NetworkCommunication/FRCComm.h

/*************************************************************
 *                                      NOTICE
 * 
 *      These are the only externally exposed functions to the
 *   NetworkCommunication library
 * 
 * This is an implementation of FRC Spec for Comm Protocol
 * Revision 4.5, June 30, 2008
 *
 * Copyright (c) National Instruments 2008.  All Rights Reserved.
 * 
 *************************************************************/

#ifndef __FRC_COMM_H__
#define __FRC_COMM_H__

#include <vxWorks.h>

// Commandeer some bytes at the end for advanced I/O feedback.
#define IO_CONFIG_DATA_SIZE 32
#define SYS_STATUS_DATA_SIZE 44
#define USER_STATUS_DATA_SIZE (984 - IO_CONFIG_DATA_SIZE - SYS_STATUS_DATA_SIZE)
#define USER_DS_LCD_DATA_SIZE 128

struct FRCCommonControlData{
        UINT16 packetIndex;
        union {
                UINT8 control;
                struct {
                        UINT8 reset : 1;
                        UINT8 notEStop : 1;
                        UINT8 enabled : 1;
                        UINT8 autonomous : 1;
                        UINT8 fmsAttached:1;
                        UINT8 resync : 1;
                        UINT8 cRIOChkSum :1;
                        UINT8 fpgaChkSum :1;
                };
        };
        UINT8 dsDigitalIn;
        UINT16 teamID;

        char dsID_Alliance;
        char dsID_Position;

        union {
                INT8 stick0Axes[6];
                struct {
                        INT8 stick0Axis1;
                        INT8 stick0Axis2;
                        INT8 stick0Axis3;
                        INT8 stick0Axis4;
                        INT8 stick0Axis5;
                        INT8 stick0Axis6;
                };
        };
        UINT16 stick0Buttons;           // Left-most 4 bits are unused

        union {
                INT8 stick1Axes[6];
                struct {
                        INT8 stick1Axis1;
                        INT8 stick1Axis2;
                        INT8 stick1Axis3;
                        INT8 stick1Axis4;
                        INT8 stick1Axis5;
                        INT8 stick1Axis6;
                };
        };
        UINT16 stick1Buttons;           // Left-most 4 bits are unused

        union {
                INT8 stick2Axes[6];
                struct {
                        INT8 stick2Axis1;
                        INT8 stick2Axis2;
                        INT8 stick2Axis3;
                        INT8 stick2Axis4;
                        INT8 stick2Axis5;
                        INT8 stick2Axis6;
                };
        };
        UINT16 stick2Buttons;           // Left-most 4 bits are unused

        union {
                INT8 stick3Axes[6];
                struct {
                        INT8 stick3Axis1;
                        INT8 stick3Axis2;
                        INT8 stick3Axis3;
                        INT8 stick3Axis4;
                        INT8 stick3Axis5;
                        INT8 stick3Axis6;
                };
        };
        UINT16 stick3Buttons;           // Left-most 4 bits are unused

        //Analog inputs are 10 bit right-justified
        UINT16 analog1;
        UINT16 analog2;
        UINT16 analog3;
        UINT16 analog4;

        UINT64 cRIOChecksum;
        UINT32 FPGAChecksum0;
        UINT32 FPGAChecksum1;
        UINT32 FPGAChecksum2;
        UINT32 FPGAChecksum3;

        char versionData[8];
};

#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
#define kFRC_NetworkCommunication_DynamicType_Kinect_Header 19
#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
#define kFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
#define kFRC_NetworkCommunication_DynamicType_Kinect_Custom 25

extern "C" {
        void getFPGAHardwareVersion(UINT16 *fpgaVersion, UINT32 *fpgaRevision);
        int getCommonControlData(FRCCommonControlData *data, int wait_ms);
        int getRecentCommonControlData(FRCCommonControlData *commonData, int wait_ms);
        int getRecentStatusData(UINT8 *batteryInt, UINT8 *batteryDec, UINT8 *dsDigitalOut, int wait_ms);
        int getDynamicControlData(UINT8 type, char *dynamicData, INT32 maxLength, int wait_ms);
        int setStatusData(float battery, UINT8 dsDigitalOut, UINT8 updateNumber,
                        const char *userDataHigh, int userDataHighLength,
                        const char *userDataLow, int userDataLowLength, int wait_ms);
        int setStatusDataFloatAsInt(int battery, UINT8 dsDigitalOut, UINT8 updateNumber,
                        const char *userDataHigh, int userDataHighLength,
                        const char *userDataLow, int userDataLowLength, int wait_ms);
        int setErrorData(const char *errors, int errorsLength, int wait_ms);
        int setUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
        int overrideIOConfig(const char *ioConfig, int wait_ms);

        void setNewDataSem(SEM_ID);
        void setResyncSem(SEM_ID);
        void signalResyncActionDone(void);

        // this UINT32 is really a LVRefNum
        void setNewDataOccurRef(UINT32 refnum);
        void setResyncOccurRef(UINT32 refnum);

        void FRC_NetworkCommunication_getVersionString(char *version);
        void FRC_NetworkCommunication_observeUserProgramStarting(void);
        void FRC_NetworkCommunication_observeUserProgramDisabled(void);
        void FRC_NetworkCommunication_observeUserProgramAutonomous(void);
        void FRC_NetworkCommunication_observeUserProgramTeleop(void);
};

#endif