Source code

001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.hal;
006
007import java.nio.ByteBuffer;
008
009/**
010 * Driver Station JNI Functions.
011 *
012 * @see "hal/DriverStation.h"
013 * @see "hal/FRCUsageReporting.h"
014 */
015public class DriverStationJNI extends JNIWrapper {
016  /**
017   * Sets the program starting flag in the DS.
018   *
019   * <p>This is what changes the DS to showing robot code ready.
020   *
021   * @see "HAL_ObserveUserProgramStarting"
022   */
023  public static native void observeUserProgramStarting();
024
025  /**
026   * Sets the disabled flag in the DS.
027   *
028   * <p>This is used for the DS to ensure the robot is properly responding to its state request.
029   * Ensure this gets called about every 50ms, or the robot will be disabled by the DS.
030   *
031   * @see "HAL_ObserveUserProgramDisabled"
032   */
033  public static native void observeUserProgramDisabled();
034
035  /**
036   * Sets the autonomous enabled flag in the DS.
037   *
038   * <p>This is used for the DS to ensure the robot is properly responding to its state request.
039   * Ensure this gets called about every 50ms, or the robot will be disabled by the DS.
040   *
041   * @see "HAL_ObserveUserProgramAutonomous"
042   */
043  public static native void observeUserProgramAutonomous();
044
045  /**
046   * Sets the teleoperated enabled flag in the DS.
047   *
048   * <p>This is used for the DS to ensure the robot is properly responding to its state request.
049   * Ensure this gets called about every 50ms, or the robot will be disabled by the DS.
050   *
051   * @see "HAL_ObserveUserProgramTeleop"
052   */
053  public static native void observeUserProgramTeleop();
054
055  /**
056   * Sets the test mode flag in the DS.
057   *
058   * <p>This is used for the DS to ensure the robot is properly responding to its state request.
059   * Ensure this gets called about every 50ms, or the robot will be disabled by the DS.
060   *
061   * @see "HAL_ObserveUserProgramTest"
062   */
063  public static native void observeUserProgramTest();
064
065  /**
066   * Report the usage of a resource of interest.
067   *
068   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
069   * char*)</code>
070   *
071   * @param resource one of the values in the tResourceType above.
072   * @param instanceNumber an index that identifies the resource instance.
073   * @see "HAL_Report"
074   */
075  public static void report(int resource, int instanceNumber) {
076    report(resource, instanceNumber, 0, "");
077  }
078
079  /**
080   * Report the usage of a resource of interest.
081   *
082   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
083   * char*)</code>
084   *
085   * @param resource one of the values in the tResourceType above.
086   * @param instanceNumber an index that identifies the resource instance.
087   * @param context an optional additional context number for some cases (such as module number).
088   *     Set to 0 to omit.
089   * @see "HAL_Report"
090   */
091  public static void report(int resource, int instanceNumber, int context) {
092    report(resource, instanceNumber, context, "");
093  }
094
095  /**
096   * Report the usage of a resource of interest.
097   *
098   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
099   * char*)</code>
100   *
101   * @param resource one of the values in the tResourceType above.
102   * @param instanceNumber an index that identifies the resource instance.
103   * @param context an optional additional context number for some cases (such as module number).
104   *     Set to 0 to omit.
105   * @param feature a string to be included describing features in use on a specific resource.
106   *     Setting the same resource more than once allows you to change the feature string.
107   * @return the index of the added value in NetComm
108   * @see "HAL_Report"
109   */
110  public static native int report(int resource, int instanceNumber, int context, String feature);
111
112  /**
113   * Gets the current control word of the driver station.
114   *
115   * <p>The control word contains the robot state.
116   *
117   * @return the control word
118   * @see "HAL_GetControlWord"
119   * @see getControlWord for a version easier to parse
120   */
121  public static native int nativeGetControlWord();
122
123  /**
124   * Gets the current control word of the driver station.
125   *
126   * <p>The control work contains the robot state.
127   *
128   * @param controlWord the ControlWord to update
129   * @see "HAL_GetControlWord"
130   */
131  public static void getControlWord(ControlWord controlWord) {
132    int word = nativeGetControlWord();
133    controlWord.update(
134        (word & 1) != 0,
135        ((word >> 1) & 1) != 0,
136        ((word >> 2) & 1) != 0,
137        ((word >> 3) & 1) != 0,
138        ((word >> 4) & 1) != 0,
139        ((word >> 5) & 1) != 0);
140  }
141
142  /**
143   * Gets the current alliance station ID.
144   *
145   * @return the alliance station ID int
146   * @see "HAL_GetAllianceStation"
147   */
148  private static native int nativeGetAllianceStation();
149
150  /** Unknown Alliance Station ID. */
151  public static final int kUnknownAllianceStation = 0;
152
153  /** Red Alliance Station 1 ID. */
154  public static final int kRed1AllianceStation = 1;
155
156  /** Red Alliance Station 2 ID. */
157  public static final int kRed2AllianceStation = 2;
158
159  /** Red Alliance Station 3 ID. */
160  public static final int kRed3AllianceStation = 3;
161
162  /** Blue Alliance Station 1 ID. */
163  public static final int kBlue1AllianceStation = 4;
164
165  /** Blue Alliance Station 2 ID. */
166  public static final int kBlue2AllianceStation = 5;
167
168  /** Blue Alliance Station 3 ID. */
169  public static final int kBlue3AllianceStation = 6;
170
171  /**
172   * Gets the current alliance station ID.
173   *
174   * @return the alliance station ID as AllianceStationID
175   * @see "HAL_GetAllianceStation"
176   */
177  public static AllianceStationID getAllianceStation() {
178    return switch (nativeGetAllianceStation()) {
179      case kUnknownAllianceStation -> AllianceStationID.Unknown;
180      case kRed1AllianceStation -> AllianceStationID.Red1;
181      case kRed2AllianceStation -> AllianceStationID.Red2;
182      case kRed3AllianceStation -> AllianceStationID.Red3;
183      case kBlue1AllianceStation -> AllianceStationID.Blue1;
184      case kBlue2AllianceStation -> AllianceStationID.Blue2;
185      case kBlue3AllianceStation -> AllianceStationID.Blue3;
186      default -> null;
187    };
188  }
189
190  /** The maximum number of axes. */
191  public static final int kMaxJoystickAxes = 12;
192
193  /** The maximum number of POVs. */
194  public static final int kMaxJoystickPOVs = 12;
195
196  /** The maximum number of joysticks. */
197  public static final int kMaxJoysticks = 6;
198
199  /**
200   * Gets the axes of a specific joystick.
201   *
202   * @param joystickNum the joystick number
203   * @param axesArray the axes values
204   * @return number of joystick axes, or 0 for error
205   * @see "HAL_GetJoystickAxes"
206   */
207  public static native int getJoystickAxes(byte joystickNum, float[] axesArray);
208
209  /**
210   * Gets the axes of a specific joystick.
211   *
212   * @param joystickNum the joystick number
213   * @param rawAxesArray the raw int axes values (0-255)
214   * @return number of joystick axes, or 0 for error
215   * @see "HAL_GetJoystickAxes"
216   */
217  public static native int getJoystickAxesRaw(byte joystickNum, int[] rawAxesArray);
218
219  /**
220   * Gets the POVs of a specific joystick.
221   *
222   * @param joystickNum the joystick number
223   * @param povsArray the POV values
224   * @return number of POVs, or 0 for error
225   * @see "HAL_GetJoystickPOVs"
226   */
227  public static native int getJoystickPOVs(byte joystickNum, short[] povsArray);
228
229  /**
230   * Gets the buttons of a specific joystick.
231   *
232   * @param joystickNum the joystick number
233   * @param count the count of buttons
234   * @return The joystick button values
235   * @see "HAL_GetJoystickButtons"
236   */
237  public static native int getJoystickButtons(byte joystickNum, ByteBuffer count);
238
239  /**
240   * Get all joystick data.
241   *
242   * @param axesArray all joystick axes
243   * @param rawAxesArray all joystick axes as int
244   * @param povsArray all povs
245   * @param buttonsAndMetadata array of long joystick axes count, long joystick povs count, long
246   *     joystick buttons count, long joystick buttons values
247   * @see "HAL_GetAllJoystickData"
248   */
249  public static native void getAllJoystickData(
250      float[] axesArray, byte[] rawAxesArray, short[] povsArray, long[] buttonsAndMetadata);
251
252  /**
253   * Set joystick outputs.
254   *
255   * @param joystickNum the joystick number
256   * @param outputs bitmask of outputs, 1 for on 0 for off
257   * @param leftRumble the left rumble value (0-FFFF)
258   * @param rightRumble the right rumble value (0-FFFF)
259   * @return the error code, or 0 for success
260   * @see "HAL_SetJoystickOutputs"
261   */
262  public static native int setJoystickOutputs(
263      byte joystickNum, int outputs, int leftRumble, int rightRumble);
264
265  /**
266   * Gets whether a specific joystick is considered to be an XBox controller.
267   *
268   * @param joystickNum the joystick number
269   * @return 1 if xbox, 0 otherwise
270   * @see "HAL_GetJoystickIsXbox"
271   */
272  public static native int getJoystickIsXbox(byte joystickNum);
273
274  /**
275   * Gets the type of joystick connected.
276   *
277   * <p>This is device specific, and different depending on what system input type the joystick
278   * uses.
279   *
280   * @param joystickNum the joystick number
281   * @return the enumerated joystick type
282   * @see "HAL_GetJoystickType"
283   */
284  public static native int getJoystickType(byte joystickNum);
285
286  /**
287   * Gets the name of a joystick.
288   *
289   * <p>The returned array must be freed with HAL_FreeJoystickName.
290   *
291   * @param joystickNum the joystick number
292   * @return the joystick name
293   * @see "HAL_GetJoystickName"
294   */
295  public static native String getJoystickName(byte joystickNum);
296
297  /**
298   * Gets the type of a specific joystick axis.
299   *
300   * <p>This is device specific, and different depending on what system input type the joystick
301   * uses.
302   *
303   * @param joystickNum the joystick number
304   * @param axis the axis number
305   * @return the enumerated axis type
306   * @see "HAL_GetJoystickAxisType"
307   */
308  public static native int getJoystickAxisType(byte joystickNum, byte axis);
309
310  /**
311   * Returns the approximate match time.
312   *
313   * <p>The FMS does not send an official match time to the robots, but does send an approximate
314   * match time. The value will count down the time remaining in the current period (auto or
315   * teleop).
316   *
317   * <p>Warning: This is not an official time (so it cannot be used to dispute ref calls or
318   * guarantee that a function will trigger before the match ends).
319   *
320   * <p>The Practice Match function of the DS approximates the behavior seen on the field.
321   *
322   * @return time remaining in current match period (auto or teleop)
323   * @see "HAL_GetMatchTime"
324   */
325  public static native double getMatchTime();
326
327  /**
328   * Gets info about a specific match.
329   *
330   * @param info the match info to populate
331   * @return the error code, or 0 for success
332   * @see "HAL_GetMatchInfo"
333   */
334  public static native int getMatchInfo(MatchInfoData info);
335
336  /**
337   * Sends an error to the driver station.
338   *
339   * @param isError true for error, false for warning
340   * @param errorCode the error code
341   * @param isLVCode true for a LV error code, false for a standard error code
342   * @param details the details of the error
343   * @param location the file location of the error
344   * @param callStack the callstack of the error
345   * @param printMsg true to print the error message to stdout as well as to the DS
346   * @return the error code, or 0 for success
347   * @see "HAL_SendError"
348   */
349  public static native int sendError(
350      boolean isError,
351      int errorCode,
352      boolean isLVCode,
353      String details,
354      String location,
355      String callStack,
356      boolean printMsg);
357
358  /**
359   * Sends a line to the driver station console.
360   *
361   * @param line the line to send
362   * @return the error code, or 0 for success
363   */
364  public static native int sendConsoleLine(String line);
365
366  /**
367   * Refresh the DS control word.
368   *
369   * @return true if updated
370   * @see "HAL_RefreshDSData"
371   */
372  public static native boolean refreshDSData();
373
374  /**
375   * Adds an event handle to be signalled when new data arrives.
376   *
377   * @param handle the event handle to be signalled
378   */
379  public static native void provideNewDataEventHandle(int handle);
380
381  /**
382   * Removes the event handle from being signalled when new data arrives.
383   *
384   * @param handle the event handle to remove
385   */
386  public static native void removeNewDataEventHandle(int handle);
387
388  /**
389   * Gets if outputs are enabled by the control system.
390   *
391   * @return true if outputs are enabled
392   */
393  public static native boolean getOutputsActive();
394
395  /** Utility class. */
396  private DriverStationJNI() {}
397}