Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/hal/lib/Athena/HALAthena.cpp b/hal/lib/Athena/HALAthena.cpp
new file mode 100644
index 0000000..b1ffcb1
--- /dev/null
+++ b/hal/lib/Athena/HALAthena.cpp
@@ -0,0 +1,339 @@
+#include "HAL/HAL.hpp"
+
+#include "HAL/Port.h"
+#include "HAL/Errors.hpp"
+#include "ctre/ctre.h"
+#include "visa/visa.h"
+#include "ChipObject.h"
+#include "FRC_NetworkCommunication/FRCComm.h"
+#include "FRC_NetworkCommunication/UsageReporting.h"
+#include "FRC_NetworkCommunication/LoadOut.h"
+#include "FRC_NetworkCommunication/CANSessionMux.h"
+#include <cstdlib>
+#include <fstream>
+#include <iostream>
+#include <unistd.h>
+#include <sys/prctl.h>
+#include <signal.h> // linux for kill
+const uint32_t solenoid_kNumDO7_0Elements = 8;
+const uint32_t dio_kNumSystems = tDIO::kNumSystems;
+const uint32_t interrupt_kNumSystems = tInterrupt::kNumSystems;
+const uint32_t kSystemClockTicksPerMicrosecond = 40;
+
+static tGlobal *global = nullptr;
+static tSysWatchdog *watchdog = nullptr;
+
+void* getPort(uint8_t pin)
+{
+ Port* port = new Port();
+ port->pin = pin;
+ port->module = 1;
+ return port;
+}
+
+/**
+ * @deprecated Uses module numbers
+ */
+void* getPortWithModule(uint8_t module, uint8_t pin)
+{
+ Port* port = new Port();
+ port->pin = pin;
+ port->module = module;
+ return port;
+}
+
+void freePort(void* port_pointer)
+{
+ Port* port = (Port*) port_pointer;
+ delete port;
+}
+
+const char* getHALErrorMessage(int32_t code)
+{
+ switch(code) {
+ case 0:
+ return "";
+ case CTR_RxTimeout:
+ return CTR_RxTimeout_MESSAGE;
+ case CTR_TxTimeout:
+ return CTR_TxTimeout_MESSAGE;
+ case CTR_InvalidParamValue:
+ return CTR_InvalidParamValue_MESSAGE;
+ case CTR_UnexpectedArbId:
+ return CTR_UnexpectedArbId_MESSAGE;
+ case CTR_TxFailed:
+ return CTR_TxFailed_MESSAGE;
+ case CTR_SigNotUpdated:
+ return CTR_SigNotUpdated_MESSAGE;
+ case NiFpga_Status_FifoTimeout:
+ return NiFpga_Status_FifoTimeout_MESSAGE;
+ case NiFpga_Status_TransferAborted:
+ return NiFpga_Status_TransferAborted_MESSAGE;
+ case NiFpga_Status_MemoryFull:
+ return NiFpga_Status_MemoryFull_MESSAGE;
+ case NiFpga_Status_SoftwareFault:
+ return NiFpga_Status_SoftwareFault_MESSAGE;
+ case NiFpga_Status_InvalidParameter:
+ return NiFpga_Status_InvalidParameter_MESSAGE;
+ case NiFpga_Status_ResourceNotFound:
+ return NiFpga_Status_ResourceNotFound_MESSAGE;
+ case NiFpga_Status_ResourceNotInitialized:
+ return NiFpga_Status_ResourceNotInitialized_MESSAGE;
+ case NiFpga_Status_HardwareFault:
+ return NiFpga_Status_HardwareFault_MESSAGE;
+ case NiFpga_Status_IrqTimeout:
+ return NiFpga_Status_IrqTimeout_MESSAGE;
+ case SAMPLE_RATE_TOO_HIGH:
+ return SAMPLE_RATE_TOO_HIGH_MESSAGE;
+ case VOLTAGE_OUT_OF_RANGE:
+ return VOLTAGE_OUT_OF_RANGE_MESSAGE;
+ case LOOP_TIMING_ERROR:
+ return LOOP_TIMING_ERROR_MESSAGE;
+ case SPI_WRITE_NO_MOSI:
+ return SPI_WRITE_NO_MOSI_MESSAGE;
+ case SPI_READ_NO_MISO:
+ return SPI_READ_NO_MISO_MESSAGE;
+ case SPI_READ_NO_DATA:
+ return SPI_READ_NO_DATA_MESSAGE;
+ case INCOMPATIBLE_STATE:
+ return INCOMPATIBLE_STATE_MESSAGE;
+ case NO_AVAILABLE_RESOURCES:
+ return NO_AVAILABLE_RESOURCES_MESSAGE;
+ case NULL_PARAMETER:
+ return NULL_PARAMETER_MESSAGE;
+ case ANALOG_TRIGGER_LIMIT_ORDER_ERROR:
+ return ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE;
+ case ANALOG_TRIGGER_PULSE_OUTPUT_ERROR:
+ return ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE;
+ case PARAMETER_OUT_OF_RANGE:
+ return PARAMETER_OUT_OF_RANGE_MESSAGE;
+ case ERR_CANSessionMux_InvalidBuffer:
+ return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
+ case ERR_CANSessionMux_MessageNotFound:
+ return ERR_CANSessionMux_MessageNotFound_MESSAGE;
+ case WARN_CANSessionMux_NoToken:
+ return WARN_CANSessionMux_NoToken_MESSAGE;
+ case ERR_CANSessionMux_NotAllowed:
+ return ERR_CANSessionMux_NotAllowed_MESSAGE;
+ case ERR_CANSessionMux_NotInitialized:
+ return ERR_CANSessionMux_NotInitialized_MESSAGE;
+ case VI_ERROR_SYSTEM_ERROR:
+ return VI_ERROR_SYSTEM_ERROR_MESSAGE;
+ case VI_ERROR_INV_OBJECT:
+ return VI_ERROR_INV_OBJECT_MESSAGE;
+ case VI_ERROR_RSRC_LOCKED:
+ return VI_ERROR_RSRC_LOCKED_MESSAGE;
+ case VI_ERROR_RSRC_NFOUND:
+ return VI_ERROR_RSRC_NFOUND_MESSAGE;
+ case VI_ERROR_INV_RSRC_NAME:
+ return VI_ERROR_INV_RSRC_NAME_MESSAGE;
+ case VI_ERROR_QUEUE_OVERFLOW:
+ return VI_ERROR_QUEUE_OVERFLOW_MESSAGE;
+ case VI_ERROR_IO:
+ return VI_ERROR_IO_MESSAGE;
+ case VI_ERROR_ASRL_PARITY:
+ return VI_ERROR_ASRL_PARITY_MESSAGE;
+ case VI_ERROR_ASRL_FRAMING:
+ return VI_ERROR_ASRL_FRAMING_MESSAGE;
+ case VI_ERROR_ASRL_OVERRUN:
+ return VI_ERROR_ASRL_OVERRUN_MESSAGE;
+ case VI_ERROR_RSRC_BUSY:
+ return VI_ERROR_RSRC_BUSY_MESSAGE;
+ case VI_ERROR_INV_PARAMETER:
+ return VI_ERROR_INV_PARAMETER_MESSAGE;
+ default:
+ return "Unknown error status";
+ }
+}
+
+/**
+ * Return the FPGA Version number.
+ * For now, expect this to be competition year.
+ * @return FPGA Version number.
+ */
+uint16_t getFPGAVersion(int32_t *status)
+{
+ if (!global) {
+ *status = NiFpga_Status_ResourceNotInitialized;
+ return 0;
+ }
+ return global->readVersion(status);
+}
+
+/**
+ * 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.
+ */
+uint32_t getFPGARevision(int32_t *status)
+{
+ if (!global) {
+ *status = NiFpga_Status_ResourceNotInitialized;
+ return 0;
+ }
+ return global->readRevision(status);
+}
+
+/**
+ * Read the microsecond-resolution timer on the FPGA.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA reset).
+ */
+uint32_t getFPGATime(int32_t *status)
+{
+ if (!global) {
+ *status = NiFpga_Status_ResourceNotInitialized;
+ return 0;
+ }
+ return global->readLocalTime(status);
+}
+
+/**
+ * Get the state of the "USER" button on the RoboRIO
+ * @return true if the button is currently pressed down
+ */
+bool getFPGAButton(int32_t *status)
+{
+ if (!global) {
+ *status = NiFpga_Status_ResourceNotInitialized;
+ return false;
+ }
+ return global->readUserButton(status);
+}
+
+int HALSetErrorData(const char *errors, int errorsLength, int wait_ms)
+{
+ return setErrorData(errors, errorsLength, wait_ms);
+}
+
+
+bool HALGetSystemActive(int32_t *status)
+{
+ if (!watchdog) {
+ *status = NiFpga_Status_ResourceNotInitialized;
+ return false;
+ }
+ return watchdog->readStatus_SystemActive(status);
+}
+
+bool HALGetBrownedOut(int32_t *status)
+{
+ if (!watchdog) {
+ *status = NiFpga_Status_ResourceNotInitialized;
+ return false;
+ }
+ return !(watchdog->readStatus_PowerAlive(status));
+}
+
+static void HALCleanupAtExit() {
+ global = nullptr;
+ watchdog = nullptr;
+}
+
+/**
+ * Call this to start up HAL. This is required for robot programs.
+ */
+int HALInitialize(int mode)
+{
+ setlinebuf(stdin);
+ setlinebuf(stdout);
+
+ prctl(PR_SET_PDEATHSIG, SIGTERM);
+
+ FRC_NetworkCommunication_Reserve(nullptr);
+ // image 4; Fixes errors caused by multiple processes. Talk to NI about this
+ nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
+ nLoadOut::kTargetClass_RoboRIO;
+
+ int32_t status = 0;
+ global = tGlobal::create(&status);
+ watchdog = tSysWatchdog::create(&status);
+
+ std::atexit(HALCleanupAtExit);
+
+ // Kill any previous robot programs
+ std::fstream fs;
+ // By making this both in/out, it won't give us an error if it doesnt exist
+ fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out);
+ if (fs.bad())
+ return 0;
+
+ pid_t pid = 0;
+ if (!fs.eof() && !fs.fail())
+ {
+ fs >> pid;
+ //see if the pid is around, but we don't want to mess with init id=1, or ourselves
+ if (pid >= 2 && kill(pid, 0) == 0 && pid != getpid())
+ {
+ std::cout << "Killing previously running FRC program..."
+ << std::endl;
+ kill(pid, SIGTERM); // try to kill it
+ delayMillis(100);
+ if (kill(pid, 0) == 0)
+ {
+ // still not successfull
+ if (mode == 0)
+ {
+ std::cout << "FRC pid " << pid
+ << " did not die within 110ms. Aborting"
+ << std::endl;
+ return 0; // just fail
+ }
+ else if (mode == 1) // kill -9 it
+ kill(pid, SIGKILL);
+ else
+ {
+ std::cout << "WARNING: FRC pid " << pid
+ << " did not die within 110ms." << std::endl;
+ }
+ }
+
+ }
+ }
+ fs.close();
+ // we will re-open it write only to truncate the file
+ fs.open("/var/lock/frc.pid", std::fstream::out | std::fstream::trunc);
+ fs.seekp(0);
+ pid = getpid();
+ fs << pid << std::endl;
+ fs.close();
+ return 1;
+}
+
+uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, uint8_t context,
+ const char *feature)
+{
+ if(feature == NULL)
+ {
+ feature = "";
+ }
+
+ return FRC_NetworkCommunication_nUsageReporting_report(resource, instanceNumber, context, feature);
+}
+
+// TODO: HACKS
+void NumericArrayResize()
+{
+}
+void RTSetCleanupProc()
+{
+}
+void EDVR_CreateReference()
+{
+}
+void Occur()
+{
+}
+
+void imaqGetErrorText()
+{
+}
+void imaqGetLastError()
+{
+}
+void niTimestamp64()
+{
+}