Java 类edu.wpi.first.wpilibj.hal.HALUtil 实例源码

/**
 * DriverStation constructor.
 *
 * The single DriverStation instance is created statically with the instance
 * static member variable.
 */
protected DriverStation() {
  m_dataSem = new Object();
  for (int i = 0; i < kJoystickPorts; i++) {
    m_joystickButtons[i] = new HALJoystickButtons();
  }

  m_packetDataAvailableMutex = HALUtil.initializeMutexNormal();
  m_packetDataAvailableSem = HALUtil.initializeMultiWait();
  FRCNetworkCommunicationsLibrary.setNewDataSem(m_packetDataAvailableSem);

  m_thread = new Thread(new DriverStationTask(this), "FRCDriverStation");
  m_thread.setPriority((Thread.NORM_PRIORITY + Thread.MAX_PRIORITY) / 2);

  m_thread.start();
}

public float getMatchTime()
{
    if (enabled)
    {
        return (HALUtil.getFPGATime() - enabled_time) * 1e-6f;
    }
    return 0;

}

public void setDisabled(boolean aDisabled)
{
    enabled = !aDisabled;
    if (enabled)
    {
        enabled_time = HALUtil.getFPGATime();
    }
}

public void setAutonomous(boolean aAutonomous)
{

    if (autonomous != aAutonomous)
    {
        enabled_time = HALUtil.getFPGATime();
    }
    autonomous = aAutonomous;
}

/**
 * Provides the service routine for the DS polling thread.
 */
private void task() {
  int safetyCounter = 0;
  while (m_thread_keepalive) {
    HALUtil.takeMultiWait(m_packetDataAvailableSem, m_packetDataAvailableMutex);
    synchronized (this) {
      getData();
    }
    synchronized (m_dataSem) {
      m_dataSem.notifyAll();
    }
    if (++safetyCounter >= 4) {
      MotorSafetyHelper.checkMotors();
      safetyCounter = 0;
    }
    if (m_userInDisabled) {
      FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramDisabled();
    }
    if (m_userInAutonomous) {
      FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramAutonomous();
    }
    if (m_userInTeleop) {
      FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTeleop();
    }
    if (m_userInTest) {
      FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTest();
    }
  }
}

/**
 * Gets a value indicating whether the FPGA outputs are enabled. The outputs may be disabled
 * if the robot is disabled or e-stopped, the watdhog has expired, or if the roboRIO browns out.
 *
 * @return True if the FPGA outputs are enabled.
 */
public boolean isSysActive() {
    ByteBuffer status = ByteBuffer.allocateDirect(4);
    status.order(ByteOrder.LITTLE_ENDIAN);
    boolean retVal = FRCNetworkCommunicationsLibrary.HALGetSystemActive(status.asIntBuffer());
    HALUtil.checkStatus(status.asIntBuffer());
    return retVal;
}

/**
 * Check if the system is browned out.
 *
 * @return True if the system is browned out
 */
public boolean isBrownedOut() {
    ByteBuffer status = ByteBuffer.allocateDirect(4);
    status.order(ByteOrder.LITTLE_ENDIAN);
    boolean retVal = FRCNetworkCommunicationsLibrary.HALGetBrownedOut(status.asIntBuffer());
    HALUtil.checkStatus(status.asIntBuffer());
    return retVal;
}

/**
 * Return the FPGA Version number. For now, expect this to be 2009.
 *
 * @return FPGA Version number.
 */
@SuppressWarnings("AbbreviationAsWordInName")
int getFPGAVersion() {
  return HALUtil.getFPGAVersion();
}

/**
 * Return 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.
 *
 * @return FPGA Revision number.
 */
@SuppressWarnings("AbbreviationAsWordInName")
long getFPGARevision() {
  return (long) HALUtil.getFPGARevision();
}

/**
 * Read the microsecond timer from the FPGA.
 *
 * @return The current time in microseconds according to the FPGA.
 */
public static long getFPGATime() {
  return HALUtil.getFPGATime();
}

/**
 * Get the state of the "USER" button on the roboRIO.
 *
 * @return true if the button is currently pressed down
 */
public static boolean getUserButton() {
  return HALUtil.getFPGAButton();
}

/**
 * Return the FPGA Version number. For now, expect this to be 2009.
 *
 * @return FPGA Version number.
 */
int getFPGAVersion() {
  return HALUtil.getFPGAVersion();
}

/**
 * Return 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.
 *
 * @return FPGA Revision number.
 */
long getFPGARevision() {
  return (long) HALUtil.getFPGARevision();
}

/**
 * Read the microsecond timer from the FPGA.
 *
 * @return The current time in microseconds according to the FPGA.
 */
public static long getFPGATime() {
  return HALUtil.getFPGATime();
}

/**
 * Get the state of the "USER" button on the RoboRIO
 *$
 * @return true if the button is currently pressed down
 */
public static boolean getUserButton() {
  return HALUtil.getFPGAButton();
}