131 lines
4.2 KiB
C
131 lines
4.2 KiB
C
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/*************************************************************
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* NOTICE
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*
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* These are the only externally exposed functions to the
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* NetworkCommunication library
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*
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* This is an implementation of FRC Spec for Comm Protocol
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* Revision 4.5, June 30, 2008
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*
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* Copyright (c) National Instruments 2008. All Rights Reserved.
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*
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*************************************************************/
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#ifndef __FRC_COMM_H__
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#define __FRC_COMM_H__
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#ifdef SIMULATION
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#include <vxWorks_compat.h>
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#ifdef USE_THRIFT
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#define EXPORT_FUNC
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#else
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#define EXPORT_FUNC __declspec(dllexport) __cdecl
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#endif
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#else
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#include <stdint.h>
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#include <pthread.h>
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#define EXPORT_FUNC
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#endif
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#define ERR_FRCSystem_NetCommNotResponding -44049
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#define ERR_FRCSystem_NoDSConnection -44018
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enum AllianceStationID_t {
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kAllianceStationID_red1,
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kAllianceStationID_red2,
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kAllianceStationID_red3,
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kAllianceStationID_blue1,
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kAllianceStationID_blue2,
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kAllianceStationID_blue3,
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};
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enum MatchType_t {
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kMatchType_none,
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kMatchType_practice,
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kMatchType_qualification,
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kMatchType_elimination,
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};
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struct ControlWord_t {
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uint32_t enabled : 1;
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uint32_t autonomous : 1;
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uint32_t test : 1;
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uint32_t eStop : 1;
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uint32_t fmsAttached : 1;
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uint32_t dsAttached : 1;
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uint32_t control_reserved : 26;
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};
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struct JoystickAxes_t {
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uint16_t count;
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int16_t axes[1];
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};
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struct JoystickPOV_t {
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uint16_t count;
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int16_t povs[1];
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};
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#ifdef __cplusplus
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extern "C" {
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#endif
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int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
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#ifndef SIMULATION
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void EXPORT_FUNC
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getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
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#endif
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int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut,
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uint8_t updateNumber, const char *userDataHigh,
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int userDataHighLength, const char *userDataLow,
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int userDataLowLength, int wait_ms);
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int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
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#ifdef SIMULATION
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void EXPORT_FUNC setNewDataSem(HANDLE);
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#else
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void EXPORT_FUNC setNewDataSem(pthread_cond_t *);
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#endif
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// this uint32_t is really a LVRefNum
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int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
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int EXPORT_FUNC
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FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
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int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(
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enum AllianceStationID_t *allianceStation);
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int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
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int EXPORT_FUNC
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FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum,
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struct JoystickAxes_t *axes,
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uint8_t maxAxes);
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int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum,
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uint32_t *buttons,
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uint8_t *count);
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int EXPORT_FUNC
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FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum,
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struct JoystickPOV_t *povs,
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uint8_t maxPOVs);
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int EXPORT_FUNC
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FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum,
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uint32_t hidOutputs,
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uint16_t leftRumble,
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uint16_t rightRumble);
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int EXPORT_FUNC
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FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox,
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uint8_t *type, char *name,
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uint8_t *axisCount, uint8_t *axisTypes,
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uint8_t *buttonCount,
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uint8_t *povCount);
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void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
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int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
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#ifdef __cplusplus
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}
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#endif
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#endif
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