Class HALUtil

java.lang.Object
org.wpilib.hardware.hal.JNIWrapper
org.wpilib.hardware.hal.HALUtil
public final class HALUtil extends JNIWrapper
Hardware Abstraction Layer (HAL) Utilities JNI Functions.
See Also:
  • "wpi/hal/HAL.h"

  • Field Details

    • NULL_PARAMETER

      public static final int NULL_PARAMETER
      A pointer parameter to a method is NULL.
      See Also:

    • VOLTAGE_OUT_OF_RANGE

      public static final int VOLTAGE_OUT_OF_RANGE
      Voltage to convert to raw value is out of range [0; 5].
      See Also:

    • INCOMPATIBLE_STATE

      public static final int INCOMPATIBLE_STATE
      The operation cannot be completed.
      See Also:

    • NO_AVAILABLE_RESOURCES

      public static final int NO_AVAILABLE_RESOURCES
      No available resources to allocate.
      See Also:

    • PARAMETER_OUT_OF_RANGE

      public static final int PARAMETER_OUT_OF_RANGE
      A parameter is out of range.
      See Also:

    • RUNTIME_SYSTEMCORE

      public static final int RUNTIME_SYSTEMCORE
      Systemcore runtime.
      See Also:

    • RUNTIME_SIMULATION

      public static final int RUNTIME_SIMULATION
      Simulation runtime.
      See Also:

  • Method Details

    • getSerialNumber

      public static String getSerialNumber()
      Returns the Systemcore serial number.
      Returns:
      The Systemcore serial number.
      See Also:
      • "HAL_GetSerialNumber"

    • getComments

      public static String getComments()
      Returns the comments from the Systemcore web interface.
      Returns:
      The comments string.
      See Also:
      • "HAL_GetComments"

    • getTeamNumber

      public static int getTeamNumber()
      Returns the team number configured for the robot controller.
      Returns:
      team number, or 0 if not found.
      See Also:
      • "HAL_GetTeamNumber"

    • getMonotonicTime

      public static long getMonotonicTime()
      Reads the nanosecond-resolution monotonic timer.
      Returns:
      The current monotonic time in nanoseconds.

    • getHALRuntimeType

      public static int getHALRuntimeType()
      Returns the runtime type of the HAL.
      Returns:
      HAL Runtime Type
      See Also:

    • 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.