Main loop functions

Functions
void	HAL_SetMain (void *param, void(*mainFunc)(void *), void(*exitFunc)(void *))
	Sets up the system to run the provided main loop in the main thread (e.g. More...
HAL_Bool	HAL_HasMain (void)
	Returns true if HAL_SetMain() has been called. More...
void	HAL_RunMain (void)
	Runs the main function provided to HAL_SetMain(). More...
void	HAL_ExitMain (void)
	Causes HAL_RunMain() to exit. More...
HAL_RelayHandle	HAL_InitializeRelayPort (HAL_PortHandle portHandle, HAL_Bool fwd, const char *allocationLocation, int32_t *status)
	Initializes a relay. More...
void	HAL_FreeRelayPort (HAL_RelayHandle relayPortHandle)
	Frees a relay port. More...
HAL_Bool	HAL_CheckRelayChannel (int32_t channel)
	Checks if a relay channel is valid. More...
void	HAL_SetRelay (HAL_RelayHandle relayPortHandle, HAL_Bool on, int32_t *status)
	Sets the state of a relay output. More...
HAL_Bool	HAL_GetRelay (HAL_RelayHandle relayPortHandle, int32_t *status)
	Gets the current state of the relay channel. More...

Detailed Description

Function Documentation

HAL_CheckRelayChannel()

HAL_Bool HAL_CheckRelayChannel

(

int32_t

channel

)

Checks if a relay channel is valid.

Parameters

channel

the channel to check

Returns

true if the channel is valid, otherwise false

HAL_ExitMain()

void HAL_ExitMain

(

void

)

Causes HAL_RunMain() to exit.

If HAL_SetMain() has been called, this calls the exit function provided to that function.

HAL_FreeRelayPort()

void HAL_FreeRelayPort

(

HAL_RelayHandle

relayPortHandle

)

Frees a relay port.

Parameters

relayPortHandle

the relay handle

HAL_GetRelay()

HAL_Bool HAL_GetRelay	(	HAL_RelayHandle	relayPortHandle,
		int32_t *	status
	)

Gets the current state of the relay channel.

Parameters

[in]	relayPortHandle	the relay handle
[out]	status	Error status variable. 0 on success.

Returns

true for on, false for off

HAL_HasMain()

HAL_Bool HAL_HasMain

(

void

)

Returns true if HAL_SetMain() has been called.

Returns

True if HAL_SetMain() has been called, false otherwise.

HAL_InitializeRelayPort()

HAL_RelayHandle HAL_InitializeRelayPort	(	HAL_PortHandle	portHandle,
		HAL_Bool	fwd,
		const char *	allocationLocation,
		int32_t *	status
	)

Initializes a relay.

Note this call will only initialize either the forward or reverse port of the relay. If you need both, you will need to initialize 2 relays.

Parameters

[in]	portHandle	the port handle to initialize
[in]	fwd	true for the forward port, false for the reverse port
[in]	allocationLocation	the location where the allocation is occurring (can be null)
[out]	status	Error status variable. 0 on success.

Returns

the created relay handle

HAL_RunMain()

void HAL_RunMain

(

void

)

Runs the main function provided to HAL_SetMain().

If HAL_SetMain() has not been called, simply sleeps until HAL_ExitMain() is called.

HAL_SetMain()

void HAL_SetMain	(	void *	param,
		void(*)(void *)	mainFunc,
		void(*)(void *)	exitFunc
	)

Sets up the system to run the provided main loop in the main thread (e.g.

the thread in which main() starts execution) and run the robot code in a separate thread.

Normally the robot code runs in the main thread, but some GUI systems require the GUI be run in the main thread.

To be effective, this function must be called before the robot code starts the main loop (e.g. by frc::StartRobot()).

Parameters

param	parameter data to pass to mainFunc and exitFunc
mainFunc	the function to be run when HAL_RunMain() is called.
exitFunc	the function to be run when HAL_ExitMain() is called.

HAL_SetRelay()

void HAL_SetRelay	(	HAL_RelayHandle	relayPortHandle,
		HAL_Bool	on,
		int32_t *	status
	)

Sets the state of a relay output.

Parameters

[in]	relayPortHandle	the relay handle
[in]	on	true for on, false for off
[out]	status	Error status variable. 0 on success.