def _CTRFUNC(name, *params, out=None, library=_dll, handle_missing=False):
return _RETFUNC(
name,
C.c_int,
("handle", TalonSRX_ptr),
*params,
out=out,
library=library,
handle_missing=handle_missing,
errcheck=_CTRFUNC_errcheck
)
def _STATUSFUNC(name, restype, *params, out=None, library=_dll,
handle_missing=False):
realparams = list(params)
realparams.append(("status", C.POINTER(C.c_int32)))
_inner = _RETFUNC(name, restype, *realparams, out=out, library=library,
handle_missing=handle_missing)
def outer(*args, **kwargs):
status = C.c_int32(0)
rv = _inner(*args, status=status, **kwargs)
if status.value != 0:
if status.value == -44086: raise CANError("invalid buffer")
if status.value == -44087: raise CANMessageNotFound("message not found")
if status.value == -44088: raise CANError("not allowed")
if status.value == -44089: raise CANNotInitializedException("not initialized")
if status.value == 44087:
warnings.warn("CAN session mux: no token", RuntimeWarning)
elif status.value < 0:
raise CANError("unknown error %d" % status.value)
else:
warnings.warn("CAN session mux: unknown warning %d" % status.value,
RuntimeWarning)
return rv
return outer
def _STATUSFUNC(name,
restype,
*params,
out=None,
library=_dll,
handle_missing=False):
realparams = list(params)
realparams.append(("status", C.POINTER(C.c_int32)))
_inner = _RETFUNC(name,
restype,
*realparams,
out=out,
library=library,
handle_missing=handle_missing)
def outer(*args, **kwargs):
status = C.c_int32(0)
rv = _inner(*args, status=status, **kwargs)
if status.value != 0:
if status.value == -44086: raise CANError("invalid buffer")
if status.value == -44087:
raise CANMessageNotFound("message not found")
if status.value == -44088: raise CANError("not allowed")
if status.value == -44089:
raise CANNotInitializedException("not initialized")
if status.value == 44087:
warnings.warn("CAN session mux: no token", RuntimeWarning)
elif status.value < 0:
raise CANError("unknown error %d" % status.value)
else:
warnings.warn(
"CAN session mux: unknown warning %d" % status.value,
RuntimeWarning)
return rv
return outer
buffer = (C.c_uint8 * 8)()
dataSize, timeStamp = _CANSessionMux_receiveMessage(
idbuf, messageIDMask, buffer)
if dataSize is 0:
return idbuf.value, None, timeStamp
else:
return idbuf.value, [x for x in buffer[0:dataSize]], timeStamp
CANSessionMux_openStreamSession = _STATUSFUNC(
"FRC_NetworkCommunication_CANSessionMux_openStreamSession",
None, ("sessionHandle", C.POINTER(C.c_uint32)), ("messageID", C.c_uint32),
("messageIDMask", C.c_uint32), ("maxMessages", C.c_uint32),
out=["sessionHandle"])
CANSessionMux_closeStreamSession = _RETFUNC(
"FRC_NetworkCommunication_CANSessionMux_closeStreamSession", None,
("sessionHandle", C.c_uint32))
_CANSessionMux_readStreamSession = _STATUSFUNC(
"FRC_NetworkCommunication_CANSessionMux_readStreamSession",
None, ("sessionHandle", C.c_uint32),
("messages", C.POINTER(CANStreamMessage)), ("messagesToRead", C.c_uint32),
("messagesRead", C.POINTER(C.c_uint32)),
out=["messagesRead"])
def CANSessionMux_readStreamSession(sessionHandle, messagesToRead):
messages = (CANStreamMessage * messagesToRead)()
messagesRead = _CANSessionMux_readStreamSession(sessionHandle, messages,
messagesToRead)
return messages[0:messagesRead]
#############################################################################
# Python-specific hal functions
#############################################################################
def isSimulation():
return __hal_simulation__
HALIsSimulation = isSimulation
#############################################################################
# HAL
#############################################################################
getPort = _RETFUNC("getPort", PortHandle, ("pin", C.c_int32))
getPortWithModule = _RETFUNC("getPortWithModule", PortHandle, ("module", C.c_int32), ("pin", C.c_int32))
_getErrorMessage = _RETFUNC("getErrorMessage", C.c_char_p, ("code", C.c_int32))
@hal_wrapper
def getErrorMessage(code):
return _getErrorMessage(code).decode('utf_8')
getFPGAVersion = _STATUSFUNC("getFPGAVersion", C.c_int32)
getFPGARevision = _STATUSFUNC("getFPGARevision", C.c_uint64)
getFPGATime = _STATUSFUNC("getFPGATime", C.c_uint64)
getRuntimeType = _RETFUNC("getRuntimeType", C.c_int32)
getFPGAButton = _STATUSFUNC("getFPGAButton", C.c_bool)
getSystemActive = _STATUSFUNC("getSystemActive", C.c_bool)
def _CTRFUNC_errcheck(result, func, args):
if result != 0:
warnings.warn(getHALErrorMessage(result))
return args
def _CTRFUNC(name, *params, out=None, library=_dll, handle_missing=False):
return _RETFUNC(name, C.c_int, ("handle", TalonSRX_ptr), *params, out=out, library=library,
handle_missing=handle_missing, errcheck=_CTRFUNC_errcheck,
c_name='c_%s' % name)
#############################################################################
# Semaphore.hpp
#############################################################################
initializeMutexNormal = _RETFUNC("initializeMutexNormal", MUTEX_ID)
deleteMutex = _RETFUNC("deleteMutex", None, ("sem", MUTEX_ID))
takeMutex = _RETFUNC("takeMutex", C.c_int8, ("sem", MUTEX_ID))
tryTakeMutex = _RETFUNC("tryTakeMutex", C.c_bool, ("sem", MUTEX_ID))
giveMutex = _RETFUNC("giveMutex", C.c_int8, ("sem", MUTEX_ID))
initializeMultiWait = _RETFUNC("initializeMultiWait", MULTIWAIT_ID)
deleteMultiWait = _RETFUNC("deleteMultiWait", None, ("sem", MULTIWAIT_ID))
takeMultiWait = _RETFUNC("takeMultiWait", C.c_int8, ("sem", MULTIWAIT_ID),("mutex", MUTEX_ID))
giveMultiWait = _RETFUNC("giveMultiWait", C.c_int8, ("sem", MULTIWAIT_ID))
#############################################################################
# HAL
#############################################################################
getPort = _RETFUNC("getPort", Port_ptr, ("pin", C.c_uint8))
#############################################################################
# Python-specific hal functions
#############################################################################
def isSimulation():
return __hal_simulation__
HALIsSimulation = isSimulation
#############################################################################
# HAL
#############################################################################
getPort = _RETFUNC("getPort", PortHandle, ("channel", C.c_int32))
getPortWithModule = _RETFUNC("getPortWithModule", PortHandle, ("module", C.c_int32), ("channel", C.c_int32))
_getErrorMessage = _RETFUNC("getErrorMessage", C.c_char_p, ("code", C.c_int32))
@hal_wrapper
def getErrorMessage(code):
return _getErrorMessage(code).decode('utf_8')
getFPGAVersion = _STATUSFUNC("getFPGAVersion", C.c_int32)
getFPGARevision = _STATUSFUNC("getFPGARevision", C.c_uint64)
getFPGATime = _STATUSFUNC("getFPGATime", C.c_uint64)
getRuntimeType = _RETFUNC("getRuntimeType", C.c_int32)
getFPGAButton = _STATUSFUNC("getFPGAButton", C.c_bool)
getSystemActive = _STATUSFUNC("getSystemActive", C.c_bool)
buffer = (C.c_uint8 * size)(*data)
_CANSessionMux_sendMessage(messageID, buffer, size, periodMs)
_CANSessionMux_receiveMessage = _STATUSFUNC("FRC_NetworkCommunication_CANSessionMux_receiveMessage", None, ("messageID", C.POINTER(C.c_uint32)), ("messageIDMask", C.c_uint32), ("data", C.POINTER(C.c_uint8)), ("dataSize", C.POINTER(C.c_uint8)), ("timeStamp", C.POINTER(C.c_uint32)), out=["dataSize", "timeStamp"])
def CANSessionMux_receiveMessage(messageID, messageIDMask):
idbuf = C.c_uint32(messageID)
buffer = (C.c_uint8 * 8)()
dataSize, timeStamp = _CANSessionMux_receiveMessage(idbuf, messageIDMask,
buffer)
if dataSize is 0:
return idbuf.value, None, timeStamp
else:
return idbuf.value, [x for x in buffer[0:dataSize]], timeStamp
CANSessionMux_openStreamSession = _STATUSFUNC("FRC_NetworkCommunication_CANSessionMux_openStreamSession", None, ("sessionHandle", C.POINTER(C.c_uint32)), ("messageID", C.c_uint32), ("messageIDMask", C.c_uint32), ("maxMessages", C.c_uint32), out=["sessionHandle"])
CANSessionMux_closeStreamSession = _RETFUNC("FRC_NetworkCommunication_CANSessionMux_closeStreamSession", None, ("sessionHandle", C.c_uint32))
_CANSessionMux_readStreamSession = _STATUSFUNC("FRC_NetworkCommunication_CANSessionMux_readStreamSession", None, ("sessionHandle", C.c_uint32), ("messages", C.POINTER(CANStreamMessage)), ("messagesToRead", C.c_uint32), ("messagesRead", C.POINTER(C.c_uint32)), out=["messagesRead"])
def CANSessionMux_readStreamSession(sessionHandle, messagesToRead):
messages = (CANStreamMessage * messagesToRead)()
messagesRead = _CANSessionMux_readStreamSession(sessionHandle, messages, messagesToRead)
return messages[0:messagesRead]
_CANSessionMux_getCANStatus = _STATUSFUNC("FRC_NetworkCommunication_CANSessionMux_getCANStatus", None, ("percentBusUtilization", C.POINTER(C.c_float)), ("busOffCount", C.POINTER(C.c_uint32)), ("txFullCount", C.POINTER(C.c_uint32)), ("receiveErrorCount", C.POINTER(C.c_uint32)), ("transmitErrorCount", C.POINTER(C.c_uint32)), out=["percentBusUtilization", "busOffCount", "txFullCount", "receiveErrorCount", "transmitErrorCount"])
def CANSessionMux_getCANStatus():
percentBusUtilization, busOffCount, txFullCount, receiveErrorCount, transmitErrorCount = _CANSessionMux_getCANStatus()
return dict(percentBusUtilization=percentBusUtilization,
busOffCount=busOffCount,
txFullCount=txFullCount,
receiveErrorCount=receiveErrorCount,
transmitErrorCount=transmitErrorCount)
def _CTRFUNC(name, *params, out=None, library=_dll, handle_missing=False):
return _RETFUNC(name, C.c_int, ("handle", TalonSRX_ptr), *params, out=out, library=library,
handle_missing=handle_missing, errcheck=_CTRFUNC_errcheck)
return _STATUSFUNC(_inner_func=_THUNKFUNC, *a, **k)
def _CTRFUNC_errcheck(result, func, args):
if result != 0:
warnings.warn(getHALErrorMessage(result))
return args
def _CTRFUNC(name, *params, out=None, library=_dll, handle_missing=False):
return _RETFUNC(name, C.c_int, ("handle", TalonSRX_ptr), *params, out=out, library=library,
handle_missing=handle_missing, errcheck=_CTRFUNC_errcheck)
#############################################################################
# Semaphore.hpp
#############################################################################
initializeMutexNormal = _RETFUNC("initializeMutexNormal", MUTEX_ID)
deleteMutex = _RETFUNC("deleteMutex", None, ("sem", MUTEX_ID))
takeMutex = _RETFUNC("takeMutex", C.c_int8, ("sem", MUTEX_ID))
tryTakeMutex = _RETFUNC("tryTakeMutex", C.c_bool, ("sem", MUTEX_ID))
giveMutex = _RETFUNC("giveMutex", C.c_int8, ("sem", MUTEX_ID))
initializeMultiWait = _RETFUNC("initializeMultiWait", MULTIWAIT_ID)
deleteMultiWait = _RETFUNC("deleteMultiWait", None, ("sem", MULTIWAIT_ID))
takeMultiWait = _RETFUNC("takeMultiWait", C.c_int8, ("sem", MULTIWAIT_ID),("mutex", MUTEX_ID))
giveMultiWait = _RETFUNC("giveMultiWait", C.c_int8, ("sem", MULTIWAIT_ID))
#############################################################################
# HAL
#############################################################################
getPort = _RETFUNC("getPort", Port_ptr, ("pin", C.c_uint8))
