Squashed 'third_party/allwpilib_2019/' changes from 936627bd9..a3f7420da
e20d96ea4 Use __has_include for WPILib.h (#2164)
a76d006a0 Update native-utils to 2020.7.2 (#2161)
24c031d69 Increase SPI auto byte count to allow 32 bytes to be sent (#2163)
6b4eecf5f Add hidden functions to get the SPI system and SPI DMA (#2162)
ccdd0fbdb Add TrapezoidProfile external PID examples (#2131)
5c6b8a0f4 Replace std::is_pod_v with std::is_standard_layout_v (#2159)
67d2fed68 Add DutyCycleEncoder channel constructor (#2158)
d8f11eb14 Hardcode channels for LSB weight (#2153)
b2ae75acd Add way to disable "no extensions found" message (#2134)
4f951789f Build testbench tests online inorder to improve speed (#2144)
005c4c5be Try catch around task dependencies to fix loading in editor (#2156)
34f6b3f4c Fix C++ RamseteCommand param doxygen (#2157)
f7a93713f Fix up templated TrapezoidProfile classes (#2151)
8c2ff94d7 Rename MathUtils to MathUtil for consistency with other util classes (#2155)
d003ec2dc Update to 2020v9 image (#2154)
8e7cc3fe7 Add user-friendly SimDeviceSim wrappers (#2150)
6c8f6cf47 Fix bug in cubic and quintic hermetic spline generation (#2139)
e37ecd33a Sim GUI: Add support for LED displays (#2138)
57c5523d6 Fix documentation in RamseteCommand (#2149)
7b9c6ebc2 Fix wpiutilJNIShared linkage typo in wpilibj (#2143)
9a515c80f Template C++ LinearFilter to work with unit types (#2142)
5b73c17f2 Remove encoder velocities methods in DifferentialDriveOdometry (#2147)
b8c102426 Fix PS3Eye VID and PID (#2146)
2622c6c29 Add default values for b and zeta in RamseteController (#2145)
f66ae5999 Add HSV helpers to AddressableLED (#2135)
5e97c81d8 Add MedianFilter class for moving-window median (#2136)
f79b7a058 Remove unnecessary constructor arg for LinearFilter's circular buffers (#2140)
e49494830 Replace Jenkins with Azure agent (#1914)
b67d049ac Check status of PDP CAN reads (#2126)
70102a60b SendableRegistry.foreachLiveWindow: Prevent concurrent modification (#2129)
6dcd2b0e2 Improve various subsystem APIs (#2130)
ce3973435 HAL_CAN_ReceiveMessage: return MessageNotFound if no callbacks registered (#2133)
3fcfc8ea7 Fix double disable segfaulting interrupts (#2132)
6ceafe3cd Fix class reference for logger (#2123)
b058dcf64 Catch exceptions generated by OpenCV in cscore JNI (#2118)
0b9307fdf Remove unused parts of .styleguide files (#2119)
39be812b2 Fix C++ ArmFeedforward (#2120)
21e957ee4 Add DifferentialDrive voltage constraint (#2075)
e0bc97f66 Add ProfiledPIDSubsystem example (#2076)
3df44c874 Remove Rotation2d.h wpi/math include (#2117)
a58dbec8a Add holonomic follower examples (#2052)
9a8067465 Fix incomplete .styleguide (#2113)
ffa4b907c Fix C++ floating point literal formatting (#2114)
3d1ca856b Fix missing typename and return type (#2115)
5f85457a9 Add usage reporting for AddressableLED (#2108)
4ebae1712 Enforce leading/trailing zeros in Java numeric constants (#2105)
fa85fbfc1 Template C++ TrapezoidProfile and ProfiledPIDController on units (#2109)
f62e23f1a Add Doxygen for new HAL interfaces (#2110)
5443fdabc Directly construct PWM port from HAL, avoid wpilib PWM object (#2106)
c0e36df9d Standardize on PWMVictorSPX in examples (#2104)
8c4d9f541 Add TrapezoidProfileSubsystem (#2077)
45201d15f Add encoder distance overload to DifferentialDriveOdometry (#2096)
845aba33f Make feedforward classes constexpr (#2103)
500c43fb8 Add examples for DMA, DutyCycle, DutyCycleEncoder and AddressableLED (#2100)
589162811 Use DifferentialDriveWheelSpeeds in RamseteCommand ctor (#2091)
b37b68daa Add JRE deployment to MyRobot Deploy (#2099)
0e83c65d2 Fix small logic error in ParallelDeadlineGroup (#2095)
6f6c6da9f Updates to addressable LED (#2098)
1894219ef Fix devmain package in commands (#2097)
77a9949bb Add AddressableLED simulation GUI support
a4c9e4ec2 Add AddressableLED simulation support
8ed205907 Add AddressableLED (#2092)
59507b12d Bump to 2020 v7 image (#2086)
5d39bf806 Make halsimgui::DrawLEDs() values parameter const (#2088)
841ef91c0 Use gyro angle instead of robot angle for odometry (#2081)
1b66ead49 Use standard constant for pi instead of 3.14 (#2084)
db2c3dddd Use DMA Global Number for DMA Index (#2085)
82b2170fe Add DMA support to HAL and WPILibC (#2080)
8280b7e3a Add DutyCycleEncoder and AnalogEncoder (#2040)
551096006 Use kNumSystems for DutyCycle count in Ports (#2083)
df1065218 Remove release configs of deploy in MyRobot (#2082)
bf5388393 Add deploy options to myRobot (#2079)
b7bc1ea74 Update to 2020v6 image (#2078)
708009cd2 Update to gradle 6.0 (#2074)
3cce61b89 Add SmartDashboard::GetEntry function in C++ (#2064)
565e1f3e7 Fix spelling in MecanumDriveOdometry docs (#2072)
1853f7b6b Add timing window to simulation GUI
c5a049712 Add simulation pause/resume/step support
f5446c740 Add Notifier HALSIM access
3e049e02f Add name to HAL Notifier
2da64d15f Make usage reporting enums type match (#2069)
f04d95e50 Make FRCUsageReporting.h C-compatible (#2070)
d748c67a5 Generate docs for command libraries and fix doclint enable (#2071)
55a7f2b4a Add template for old command-based style (#2031)
486fa9c69 Add XboxController examples for arcade and tank drive (#2058)
e3dd1c5d7 Fix small bug in SplineHelper (#2061)
7dc7c71b5 Add feedforward components (#2045)
5f33d6af1 Fix ProfiledPIDSubsystem parameter name (#2017)
94843adb8 Standardize documentation of Speed Controllers bounds (#2043)
9bcff37b9 Add HAL specific version of wpi_setError (#2055)
326aecc9a Add error message for CAN Write Overrun (#2062)
00228678d Add requirements param to more Command APIs (#2059)
ff39a96ce Make DigitalOutput a DigitalSource (#2054)
5ccad2e8a Fix frc2::Timer returning incorrect timestamp values (#2057)
629e95776 Add VendorDeps JSON files for command libraries (#2048)
6858a57f7 Make notifier command tests a lot more lenient (#2056)
0ebe32823 Fix MyRobotStatic accidentally linking to shared command libs (#2046)
384d00f9e Fix various duty cycle bugs (#2047)
1f6850adf Add CAN Manufacturer for Studica (#2050)
7508aada9 Add ability to end startCompetition() main loop (#2032)
f5b4be16d Old C++ Command: Make GetName et al public (#2042)
e6f5c93ab Clean up new C++ commands (#2027)
39f46ceab Don't allow rising and falling values to be read from AnalogTrigger (#2039)
d93aa2b6b Add missing lock in FRCDriverStation (#2034)
114ddaf81 Fix duplicate encoders in examples (#2033)
f22d0961e Sim GUI: Add duty cycle support
3262c2bad Sim GUI: Use new multi-channel PDP getter function
96d40192a Revert accidental change to MyRobot.cpp (#2029)
ed30d5d40 Add JSON support for Trajectories (#2025)
2b6811edd Fix null pointer dereference in C++ CommandScheduler (#2023)
1d695a166 Add FPGA Duty Cycle support (#1987)
509819d83 Split the two command implementations into separate libraries (#2012)
2ad15cae1 Add multi PDP getter and sim PCM/PDP multi arg functions (#2014)
931b8ceef Add new usage reporting types from 2020v5 (#2026)
0b3821eba Change files with CRLF line endings to LF (#2022)
6f159d142 Add way to atomically check for new data, and wait otherwise (#2015)
a769f1f22 Fix bug in RamseteCommand (using degrees instead of radians) (#2020)
c5186d815 Clean up PIDCommand (#2010)
9ebd23d61 Add setVoltage method to SpeedController (#1997)
f6e311ef8 Fix SplineHelper bug (#2018)
f33bd9f05 Fix NPE in RamseteCommand (#2019)
1c1e0c9a6 Add HAL_SetAllSolenoids to sim (#2004)
ea9bb651a Remove accidental OpenCV link from wpilibc shared library (#2013)
cc0742518 Change command decorators to return implementation (#2007)
16b34cce2 Remove IterativeRobot templates (#2011)
669127e49 Update intellisense to work with Beta 2020 code (#2008)
9dc30797e Fix usage reporting indices (#2009)
f6b844ea3 Move HAL Interrupt struct to anonymous namespace (#2003)
a72f80991 Add extern C to DigitalGlitchFilterJNI (#2002)
916596cb0 Fix invalid examples json, add validator (#2001)
5509a8e96 Use constexpr for all example constants
0be6b6475 Use constexpr for DifferentialDriveKinematics
Change-Id: I1416646cbab487ad8021830215766d8ec7f24ddc
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: a3f7420dab7a104c27a0c3bf0872c999c98fd9a9
diff --git a/hal/src/main/native/athena/AnalogTrigger.cpp b/hal/src/main/native/athena/AnalogTrigger.cpp
index 1841c51..9ec3f29 100644
--- a/hal/src/main/native/athena/AnalogTrigger.cpp
+++ b/hal/src/main/native/athena/AnalogTrigger.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,9 +8,11 @@
#include "hal/AnalogTrigger.h"
#include "AnalogInternal.h"
+#include "DutyCycleInternal.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
#include "hal/AnalogInput.h"
+#include "hal/DutyCycle.h"
#include "hal/Errors.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/handles/LimitedHandleResource.h"
@@ -21,7 +23,7 @@
struct AnalogTrigger {
std::unique_ptr<tAnalogTrigger> trigger;
- HAL_AnalogInputHandle analogHandle;
+ HAL_Handle handle;
uint8_t index;
};
@@ -46,7 +48,7 @@
extern "C" {
HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
- HAL_AnalogInputHandle portHandle, int32_t* index, int32_t* status) {
+ HAL_AnalogInputHandle portHandle, int32_t* status) {
hal::init::CheckInit();
// ensure we are given a valid and active AnalogInput handle
auto analog_port = analogInputHandles->Get(portHandle);
@@ -64,19 +66,46 @@
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
- trigger->analogHandle = portHandle;
+ trigger->handle = portHandle;
trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
- *index = trigger->index;
trigger->trigger.reset(tAnalogTrigger::create(trigger->index, status));
trigger->trigger->writeSourceSelect_Channel(analog_port->channel, status);
return handle;
}
+HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
+ HAL_DutyCycleHandle dutyCycleHandle, int32_t* status) {
+ hal::init::CheckInit();
+ // ensure we are given a valid and active DutyCycle handle
+ auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+ if (dutyCycle == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return HAL_kInvalidHandle;
+ }
+ HAL_AnalogTriggerHandle handle = analogTriggerHandles->Allocate();
+ if (handle == HAL_kInvalidHandle) {
+ *status = NO_AVAILABLE_RESOURCES;
+ return HAL_kInvalidHandle;
+ }
+ auto trigger = analogTriggerHandles->Get(handle);
+ if (trigger == nullptr) { // would only occur on thread issue
+ *status = HAL_HANDLE_ERROR;
+ return HAL_kInvalidHandle;
+ }
+ trigger->handle = dutyCycleHandle;
+ trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
+
+ trigger->trigger.reset(tAnalogTrigger::create(trigger->index, status));
+ trigger->trigger->writeSourceSelect_Channel(dutyCycle->index, status);
+ trigger->trigger->writeSourceSelect_DutyCycle(true, status);
+ return handle;
+}
+
void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
int32_t* status) {
analogTriggerHandles->Free(analogTriggerHandle);
- // caller owns the analog input handle.
+ // caller owns the input handle.
}
void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
@@ -89,11 +118,46 @@
}
if (lower > upper) {
*status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
+ return;
}
trigger->trigger->writeLowerLimit(lower, status);
trigger->trigger->writeUpperLimit(upper, status);
}
+void HAL_SetAnalogTriggerLimitsDutyCycle(
+ HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
+ int32_t* status) {
+ auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
+ if (trigger == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ if (getHandleType(trigger->handle) != HAL_HandleEnum::DutyCycle) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ if (lower > upper) {
+ *status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
+ return;
+ }
+
+ if (lower < 0.0 || upper > 1.0) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ return;
+ }
+
+ int32_t scaleFactor =
+ HAL_GetDutyCycleOutputScaleFactor(trigger->handle, status);
+ if (*status != 0) {
+ return;
+ }
+
+ trigger->trigger->writeLowerLimit(static_cast<int32_t>(scaleFactor * lower),
+ status);
+ trigger->trigger->writeUpperLimit(static_cast<int32_t>(scaleFactor * upper),
+ status);
+}
+
void HAL_SetAnalogTriggerLimitsVoltage(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status) {
@@ -102,16 +166,22 @@
*status = HAL_HANDLE_ERROR;
return;
}
+
+ if (getHandleType(trigger->handle) != HAL_HandleEnum::AnalogInput) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
if (lower > upper) {
*status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
+ return;
}
// TODO: This depends on the averaged setting. Only raw values will work as
// is.
trigger->trigger->writeLowerLimit(
- HAL_GetAnalogVoltsToValue(trigger->analogHandle, lower, status), status);
+ HAL_GetAnalogVoltsToValue(trigger->handle, lower, status), status);
trigger->trigger->writeUpperLimit(
- HAL_GetAnalogVoltsToValue(trigger->analogHandle, upper, status), status);
+ HAL_GetAnalogVoltsToValue(trigger->handle, upper, status), status);
}
void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
@@ -121,7 +191,8 @@
*status = HAL_HANDLE_ERROR;
return;
}
- if (trigger->trigger->readSourceSelect_Filter(status) != 0) {
+ if (trigger->trigger->readSourceSelect_Filter(status) != 0 ||
+ trigger->trigger->readSourceSelect_DutyCycle(status) != 0) {
*status = INCOMPATIBLE_STATE;
// TODO: wpi_setWPIErrorWithContext(IncompatibleMode, "Hardware does not
// support average and filtering at the same time.");
@@ -136,7 +207,8 @@
*status = HAL_HANDLE_ERROR;
return;
}
- if (trigger->trigger->readSourceSelect_Averaged(status) != 0) {
+ if (trigger->trigger->readSourceSelect_Averaged(status) != 0 ||
+ trigger->trigger->readSourceSelect_DutyCycle(status) != 0) {
*status = INCOMPATIBLE_STATE;
// TODO: wpi_setWPIErrorWithContext(IncompatibleMode, "Hardware does not "
// "support average and filtering at the same time.");
@@ -177,16 +249,27 @@
case HAL_Trigger_kInWindow:
result =
trigger->trigger->readOutput_InHysteresis(trigger->index, status);
- break; // XXX: Backport
+ break;
case HAL_Trigger_kState:
result = trigger->trigger->readOutput_OverLimit(trigger->index, status);
- break; // XXX: Backport
+ break;
case HAL_Trigger_kRisingPulse:
case HAL_Trigger_kFallingPulse:
*status = ANALOG_TRIGGER_PULSE_OUTPUT_ERROR;
return false;
+ break;
}
return result;
}
+int32_t HAL_GetAnalogTriggerFPGAIndex(
+ HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) {
+ auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
+ if (trigger == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return -1;
+ }
+ return trigger->index;
+}
+
} // extern "C"