

RUNTIME_ROBORIO

public static final int RUNTIME_ROBORIO

See Also:

Constant Field Values

RUNTIME_ROBORIO2

public static final int RUNTIME_ROBORIO2

See Also:

Constant Field Values

RUNTIME_SIMULATION

public static final int RUNTIME_SIMULATION

See Also:

Constant Field Values

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:

RUNTIME_ROBORIO, RUNTIME_ROBORIO2, RUNTIME_SIMULATION, "HAL_GetRuntimeType"

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.