robotpy-native-wpihal 2025.3.2__py3-none-win_amd64.whl

native/wpihal/_init_robotpy_native_wpihal.py

@@ -0,0 +1,22 @@
+# This file is automatically generated, DO NOT EDIT
+# fmt: off
+
+import native.wpiutil._init_robotpy_native_wpiutil
+
+def __load_library():
+    from os.path import abspath, join, dirname, exists
+    from ctypes import cdll
+
+    root = abspath(dirname(__file__))
+
+    lib_path = join(root, 'lib', 'wpiHal.dll')
+
+    try:
+        return cdll.LoadLibrary(lib_path)
+    except FileNotFoundError:
+        if not exists(lib_path):
+            raise FileNotFoundError("wpiHal.dll was not found on your system. Is this package correctly installed?")
+        raise Exception("wpiHal.dll could not be loaded. Do you have Visual Studio C++ Redistributible installed?")
+
+__lib = __load_library()
+

native/wpihal/include/hal/.clang-tidy

@@ -0,0 +1,73 @@
+Checks:
+  'bugprone-assert-side-effect,
+  bugprone-bool-pointer-implicit-conversion,
+  bugprone-copy-constructor-init,
+  bugprone-dangling-handle,
+  bugprone-dynamic-static-initializers,
+  bugprone-exception-escape,
+  bugprone-forward-declaration-namespace,
+  bugprone-forwarding-reference-overload,
+  bugprone-inaccurate-erase,
+  bugprone-incorrect-roundings,
+  bugprone-integer-division,
+  bugprone-lambda-function-name,
+  bugprone-misplaced-operator-in-strlen-in-alloc,
+  bugprone-misplaced-widening-cast,
+  bugprone-move-forwarding-reference,
+  bugprone-multiple-statement-macro,
+  bugprone-parent-virtual-call,
+  bugprone-posix-return,
+  bugprone-sizeof-container,
+  bugprone-sizeof-expression,
+  bugprone-spuriously-wake-up-functions,
+  bugprone-string-constructor,
+  bugprone-string-integer-assignment,
+  bugprone-string-literal-with-embedded-nul,
+  bugprone-suspicious-enum-usage,
+  bugprone-suspicious-include,
+  bugprone-suspicious-memset-usage,
+  bugprone-suspicious-missing-comma,
+  bugprone-suspicious-semicolon,
+  bugprone-suspicious-string-compare,
+  bugprone-throw-keyword-missing,
+  bugprone-too-small-loop-variable,
+  bugprone-undefined-memory-manipulation,
+  bugprone-undelegated-constructor,
+  bugprone-unhandled-self-assignment,
+  bugprone-unused-raii,
+  bugprone-virtual-near-miss,
+  cert-err52-cpp,
+  cert-err60-cpp,
+  cert-mem57-cpp,
+  cert-oop57-cpp,
+  cert-oop58-cpp,
+  clang-diagnostic-*,
+  -clang-diagnostic-deprecated-declarations,
+  -clang-diagnostic-#warnings,
+  -clang-diagnostic-pedantic,
+  clang-analyzer-*,
+  cppcoreguidelines-slicing,
+  google-build-namespaces,
+  google-explicit-constructor,
+  google-global-names-in-headers,
+  google-readability-avoid-underscore-in-googletest-name,
+  google-readability-casting,
+  google-runtime-operator,
+  misc-definitions-in-headers,
+  misc-misplaced-const,
+  misc-new-delete-overloads,
+  misc-non-copyable-objects,
+  modernize-avoid-bind,
+  modernize-concat-nested-namespaces,
+  modernize-make-shared,
+  modernize-make-unique,
+  modernize-pass-by-value,
+  modernize-use-default-member-init,
+  modernize-use-noexcept,
+  modernize-use-nullptr,
+  modernize-use-override,
+  readability-braces-around-statements'
+FormatStyle: file
+CheckOptions:
+  - key: bugprone-dangling-handle
+    value: 'std::string_view'

native/wpihal/include/hal/Accelerometer.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_accelerometer Accelerometer Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+/**
+ * The acceptable accelerometer ranges.
+ */
+HAL_ENUM(HAL_AccelerometerRange) {
+  HAL_AccelerometerRange_k2G = 0,
+  HAL_AccelerometerRange_k4G = 1,
+  HAL_AccelerometerRange_k8G = 2,
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/**
+ * Sets the accelerometer to active or standby mode.
+ *
+ * It must be in standby mode to change any configuration.
+ *
+ * @param active true to set to active, false for standby
+ */
+void HAL_SetAccelerometerActive(HAL_Bool active);
+
+/**
+ * Sets the range of values that can be measured (either 2, 4, or 8 g-forces).
+ *
+ * The accelerometer should be in standby mode when this is called.
+ *
+ * @param range the accelerometer range
+ */
+void HAL_SetAccelerometerRange(HAL_AccelerometerRange range);
+
+/**
+ * Gets the x-axis acceleration.
+ *
+ * This is a floating point value in units of 1 g-force.
+ *
+ * @return the X acceleration
+ */
+double HAL_GetAccelerometerX(void);
+
+/**
+ * Gets the y-axis acceleration.
+ *
+ * This is a floating point value in units of 1 g-force.
+ *
+ * @return the Y acceleration
+ */
+double HAL_GetAccelerometerY(void);
+
+/**
+ * Gets the z-axis acceleration.
+ *
+ * This is a floating point value in units of 1 g-force.
+ *
+ * @return the Z acceleration
+ */
+double HAL_GetAccelerometerZ(void);
+#ifdef __cplusplus
+}  // extern "C"
+/** @} */
+#endif

native/wpihal/include/hal/AddressableLED.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/AddressableLEDTypes.h"
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_addressable Addressable LED Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Initialize Addressable LED using a PWM Digital handle.
+ *
+ * @param[in] outputPort handle of the digital port for PWM
+ * @param[out] status the error code, or 0 for success
+ * @return Addressable LED handle
+ */
+HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
+    HAL_DigitalHandle outputPort, int32_t* status);
+
+/**
+ * Free the Addressable LED Handle.
+ *
+ * @param[in] handle the Addressable LED handle to free
+ */
+void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle);
+
+/**
+ * Sets the color order for the addressable LED output. The default order is
+ * GRB. This will take effect on the next call to HAL_WriteAddressableLEDData().
+ * @param[in] handle the Addressable LED handle
+ * @param[in] colorOrder the color order
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetAddressableLEDColorOrder(HAL_AddressableLEDHandle handle,
+                                     HAL_AddressableLEDColorOrder colorOrder,
+                                     int32_t* status);
+
+/**
+ * Set the Addressable LED PWM Digital port.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] outputPort The digital handle of the PWM port
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
+                                     HAL_DigitalHandle outputPort,
+                                     int32_t* status);
+
+/**
+ * Sets the length of the LED strip.
+ *
+ * <p>The max length is 5460 LEDs.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] length the strip length
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
+                                 int32_t length, int32_t* status);
+
+/**
+ * Sets the led output data.
+ *
+ * <p>If the output is enabled, this will start writing the next data cycle.
+ * It is safe to call, even while output is enabled.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] data the buffer to write
+ * @param[in] length the strip length
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
+                                 const struct HAL_AddressableLEDData* data,
+                                 int32_t length, int32_t* status);
+
+/**
+ * Sets the bit timing.
+ *
+ * <p>By default, the driver is set up to drive WS2812B and WS2815, so nothing
+ * needs to be set for those.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] highTime0NanoSeconds high time for 0 bit (default 400ns)
+ * @param[in] lowTime0NanoSeconds low time for 0 bit (default 900ns)
+ * @param[in] highTime1NanoSeconds high time for 1 bit (default 900ns)
+ * @param[in] lowTime1NanoSeconds low time for 1 bit (default 600ns)
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
+                                    int32_t highTime0NanoSeconds,
+                                    int32_t lowTime0NanoSeconds,
+                                    int32_t highTime1NanoSeconds,
+                                    int32_t lowTime1NanoSeconds,
+                                    int32_t* status);
+
+/**
+ * Sets the sync time.
+ *
+ * <p>The sync time is the time to hold output so LEDs enable. Default set for
+ * WS2812B and WS2815.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] syncTimeMicroSeconds the sync time (default 280us)
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
+                                   int32_t syncTimeMicroSeconds,
+                                   int32_t* status);
+
+/**
+ * Starts the output.
+ *
+ * <p>The output writes continuously.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_StartAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+                                   int32_t* status);
+
+/**
+ * Stops the output.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_StopAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+                                  int32_t* status);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+/** @} */

native/wpihal/include/hal/AddressableLEDTypes.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <hal/Types.h>
+#include <stdint.h>
+
+/** max length of LED strip supported by FPGA. */
+#define HAL_kAddressableLEDMaxLength 5460
+
+/** structure for holding one LED's color data. */
+struct HAL_AddressableLEDData {
+  uint8_t b;  ///< blue value
+  uint8_t g;  ///< green value
+  uint8_t r;  ///< red value
+  uint8_t padding;
+};
+
+/**
+ * Order that color data is sent over the wire.
+ */
+HAL_ENUM(HAL_AddressableLEDColorOrder) {
+  HAL_ALED_RGB,
+  HAL_ALED_RBG,
+  HAL_ALED_BGR,
+  HAL_ALED_BRG,
+  HAL_ALED_GBR,
+  HAL_ALED_GRB
+};
+
+#ifdef __cplusplus
+constexpr auto format_as(HAL_AddressableLEDColorOrder order) {
+  return static_cast<int32_t>(order);
+}
+#endif

native/wpihal/include/hal/AnalogAccumulator.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_analogaccumulator Analog Accumulator Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Is the channel attached to an accumulator.
+ *
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
+ * @return The analog channel is attached to an accumulator.
+ */
+HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
+                                  int32_t* status);
+
+/**
+ * Initialize the accumulator.
+ *
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle,
+                         int32_t* status);
+
+/**
+ * Resets the accumulator to the initial value.
+ *
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle,
+                          int32_t* status);
+
+/**
+ * Set the center value of the accumulator.
+ *
+ * The center value is subtracted from each A/D value before it is added to the
+ * accumulator. This is used for the center value of devices like gyros and
+ * accelerometers to make integration work and to take the device offset into
+ * account when integrating.
+ *
+ * This center value is based on the output of the oversampled and averaged
+ * source from channel 1. Because of this, any non-zero oversample bits will
+ * affect the size of the value for this field.
+ *
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[in] center The center value of the accumulator.
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle,
+                              int32_t center, int32_t* status);
+
+/**
+ * Set the accumulator's deadband.
+ *
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[in] deadband The deadband of the accumulator.
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle,
+                                int32_t deadband, int32_t* status);
+
+/**
+ * Read the accumulated value.
+ *
+ * Read the value that has been accumulating on channel 1.
+ * The accumulator is attached after the oversample and average engine.
+ *
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
+ * @return The 64-bit value accumulated since the last Reset().
+ */
+int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle,
+                                int32_t* status);
+
+/**
+ * Read the number of accumulated values.
+ *
+ * Read the count of the accumulated values since the accumulator was last
+ * Reset().
+ *
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[out] status Error status variable. 0 on success.
+ * @return The number of times samples from the channel were accumulated.
+ */
+int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle,
+                                int32_t* status);
+
+/**
+ * Read the accumulated value and the number of accumulated values atomically.
+ *
+ * This function reads the value and count from the FPGA atomically.
+ * This can be used for averaging.
+ *
+ * @param[in] analogPortHandle Handle to the analog port.
+ * @param[in] value Pointer to the 64-bit accumulated output.
+ * @param[in] count Pointer to the number of accumulation cycles.
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle,
+                              int64_t* value, int64_t* count, int32_t* status);
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+/** @} */

native/wpihal/include/hal/AnalogGyro.h

@@ -0,0 +1,149 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_analoggyro Analog Gyro Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Initializes an analog gyro.
+ *
+ * @param[in] handle handle to the analog input port
+ * @param[in] allocationLocation the location where the allocation is occurring
+ *                                (can be null)
+ * @param[out] status the error code, or 0 for success
+ * @return the initialized gyro handle
+ */
+HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle handle,
+                                        const char* allocationLocation,
+                                        int32_t* status);
+
+/**
+ * Sets up an analog gyro with the proper offsets and settings for the KOP
+ * analog gyro.
+ *
+ * @param[in] handle the gyro handle
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status);
+
+/**
+ * Frees an analog gyro.
+ *
+ * @param handle the gyro handle
+ */
+void HAL_FreeAnalogGyro(HAL_GyroHandle handle);
+
+/**
+ * Sets the analog gyro parameters to the specified values.
+ *
+ * This is meant to be used if you want to reuse the values from a previous
+ * calibration.
+ *
+ * @param[in] handle                  the gyro handle
+ * @param[in] voltsPerDegreePerSecond the gyro volts scaling
+ * @param[in] offset                  the gyro offset
+ * @param[in] center                  the gyro center
+ * @param[out] status                  the error code, or 0 for success
+ */
+void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
+                                 double voltsPerDegreePerSecond, double offset,
+                                 int32_t center, int32_t* status);
+
+/**
+ * Sets the analog gyro volts per degrees per second scaling.
+ *
+ * @param[in] handle                  the gyro handle
+ * @param[in] voltsPerDegreePerSecond the gyro volts scaling
+ * @param[out] status                  the error code, or 0 for success
+ */
+void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
+                                              double voltsPerDegreePerSecond,
+                                              int32_t* status);
+
+/**
+ * Resets the analog gyro value to 0.
+ *
+ * @param[in] handle the gyro handle
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status);
+
+/**
+ * Calibrates the analog gyro.
+ *
+ * This happens by calculating the average value of the gyro over 5 seconds, and
+ * setting that as the center. Note that this call blocks for 5 seconds to
+ * perform this.
+ *
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status);
+
+/**
+ * Sets the deadband of the analog gyro.
+ *
+ * @param[in] handle the gyro handle
+ * @param[in] volts  the voltage deadband
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
+                               int32_t* status);
+
+/**
+ * Gets the gyro angle in degrees.
+ *
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the gyro angle in degrees
+ */
+double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status);
+
+/**
+ * Gets the gyro rate in degrees/second.
+ *
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the gyro rate in degrees/second
+ */
+double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status);
+
+/**
+ * Gets the calibrated gyro offset.
+ *
+ * Can be used to not repeat a calibration but reconstruct the gyro object.
+ *
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the gyro offset
+ */
+double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
+
+/**
+ * Gets the calibrated gyro center.
+ *
+ * Can be used to not repeat a calibration but reconstruct the gyro object.
+ *
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the gyro center
+ */
+int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status);
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+/** @} */