java.lang.Object

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.

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"
- 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.
  
  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.

Class HALUtil

Nested Class Summary

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

Field Summary

Method Summary

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

Methods inherited from class java.lang.Object

Field Details

Method Details