Squashed 'third_party/allwpilib/' changes from 66b57f032..e473a00f9
e473a00f9 [wpiutil] Base64: Add unsigned span/vector variants (#3702)
52f2d580e [wpiutil] raw_uv_ostream: Add reset() (#3701)
d7b1e3576 [wpiutil] WebSocket: move std::function (#3700)
93799fbe9 [examples] Fix description of TrapezoidProfileSubsystem (#3699)
b84644740 [wpimath] Document pose estimator states, inputs, and outputs (#3698)
2dc35c139 [wpimath] Fix classpaths for JNI class loads (#3697)
2cb171f6f [docs] Set Doxygen extract_all to true and fix Doxygen failures (#3695)
a939cd9c8 [wpimath] Print uncontrollable/unobservable models in LQR and KF (#3694)
d5270d113 [wpimath] Clean up C++ StateSpaceUtil tests (#3692)
b20903960 [wpimath] Remove redundant discretization tests from StateSpaceUtilTest (#3689)
c0cb545b4 [wpilibc] Add deprecated Doxygen attribute to SpeedController (#3691)
35c9f66a7 [wpilib] Rename PneumaticsHub to PneumaticHub (#3686)
796d03d10 [wpiutil] Remove unused LLVM header (#3688)
8723caf78 [wpilibj] Make Java TrapezoidProfile.Constraints an immutable class (#3687)
187f50a34 [wpimath] Catch incorrect parameters to state-space models earlier (#3680)
8d04606c4 Replace instances of frc-characterization with SysId (NFC) (#3681)
b82d4f6e5 [hal, cscore, ntcore] Use WPI common handle type base
87e34967e [wpiutil] Add synchronization primitives
e32499c54 [wpiutil] Add ParallelTcpConnector (#3655)
aa0b49228 [wpilib] Remove redundant "quick turn" docs for curvature drive (NFC) (#3674)
57301a7f9 [hal] REVPH: Start closed-loop compressor control on init (#3673)
d1842ea8f [wpilib] Improve interrupt docs (NFC) (#3679)
558151061 [wpiutil] Add DsClient (#3654)
181723e57 Replace `.to<double>()` and `.template to<double>()` with `.value()` (#3667)
6bc1db44b [commands] Add pointer overload of AddRequirements (artf6003) (#3669)
737b57ed5 [wpimath] Update to drake v0.35.0 (#3665)
4d287d1ae [build] Upgrade WPIJREArtifact to JRE 2022-11.0.12u5 (#3666)
f26eb5ada [hal] Fix another typo (get -> gets) (NFC) (#3663)
94ed275ba [hal] Fix misspelling (numer -> number) (NFC) (#3662)
ac2f44da3 [wpiutil] uv: use move for std::function (#3653)
75fa1fbfb [wpiutil] json::serializer: Optimize construction (#3647)
5e689faea [wpiutil] Import MessagePack implementation (mpack) (#3650)
649a50b40 [wpiutil] Add LEB128 byte-by-byte reader (#3652)
e94397a97 [wpiutil] Move json_serializer.h to public headers (#3646)
4ec58724d [wpiutil] uv::Tcp: Clarify SetNoDelay documentation (#3649)
8cb294aa4 [wpiutil] WebSocket: Make Shutdown() public (#3651)
2b3a9a52b [wpiutil] json: Fix map iterator key() for std::string_view (#3645)
138cbb94b [wpiutil] uv::Async: Add direct call for no-parameter specialization (#3648)
e56d6dea8 [ci] Update testbench pool image to ubuntu-latest (#3643)
43f30e44e [build] Enable comments in doxygen source files (#3644)
9e6db17ef [build] Enable doxygen preprocessor expansion of WPI_DEPRECATED (#3642)
0e631ad2f Add WPILib version to issue template (#3641)
6229d8d2f [build] Docs: set case_sense_names to false (#3392)
4647d09b5 [docs] Fix Doxygen warnings, add CI docs lint job (#3639)
4ad3a5402 [hal] Fix PWM allocation channel (#3637)
05e5feac4 [docs] Fix brownout docs (NFC) (#3638)
67df469c5 [examples] Remove old command-based templates and examples (#3263)
689e9ccfb [hal, wpilib] Add brownout voltage configuration (#3632)
9cd4bc407 [docs] Add useLocal to avoid using installer artifacts (#3634)
61996c2bb [cscore] Fix Java direct callback notifications (#3631)
6d3dd99eb [build] Update to newest native-utils (#3633)
f0b484892 [wpiutil] Fix StringMap iterator equality check (#3629)
8352cbb7a Update development build instructions for 2022 (#3616)
6da08b71d [examples] Fix Intermediate Vision Java Example description (#3628)
5d99059bf [wpiutil] Remove optional.h (#3627)
fa41b106a [glass, wpiutil] Add missing format args (#3626)
4e3fd7d42 [build] Enable Zc:__cplusplus for Windows (#3625)
791d8354d [build] Suppress deprecation/removal warnings for old commands (#3618)
10f19e6fc [hal, wpilib] Add REV PneumaticsHub (#3600)
4c61a1305 [ntcore] Revert to per-element copy for toNative() (#3621)
7b3f62244 [wpiutil] SendableRegistry: Print exception stacktrace (#3620)
d347928e4 [hal] Use better error for when console out is enabled while attempting to use onboard serial port (#3622)
cc31079a1 [hal] Use setcap instead of setuid for setting thread priorities (#3613)
4676648b7 [wpimath] Upgrade to Drake v0.34.0 (#3607)
c7594c911 [build] Allow building wpilibc in cmake without cscore and opencv (#3605)
173cb7359 [wpilib] Add TimesliceRobot (#3502)
af295879f [hal] Set error status for I2C port out of range (#3603)
95dd20a15 [build] Enable spotbugs (#3601)
b65fce86b [wpilib] Remove Timer lock in wpilibj and update docs (#3602)
3b8d3bbcb Remove unused and add missing deprecated.h includes (#3599)
f9e976467 [examples] Rename DriveTrain classes to Drivetrain (#3594)
118a27be2 [wpilib] Add Timer tests (#3595)
59c89428e [wpilib] Deprecate Timer::HasPeriodPassed() (#3598)
202ca5e78 Force C++17 in .clang-format (#3597)
d6f185d8e Rename tests for consistency (#3592)
54ca474db [ci] Enable asan and tsan in CI for tests that pass (#3591)
1ca383b23 Add Debouncer (#3590)
179fde3a7 [build] Update to 2022 native utils and gradle 7 (#3588)
50198ffcf [examples] Add Mechanism2d visualization to Elevator Sim (#3587)
a446c2559 [examples] Synchronize C++ and Java Mechanism2d examples (#3589)
a7fb83103 [ci] clang-tidy: Generate compilation commands DB with Gradle (#3585)
4f5e0c9f8 [examples] Update ArmSimulation example to use Mechanism2d (#3572)
8164b91dc [CI] Print CMake test output on failure (#3583)
4d5fca27e [wpilib] Impove Mechanism2D documentation (NFC) (#3584)
fe59e4b9f Make C++ test names more consistent (#3586)
5c8868549 [wpilibc] Fix C++ MechanisimRoot2D to use same NT entries as Java/Glass (#3582)
9359431ba [wpimath] Clean up Eigen usage
72716f51c [wpimath] Upgrade to Eigen 3.4
382deef75 [wpimath] Explicitly export wpimath symbols
161e21173 [ntcore] Match standard handle layout, only allow 16 instances (#3577)
263a24811 [wpimath] Use jinja for codegen (#3574)
725251d29 [wpilib] Increase tolerances of DifferentialDriveSimTest (#3581)
4dff87301 [wpimath] Make LinearFilter::Factorial() constexpr (#3579)
60ede67ab [hal, wpilib] Switch PCM to be a single object that is allowed to be duplicated (#3475)
906bfc846 [build] Add CMake build support for sanitizers (#3576)
0d4f08ad9 [hal] Simplify string copy of joystick name (#3575)
a52bf87b7 [wpiutil] Add Java function package (#3570)
40c7645d6 [wpiutil] UidVector: Return old object from erase() (#3571)
5b886a23f [wpiutil] jni_util: Add size, operator[] to JArrayRef (#3569)
65797caa7 [sim] Fix halsim_ds_socket stringop overflow warning from GCC 10 (#3568)
66abb3988 [hal] Update runtime enum to allow selecting roborio 2 (#3565)
95a12e0ee [hal] UidSetter: Don't revert euid if its already current value (#3566)
27951442b [wpimath] Use external Eigen headers only (#3564)
c42e053ae [docs] Update to doxygen 1.9.2 (#3562)
e7048c8c8 [docs] Disable doxygen linking for common words that are also classes (#3563)
d8e0b6c97 [wpilibj] Fix java async interrupts (#3559)
5e6c34c61 Update to 2022 roborio image (#3537)
828f073eb [wpiutil] Fix uv::Buffer memory leaks caught by asan (#3555)
2dd5701ac [cscore] Fix mutex use-after-free in cscore test (#3557)
531439198 [ntcore] Fix NetworkTables memory leaks caught by asan (#3556)
3d9a4d585 [wpilibc] Fix AnalogTriggerOutput memory leak reported by asan (#3554)
54eda5928 [wpiutil] Ignore ubsan vptr upcast warning in SendableHelper moves (#3553)
5a4f75c9f [wpilib] Replace Speed controller comments with motor controller (NFC) (#3551)
7810f665f [wpiutil] Fix bug in uleb128 (#3540)
697e2dd33 [wpilib] Fix errant jaguar reference in comments (NFC) (#3550)
936c64ff5 [docs] Enable -linksource for javadocs (#3549)
1ea654954 [build] Upgrade CMake build to googletest 1.11.0 (#3548)
32d9949e4 [wpimath] Move controller tests to wpimath (#3541)
01ba56a8a [hal] Replace strncpy with memcpy (#3539)
e109c4251 [build] Rename makeSim flag to forceGazebo to better describe what it does (#3535)
e4c709164 [docs] Use a doxygen theme and add logo (#3533)
960b6e589 [wpimath] Fix Javadoc warning (#3532)
82eef8d5e [hal] Remove over current fault HAL functions from REV PDH (#3526)
aa3848b2c [wpimath] Move RobotDriveBase::ApplyDeadband() to MathUtil (#3529)
3b5d0d141 [wpimath] Add LinearFilter::BackwardFiniteDifference() (#3528)
c8fc715fe [wpimath] Upgrade drake files to v0.33.0 (#3531)
e5fe3a8e1 [build] Treat javadoc warnings as errors in CI and fix warnings (#3530)
e0c6cd3dc [wpimath] Add an operator for composing two Transform2ds (#3527)
2edd510ab [sim] Add sim wrappers for sensors that use SimDevice (#3517)
2b3e2ebc1 [hal] Fix HAL Notifier thread priority setting (#3522)
ab4cb5932 [gitignore] Update gitignore to ignore bazel / clion files (#3524)
57c8615af [build] Generate spotless patch on failure (#3523)
b90317321 Replace std::cout and std::cerr with fmt::print() (#3519)
10cc8b89c [hal] [wpilib] Add initial support for the REV PDH (#3503)
5d9ae3cdb [hal] Set HAL Notifier thread as RT by default (#3482)
192d251ee [wpilibcIntegrationTests] Properly disable DMA integration tests (#3514)
031962608 [wpilib] Add PS4Controller, remove Hand from GenericHID/XboxController (#3345)
25f6f478a [wpilib] Rename DriverStation::IsOperatorControl() to IsTeleop() (#3505)
e80f09f84 [wpilibj] Add unit tests (#3501)
c159f91f0 [wpilib] Only read DS control word once in IterativeRobotBase (#3504)
eb790a74d Add rio development docs documenting myRobot deploy tasks (#3508)
e47451f5a [wpimath] Replace auto with Eigen types (#3511)
252b8c83b Remove Java formatting from build task in CI (#3507)
09666ff29 Shorten Gazebo CI build (#3506)
baf2e501d Update myRobot to use 2021 java (#3509)
5ac60f0a2 [wpilib] Remove IterativeRobotBase mode init prints (#3500)
fb2ee8ec3 [wpilib] Add TimedRobot functions for running code on mode exit (#3499)
94e0db796 [wpilibc] Add more unit tests (#3494)
b25324695 [wpilibj] Add units to parameter names (NFC) (#3497)
1ac73a247 [hal] Rename PowerDistributionPanel to PowerDistribution (#3466)
2014115bc [examples] frisbeebot: Fix typo and reflow comments (NFC) (#3498)
4a944dc39 [examples] Consistently use 0 for controller port (#3496)
3838cc4ec Use unicode characters in docs equations (#3487)
85748f2e6 [examples] Add C++ TankDrive example (#3493)
d7b8aa56d [wpilibj] Rename DriverStation In[Mode] functions to follow style guide (#3488)
16e096cf8 [build] Fix CMake Windows CI (#3490)
50af74c38 [wpimath] Clean up NumericalIntegration and add Discretization tests (#3489)
bfc209b12 Automate fmt update (#3486)
e7f9331e4 [build] Update to Doxygen 1.9.1 (#3008)
ab8e8aa2a [wpimath] Update drake with upstream (#3484)
1ef826d1d [wpimath] Fix IOException path in WPIMath JNI (#3485)
52bddaa97 [wpimath] Disable iostream support for units and enable fmtlib (#3481)
e4dc3908b [wpiutil] Upgrade to fmtlib 8.0.1 (#3483)
1daadb812 [wpimath] Implement Dormand-Prince integration method (#3476)
9c2723391 [cscore] Add [[nodiscard]] to GrabFrame functions (#3479)
7a8796414 [wpilib] Add Notifier integration tests (#3480)
f8f13c536 [wpilibcExamples] Prefix decimal numbers with 0 (#3478)
1adb69c0f [ntcore] Use "NetworkTables" instead of "Network Tables" in NT specs (#3477)
5f5830b96 Upload wpiformat diff if one exists (#3474)
9fb4f35bb [wpimath] Add tests for DARE overload with Q, R, and N matrices (#3472)
c002e6f92 Run wpiformat (#3473)
c154e5262 [wpilib] Make solenoids exclusive use, PCM act like old sendable compressor (#3464)
6ddef1cca [hal] JNI setDIO: use a boolean and not a short (#3469)
9d68d9582 Remove extra newlines after open curly braces (NFC) (#3471)
a4233e1a1 [wpimath] Add script for updating Drake (#3470)
39373c6d2 Update README.md for new GCC version requirement (#3467)
d29acc90a [wpigui] Add option to reset UI on exit (#3463)
a371235b0 [ntcore] Fix dangling pointer in logger (#3465)
53b4891a5 [wpilibcintegrationtests] Fix deprecated Preferences usage (#3461)
646ded912 [wpimath] Remove incorrect discretization in pose estimators (#3460)
ea0b8f48e Fix some deprecation warnings due to fmtlib upgrade (#3459)
2067d7e30 [wpilibjexamples] Add wpimathjni, wpiutiljni to library path (#3455)
866571ab4 [wpiutil] Upgrade to fmtlib 8.0.0 (#3457)
4e1fa0308 [build] Skip PDB copy on windows build servers (#3458)
b45572167 [build] Change CI back to 18.04 docker images (#3456)
57a160f1b [wpilibc] Fix LiveWindow deprecation warning in RobotBase skeleton template (#3454)
29ae8640d [HLT] Implement duty cycle cross connect tests (#3453)
ee6377e54 [HLT] Add relay and analog cross connects (#3452)
b0f1ae7ea [build] CMake: Build the HAL even if WITH_CSCORE=OFF (#3449)
7aae2b72d Replace std::to_string() with fmt::format() (#3451)
73fcbbd74 [HLT] Add relay digital cross connect tests (#3450)
e7bedde83 [HLT] Add PWM tests that use DMA as the back end (#3447)
7253edb1e [wpilibc] Timer: Fix deprecated warning (#3446)
efa28125c [wpilibc] Add message to RobotBase on how to read stacktrace (#3444)
9832fcfe1 [hal] Fix DIO direction getter (#3445)
49c71f9f2 [wpilibj] Clarify robot quit message (#3364)
791770cf6 [wpimath] Move controller from wpilibj to wpimath (#3439)
9ce9188ff [wpimath] Add ReportWarning to MathShared (#3441)
362066a9b [wpilib] Deprecate getInstance() in favor of static functions (#3440)
26ff9371d Initial commit of cross connect integration test project (#3434)
4a36f86c8 [hal] Add support for DMA to Java (#3158)
85144e47f [commands] Unbreak build (#3438)
b417d961e Split Sendable into NT and non-NT portions (#3432)
ef4ea84cb [commands] Change grouping decorator impl to flatten nested group structures (#3335)
b422665a3 [examples] Invert right side of drive subsystems (#3437)
186dadf14 [hal] Error if attempting to set DIO output on an input port (#3436)
04e64db94 Remove redundant C++ lambda parentheses (NFC) (#3433)
f60994ad2 [wpiutil] Rename Java package to edu.wpi.first.util (#3431)
cfa1ca96f [wpilibc] Make ShuffleboardValue non-copyable (#3430)
4d9ff7643 Fix documentation warnings generated by JavaDoc (NFC) (#3428)
9e1b7e046 [build] Fix clang-tidy and clang-format (#3429)
a77c6ff3a [build] Upgrade clang-format and clang-tidy (NFC) (#3422)
099fde97d [wpilib] Improve PDP comments (NFC) (#3427)
f8fc2463e [wpilibc, wpiutil] Clean up includes (NFC) (#3426)
e246b7884 [wpimath] Clean up member initialization in feedforward classes (#3425)
c1e128bd5 Disable frivolous PMD warnings and enable PMD in ntcore (#3419)
8284075ee Run "Lint and Format" CI job on push as well as pull request (#3412)
f7db09a12 [wpimath] Move C++ filters into filter folder to match Java (#3417)
f9c3d54bd [wpimath] Reset error covariance in pose estimator ResetPosition() (#3418)
0773f4033 [hal] Ensure HAL status variables are initialized to zero (#3421)
d068fb321 [build] Upgrade CI to use 20.04 docker images (#3420)
8d054c940 [wpiutil] Remove STLExtras.h
80f1d7921 [wpiutil] Split function_ref to a separate header
64f541325 Use wpi::span instead of wpi::ArrayRef across all libraries (#3414)
2abbbd9e7 [build] clang-tidy: Remove bugprone-exception-escape (#3415)
a5c471af7 [wpimath] Add LQR template specialization for 2x2 system
edd2f0232 [wpimath] Add DARE solver for Q, R, and N with LQR ctor overloads
b2c3b2dd8 Use std::string_view and fmtlib across all libraries (#3402)
4f1cecb8e [wpiutil] Remove Path.h (#3413)
b336eac34 [build] Publish halsim_ws_core to Maven
2a09f6fa4 [build] Also build sim modules as static libraries
0e702eb79 [hal] Add a unified PCM object (#3331)
dea841103 [wpimath] Add fmtlib formatter overloads for Eigen::Matrix and units (#3409)
82856cf81 [wpiutil] Improve wpi::circular_buffer iterators (#3410)
8aecda03e [wpilib] Fix a documentation typo (#3408)
5c817082a [wpilib] Remove InterruptableSensorBase and replace with interrupt classes (#2410)
15c521a7f [wpimath] Fix drivetrain system identification (#3406)
989de4a1b [build] Force all linker warnings to be fatal for rio builds (#3407)
d9eeb45b0 [wpilibc] Add units to Ultrasonic class API (#3403)
fe570e000 [wpiutil] Replace llvm filesystem with C++17 filesystem (#3401)
01dc0249d [wpimath] Move SlewRateLimiter from wpilib to wpimath (#3399)
93523d572 [wpilibc] Clean up integration tests (#3400)
4f7a4464d [wpiutil] Rewrite StringExtras for std::string_view (#3394)
e09293a15 [wpilibc] Transition C++ classes to units::second_t (#3396)
827b17a52 [build] Create run tasks for Glass and OutlineViewer (#3397)
a61037996 [wpiutil] Avoid MSVC warning on span include (#3393)
4e2c3051b [wpilibc] Use std::string_view instead of Twine (#3380)
50915cb7e [wpilibc] MotorSafety::GetDescription(): Return std::string (#3390)
f4e2d26d5 [wpilibc] Move NullDeleter from frc/Base.h to wpi/NullDeleter.h (#3387)
cb0051ae6 [wpilibc] SimDeviceSim: use fmtlib (#3389)
a238cec12 [wpiutil] Deprecate wpi::math constants in favor of wpi::numbers (#3383)
393bf23c0 [ntcore, cscore, wpiutil] Standardize template impl files on .inc extension (NFC) (#3124)
e7d9ba135 [sim] Disable flaky web server integration tests (#3388)
0a0003c11 [wpilibjExamples] Fix name of Java swerve drive pose estimator example (#3382)
7e1b27554 [wpilibc] Use default copies and moves when possible (#3381)
fb2a56e2d [wpilibc] Remove START_ROBOT_CLASS macro (#3384)
84218bfb4 [wpilibc] Remove frc namespace shim (#3385)
dd7824340 [wpilibc] Remove C++ compiler version static asserts (#3386)
484cf9c0e [wpimath] Suppress the -Wmaybe-uninitialized warning in Eigen (#3378)
a04d1b4f9 [wpilibc] DriverStation: Remove ReportError and ReportWarning
831c10bdf [wpilibc] Errors: Use fmtlib
87603e400 [wpiutil] Import fmtlib (#3375)
442621672 [wpiutil] Add ArrayRef/std::span/wpi::span implicit conversions
bc15b953b [wpiutil] Add std::span implementation
6d20b1204 [wpiutil] StringRef, Twine, raw_ostream: Add std::string_view support (#3373)
2385c2a43 [wpilibc] Remove Utility.h (#3376)
87384ea68 [wpilib] Fix PIDController continuous range error calculations (#3170)
04dae799a [wpimath] Add SimpleMotorFeedforward::Calculate(velocity, nextVelocity) overload (#3183)
0768c3903 [wpilib] DifferentialDrive: Remove right side inversion (#3340)
8dd8d4d2d [wpimath] Fix redundant nested math package introduced by #3316 (#3368)
49b06beed [examples] Add Field2d to RamseteController example (#3371)
4c562a445 [wpimath] Fix typo in comment of update_eigen.py (#3369)
fdbbf1188 [wpimath] Add script for updating Eigen
f1e64b349 [wpimath] Move Eigen unsupported folder into eigeninclude
224f3a05c [sim] Fix build error when building with GCC 11.1 (#3361)
ff56d6861 [wpilibj] Fix SpeedController deprecated warnings (#3360)
1873fbefb [examples] Fix Swerve and Mecanum examples (#3359)
80b479e50 [examples] Fix SwerveBot example to use unique encoder ports (#3358)
1f7c9adee [wpilibjExamples] Fix pose estimator examples (#3356)
9ebc3b058 [outlineviewer] Change default size to 600x400 (#3353)
e21b443a4 [build] Gradle: Make C++ examples runnable (#3348)
da590120c [wpilibj] Add MotorController.setVoltage default (#3347)
561d53885 [build] Update opencv to 4.5.2, imgui/implot to latest (#3344)
44ad67ca8 [wpilibj] Preferences: Add missing Deprecated annotation (#3343)
3fe8fc75a [wpilibc] Revert "Return reference from GetInstance" (#3342)
3cc2da332 Merge branch '2022'
a3cd90dd7 [wpimath] Fix classpath used by generate_numbers.py (#3339)
d6cfdd3ba [wpilib] Preferences: Deprecate Put* in favor of Set* (#3337)
ba08baabb [wpimath] Update Drake DARE solver to v0.29.0 (#3336)
497b712f6 [wpilib] Make IterativeRobotBase::m_period private with getter
f00dfed7a [wpilib] Remove IterativeRobot base class
3c0846168 [hal] Use last error reporting instead of PARAMETER_OUT_OF_RANGE (#3328)
5ef2b4fdc [wpilibj] Fix @deprecated warning for SerialPort constructor (#3329)
23d2326d1 [hal] Report previous allocation location for indexed resource duplicates (#3322)
e338f9f19 [build] Fix wpilibc runCpp task (#3327)
c8ff626fe [wpimath] Move Java classes to edu.wpi.first.math (#3316)
4e424d51f [wpilibj] DifferentialDrivetrainSim: Rename constants to match the style guide (#3312)
6b50323b0 [cscore] Use Lock2DSize if possible for Windows USB cameras (#3326)
65c148536 [wpilibc] Fix "control reaches end of non-void function" warning (#3324)
f99f62bee [wpiutil] uv Handle: Use malloc/free instead of new/delete (#3325)
365f5449c [wpimath] Fix MecanumDriveKinematics (#3266)
ff52f207c [glass, wpilib] Rewrite Mechanism2d (#3281)
ee0eed143 [wpimath] Add DCMotor factory function for Romi motors (#3319)
512738072 [hal] Add HAL_GetLastError to enable better error messages from HAL calls (#3320)
ced654880 [glass, outlineviewer] Update Mac icons to macOS 11 style (#3313)
936d3b9f8 [templates] Add Java template for educational robot (#3309)
6e31230ad [examples] Fix odometry update in SwerveControllerCommand example (#3310)
05ebe9318 Merge branch 'main' into 2022
aaf24e255 [wpilib] Fix initial heading behavior in HolonomicDriveController (#3290)
8d961dfd2 [wpilibc] Remove ErrorBase (#3306)
659b37ef9 [wpiutil] StackTrace: Include offset on Linux (#3305)
0abf6c904 [wpilib] Move motor controllers to motorcontrol package (#3302)
4630191fa [wpiutil] circular_buffer: Use value initialization instead of passing zero (#3303)
b7b178f49 [wpilib] Remove Potentiometer interface
687066af3 [wpilib] Remove GyroBase
6b168ab0c [wpilib] Remove PIDController, PIDOutput, PIDSource
948625de9 [wpimath] Document conversion from filter cutoff frequency to time constant (#3299)
3848eb8b1 [wpilibc] Fix flywhel -> flywheel typo in FlywheelSim (#3298)
3abe0b9d4 [cscore] Move java package to edu.wpi.first.cscore (#3294)
d7fabe81f [wpilib] Remove RobotDrive (#3295)
1dc81669c [wpilib] Remove GearTooth (#3293)
01d0e1260 [wpilib] Revert move of RomiGyro into main wpilibc/j (#3296)
397e569aa [ntcore] Remove "using wpi" from nt namespace
79267f9e6 [ntcore] Remove NetworkTable -> nt::NetworkTable shim
48ebe5736 [ntcore] Remove deprecated Java interfaces and classes
c2064c78b [ntcore] Remove deprecated ITable interfaces
36608a283 [ntcore] Remove deprecated C++ APIs
a1c87e1e1 [glass] LogView: Add "copy to clipboard" button (#3274)
fa7240a50 [wpimath] Fix typo in quintic spline basis matrix
ffb4d38e2 [wpimath] Add derivation for spline basis matrices
f57c188f2 [wpilib] Add AnalogEncoder(int) ctor (#3273)
8471c4fb2 [wpilib] FieldObject2d: Add setTrajectory() method (#3277)
c97acd18e [glass] Field2d enhancements (#3234)
ffb590bfc [wpilib] Fix Compressor sendable properties (#3269)
6137f98eb [hal] Rename SimValueCallback2 to SimValueCallback (#3212)
a6f653969 [hal] Move registerSimPeriodic functions to HAL package (#3211)
10c038d9b [glass] Plot: Fix window creation after removal (#3264)
2d2eaa3ef [wpigui] Ensure window will be initially visible (#3256)
4d28b1f0c [wpimath] Use JNI for trajectory serialization (#3257)
3de800a60 [wpimath] TrajectoryUtil.h: Comment formatting (NFC) (#3262)
eff592377 [glass] Plot: Don't overwrite series ID (#3260)
a79faace1 [wpilibc] Return reference from GetInstance (#3247)
9550777b9 [wpilib] PWMSpeedController: Use PWM by composition (#3248)
c8521a3c3 [glass] Plot: Set reasonable default window size (#3261)
d71eb2cf3 [glass] Plot: Show full source name as tooltip and in popup (#3255)
160fb740f [hal] Use std::lround() instead of adding 0.5 and truncating (#3012)
48e9f3951 [wpilibj] Remove wpilibj package CameraServer (#3213)
8afa596fd [wpilib] Remove deprecated Sendable functions and SendableBase (#3210)
d3e45c297 [wpimath] Make C++ geometry classes immutable (#3249)
2c98939c1 [glass] StringChooser: Don't call SameLine() at end
a18a7409f [glass] NTStringChooser: Clear value of deleted entries
2f19cf452 [glass] NetworkTablesHelper: listen to delete events
da96707dc Merge branch 'main' into 2022
c3a8bdc24 [build] Fix clang-tidy action (#3246)
21624ef27 Add ImGui OutlineViewer (#3220)
1032c9b91 [wpiutil] Unbreak wpi::Format on Windows (#3242)
2e07902d7 [glass] NTField2D: Fix name lookup (#3233)
6e23e1840 [wpilibc] Remove WPILib.h (#3235)
3e22e4506 [wpilib] Make KoP drivetrain simulation weight 60 lbs (#3228)
79d1bd6c8 [glass] NetworkTablesSetting: Allow disable of server option (#3227)
fe341a16f [examples] Use more logical elevator setpoints in GearsBot (#3198)
62abf46b3 [glass] NetworkTablesSettings: Don't block GUI (#3226)
a95a5e0d9 [glass] Move NetworkTablesSettings to libglassnt (#3224)
d6f6ceaba [build] Run Spotless formatter (NFC) (#3221)
0922f8af5 [commands] CommandScheduler.requiring(): Note return can be null (NFC) (#2934)
6812302ff [examples] Make DriveDistanceOffboard example work in sim (#3199)
f3f86b8e7 [wpimath] Add pose estimator overload for vision + std dev measurement (#3200)
1a2680b9e [wpilibj] Change CommandBase.withName() to return CommandBase (#3209)
435bbb6a8 [command] RamseteCommand: Output 0 if interrupted (#3216)
3cf44e0a5 [hal] Add function for changing HAL Notifier thread priority (#3218)
40b367513 [wpimath] Units.java: Add kg-lb conversions (#3203)
9f563d584 [glass] NT: Fix return value in StringToDoubleArray (#3208)
af4adf537 [glass] Auto-size plots to fit window (#3193)
2560146da [sim] GUI: Add option to show prefix in Other Devices (#3186)
eae3a6397 gitignore: Ignore .cache directory (#3196)
959611420 [wpilib] Require non-zero positive value for PIDController.period (#3175)
9522f2e8c [wpimath] Add methods to concatenate trajectories (#3139)
e42a0b6cf [wpimath] Rotation2d comment formatting (NFC) (#3162)
d1c7032de [wpimath] Fix order of setting gyro offset in pose estimators (#3176)
d241bc81a [sim] Add DoubleSolenoidSim and SolenoidSim classes (#3177)
cb7f39afa [wpilibc] Add RobotController::GetBatteryVoltage() to C++ (#3179)
99b5ad9eb [wpilibj] Fix warnings that are not unused variables or deprecation (#3161)
c14b23775 [build] Fixup doxygen generated include dirs to match what users would need (#3154)
d447c7dc3 [sim] Add SimDeviceSim ctor overloads (#3134)
247420c9c [build] Remove jcenter repo (#3157)
04b112e00 [build] Include debug info in plugin published artifacts (#3149)
be0ce9900 [examples] Use PWMSparkMax instead of PWMVictorSPX (#3156)
69e8d0b65 [wpilib] Move RomiGyro into main wpilibc/j (#3143)
94e685e1b [wpimath] Add custom residual support to EKF (#3148)
5899f3dd2 [sim] GUI: Make keyboard settings loading more robust (#3167)
f82aa1d56 [wpilib] Fix HolonomicDriveController atReference() behavior (#3163)
fe5c2cf4b [wpimath] Remove ControllerUtil.java (#3169)
43d40c6e9 [wpiutil] Suppress unchecked cast in CombinedRuntimeLoader (#3155)
3d44d8f79 [wpimath] Fix argument order in UKF docs (NFC) (#3147)
ba6fe8ff2 [cscore] Add USB camera change event (#3123)
533725888 [build] Tweak OpenCV cmake search paths to work better on Linux (#3144)
29bf9d6ef [cscore] Add polled support to listener
483beb636 [ntcore] Move CallbackManager to wpiutil
fdaec7759 [examples] Instantiate m_ramseteController in example (#3142)
8494a5761 Rename default branch to main (#3140)
45590eea2 [wpigui] Hardcode window scale to 1 on macOS (#3135)
834a64920 [build] Publish libglass and libglassnt to Maven (#3127)
2c2ccb361 [wpimath] Fix Rotation2d equality operator (#3128)
fb5c8c39a [wpigui] clang-tidy: readability-braces-around-statements
f7d39193a [wpigui] Fix copyright in pfd and wpigui_metal.mm
aec796b21 [ntcore] Fix conditional jump on uninitialized value (#3125)
fb13bb239 [sim] GUI: Add right click popup for keyboard joystick settings (#3119)
c517ec677 [build] Update thirdparty-imgui to 1.79-2 (#3118)
e8cbf2a71 [wpimath] Fix typo in SwerveDrivePoseEstimator doc (NFC) (#3112)
e9c86df46 [wpimath] Add tests for swerve module optimization (#3100)
6ba8c289c [examples] Remove negative of ArcadeDrive(fwd, ..) in the C++ Getting Started Example (#3102)
3f1672e89 [hal] Add SimDevice createInt() and createLong() (#3110)
15be5cbf1 [examples] Fix segfault in GearsBot C++ example (#3111)
4cf0e5e6d Add quick links to API documentation in README (#3082)
6b1898f12 Fix RT priority docs (NFC) (#3098)
b3426e9c0 [wpimath] Fix missing whitespace in pose estimator doc (#3097)
38c1a1f3e [examples] Fix feildRelative -> fieldRelative typo in XControllerCommand examples (#3104)
4488e25f1 [glass] Shorten SmartDashboard window names (#3096)
cfdb3058e [wpilibj] Update SimDeviceSimTest (#3095)
64adff5fe [examples] Fix typo in ArcadeDrive constructor parameter name (#3092)
6efc58e3d [build] Fix issues with build on windows, deprecations, and native utils (#3090)
f393989a5 [wpimath, wpiutil] Add wpi::array for compile time size checking (#3087)
d6ed20c1e [build] Set macOS deployment target to 10.14 (#3088)
7c524014c [hal] Add [[nodiscard]] to HAL_WaitForNotifierAlarm() (#3085)
406d055f0 [wpilib] Fixup wouldHitLowerLimit in elevator and arm simulation classes. (#3076)
04a90b5dd [examples] Don't continually set setpoint in PotentiometerPID Examples (#3084)
8c5bfa013 [sim] GUI: Add max value setting for keyboard joysticks (#3083)
bc80c5535 [hal] Add SimValue reset() function (#3064)
9c3b51ca0 [wpilib] Document simulation APIs (#3079)
26584ff14 [wpimath] Add model description to LinearSystemId Javadocs (#3080)
42c3d5286 [examples] Sync Java and C++ trajectories in sim example (#3081)
64e72f710 [wpilibc] Add missing function RoboRioSim::ResetData (#3073)
e95503798 [wpimath] Add optimize() to SwerveModuleState (#3065)
fb99910c2 [hal] Add SimInt and SimLong wrappers for int/long SimValue (#3066)
e620bd4d3 [doc] Add machine-readable websocket specification (#3059)
a44e761d9 [glass] Add support for plot Y axis labels
ea1974d57 [wpigui] Update imgui and implot to latest
85a0bd43c [wpimath] Add RKF45 integration (#3047)
278e0f126 [glass] Use .controllable to set widgets' read-only state (#3035)
d8652cfd4 [wpimath] Make Java DCMotor API consistent with C++ and fix motor calcs (#3046)
377b7065a [build] Add toggleOffOn to Java spotless (#3053)
1e9c79c58 [sim] Use plant output to retrieve simulated position (#3043)
78147aa34 [sim] GUI: Fix Keyboard Joystick (#3052)
cd4a2265b [ntcore] Fix NetworkTableEntry::GetRaw() (#3051)
767ac1de1 [build] Use deploy key for doc publish (#3048)
d762215d1 [build] Add publish documentation script (#3040)
1fd09593c [examples] Add missing TestInit method to GettingStarted Example (#3039)
e45a0f6ce [examples] Add RomiGyro to the Romi Reference example (#3037)
94f852572 Update imaging link and fix typo (#3038)
d73cf64e5 [examples] Update RomiReference to match motor directions (#3036)
f945462ba Bump copyright year to 2021 (#3033)
b05946175 [wpimath] Catch Drake JNI exceptions and rethrow them (#3032)
62f0f8190 [wpimath] Deduplicate angle modulus functions (#2998)
bf8c0da4b [glass] Add "About" popup with version number (#3031)
dfdd6b389 [build] Increase Gradle heap size in Gazebo build (#3028)
f5e0fc3e9 Finish clang-tidy cleanups (#3003)
d741101fe [sim] Revert accidental commit of WSProvider_PDP.h (#3027)
e1620799c [examples] Add C++ RomiReference example (#2969)
749c7adb1 [command] Fix use-after-free in CommandScheduler (#3024)
921a73391 [sim] Add WS providers for AddressableLED, PCM, and Solenoid (#3026)
26d0004fe [build] Split Actions into different yml files (#3025)
948af6d5b [wpilib] PWMSpeedController.get(): Apply Inversion (#3016)
670a187a3 [wpilibc] SuppliedValueWidget.h: Forward declare ShuffleboardContainer (#3021)
be9f72502 [ntcore] NetworkTableValue: Use std::forward instead of std::move (#3022)
daf3f4cb1 [cscore] cscore_raw_cv.h: Fix error in PutFrame() (#3019)
5acda4cc7 [wpimath] ElevatorFeedforward.h: Add time.h include
8452af606 [wpimath] units/radiation.h: Add mass.h include
630d44952 [hal] ErrorsInternal.h: Add stdint.h include
7372cf7d9 [cscore] Windows NetworkUtil.cpp: Add missing include
b7e46c558 Include .h from .inc/.inl files (NFC) (#3017)
bf8f8710e [examples] Update Romi template and example (#2996)
6ffe5b775 [glass] Ensure NetworkTableTree parent context menu has an id (#3015)
be0805b85 [build] Update to WPILibVersioningPlugin 4.1.0 (#3014)
65b2359b2 [build] Add spotless for other files (#3007)
8651aa73e [examples] Enable NT Flush in Field2d examples (#3013)
78b542737 [build] Add Gazebo build to Actions CI (#3004)
fccf86532 [sim] DriverStationGui: Fix two bugs (#3010)
185741760 [sim] WSProvider_Joystick: Fix off-by-1 in incoming buttons (#3011)
ee7114a58 [glass] Add drive class widgets (#2975)
00fa91d0d [glass] Use ImGui style for gyro widget colors (#3009)
b7a25bfc3 ThirdPartyNotices: Add portable file dialogs license (#3005)
a2e46b9a1 [glass] modernize-use-nullptr (NFC) (#3006)
a751fa22d [build] Apply spotless for java formatting (#1768)
e563a0b7d [wpimath] Make LinearSystemLoop move-constructible and move-assignable (#2967)
49085ca94 [glass] Add context menus to remove and add NetworkTables values (#2979)
560a850a2 [glass] Add NetworkTables Log window (#2997)
66782e231 [sim] Create Left/Right drivetrain current accessors (#3001)
b60eb1544 clang-tidy: bugprone-virtual-near-miss
cbe59fa3b clang-tidy: google-explicit-constructor
c97c6dc06 clang-tidy: google-readability-casting (NFC)
32fa97d68 clang-tidy: modernize-use-nullptr (NFC)
aee460326 clang-tidy: modernize-pass-by-value
29c7da5f1 clang-tidy: modernize-make-unique
6131f4e32 clang-tidy: modernize-concat-nested-namespaces (NFC)
67e03e625 clang-tidy: modernize-use-equals-default
b124f9101 clang-tidy: modernize-use-default-member-init
d11a3a638 clang-tidy: modernize-use-override (NFC)
4cc0706b0 clang-tidy: modernize-use-using (NFC)
885f5a978 [wpilibc] Speed up ScopedTracerTest (#2999)
60b596457 [wpilibj] Fix typos (NFC) (#3000)
6e1919414 [build] Bring naming checkstyle rules up to date with Google Style guide (#1781)
8c8ec5e63 [wpilibj] Suppress unchecked cast warnings (#2995)
b8413ddd5 [wpiutil] Add noexcept to timestamp static functions (#2994)
5d976b6e1 [glass] Load NetworkTableView settings on first draw (#2993)
2b4317452 Replace NOLINT(runtime/explicit) comments with NOLINT (NFC) (#2992)
1c3011ba4 [glass] Fix handling of "/" NetworkTables key (#2991)
574a42f3b [hal] Fix UnsafeManipulateDIO status check (#2987)
9005cd59e [wpilib] Clamp input voltage in sim classes (#2955)
dd494d4ab [glass] NetworkTablesModel::Update(): Avoid use-after-move (#2988)
7cca469a1 [wpimath] NormalizeAngle: Make inline, remove unnamed namespace (#2986)
2aed432b4 Add braces to C++ single-line loops and conditionals (NFC) (#2973)
0291a3ff5 [wpiutil] StringRef: Add noexcept to several constructors (#2984)
5d7315280 [wpimath] Update UnitsTest.cpp copyright (#2985)
254931b9a [wpimath] Remove LinearSystem from LinearSystemLoop (#2968)
aa89744c9 Update OtherVersions.md to include wpimath info (#2983)
1cda3f5ad [glass] Fix styleguide (#2976)
8f1f64ffb Remove year from file copyright message (NFC) (#2972)
2bc0a7795 [examples] Fix wpiformat warning about utility include (#2971)
4204da6ad [glass] Add application icon
7ac39b10f [wpigui] Add icon support
6b567e006 [wpimath] Add support for varying vision standard deviations in pose estimators (#2956)
df299d6ed [wpimath] Add UnscentedKalmanFilter::Correct() overload (#2966)
4e34f0523 [examples] Use ADXRS450_GyroSim class in simulation example (#2964)
9962f6fd7 [wpilib] Give Field2d a default Sendable name (#2953)
f9d492f4b [sim] GUI: Show "Other Devices" window by default (#2961)
a8bb2ef1c [sim] Fix ADXRS450_GyroSim and DutyCycleEncoderSim (#2963)
240c629cd [sim] Try to guess "Map Gamepad" setting (#2960)
952567dd3 [wpilibc] Add missing move constructors and assignment operators (#2959)
10b396b4c [sim] Various WebSockets fixes and enhancements (#2952)
699bbe21a [examples] Fix comments in Gearsbot to match implementation (NFC) (#2957)
27b67deca [glass] Add more widgets (#2947)
581b7ec55 [wpilib] Add option to flush NetworkTables every iterative loop
acfbb1a44 [ntcore] DispatcherBase::Flush: Use wpi::Now()
d85a6d8fe [ntcore] Reduce limit on flush and update rate to 5 ms
20fbb5c63 [sim] Fix stringop truncation warning from GCC 10 (#2945)
1051a06a7 [glass] Show NT timestamps in seconds (#2944)
98dfc2620 [glass] Fix plots (#2943)
1ba0a2ced [sim] GUI: Add keyboard virtual joystick support (#2940)
4afb13f98 [examples] Replace M_PI with wpi::math::pi (#2938)
b27d33675 [examples] Enhance Romi templates (#2931)
00b9ae77f [sim] Change default WS port number to 3300 (#2932)
65219f309 [examples] Update Field2d position in periodic() (#2928)
f78d1d434 [sim] Process WS Encoder reset internally (#2927)
941edca59 [hal] Add Java SimDeviceDataJNI.getSimDeviceName (#2924)
a699435ed [wpilibj] Fix FlywheelSim argument order in constructor (#2922)
66d641718 [examples] Add tasks to run Java examples (#2920)
558e37c41 [examples] Add simple differential drive simulation example (#2918)
4f40d991e [glass] Switch name of Glass back to glass (#2919)
549af9900 [build] Update native-utils to 2021.0.6 (#2914)
b33693009 [glass] Change basename of glass to Glass (#2915)
c9a0edfb8 [glass] Package macOS application bundle
2c5668af4 [wpigui] Add platform-specific preferences save
751dea32a [wpilibc] Try to work around ABI break introduced in #2901 (#2917)
cd8f4bfb1 [build] Package up msvc runtime into maven artifact (#2913)
a6cfcc686 [wpilibc] Move SendableChooser Doxygen comments to header (NFC) (#2911)
b8c4f603d [wpimath] Upgrade to Eigen 3.3.9 (#2910)
0075e4b39 [wpilibj] Fix NPE in Field2d (#2909)
125af556c [simulation] Fix halsim_gui ntcore and wpiutil deps (#2908)
963ad5c25 [wpilib] Add noise to Differential Drive simulator (#2903)
387f56cb7 [examples] Add Romi reference Java example and templates (#2905)
b3deda38c [examples] Zero motors on disabledInit() in sim physics examples (#2906)
2a5ca7745 [glass] Add glass: an application for display of robot data
727940d84 [wpilib] Move Field2d to SmartDashboard
8cd42478e [wpilib] SendableBuilder: Make GetTable() visible
c11d34b26 [command] Use addCommands in command group templates (#2900)
339d7445b [sim] Add HAL hooks for simulationPeriodic (#2881)
d16f05f2c [wpilib] Fix SmartDashboard update order (#2896)
5427b32a4 [wpiutil] unique_function: Restrict implicit conversion (#2899)
f73701239 [ntcore] Add missing SetDefault initializer_list functions (#2898)
f5a6fc070 [sim] Add initialized flag for all solenoids on a PCM (#2897)
bdf5ba91a [wpilibj] Fix typo in ElevatorSim (#2895)
bc8f33877 [wpilib] Add pose estimators (#2867)
3413bfc06 [wpilib] PIDController: Recompute the error in AtSetpoint() (#2822)
2056f0ce0 [wpilib] Fix bugs in Hatchbot examples (#2893)
5eb8cfd69 [wpilibc] Fix MatchDataSender (#2892)
e6a425448 [build] Delete test folders after tests execute (#2891)
d478ad00d [imgui] Allow usage of imgui_stdlib (#2889)
53eda861d [build] Add unit-testing infrastructure to examples (#2863)
cc1d86ba6 [sim] Add title to simulator GUI window (#2888)
f0528f00e [build] CMake: Use project-specific binary and source dirs (#2886)
5cd2ad124 [wpilibc] Add Color::operator!= (#2887)
6c00e7a90 [build] CI CMake: build with GUI enabled (#2884)
53170bbb5 Update roboRIO toolchain installation instructions (#2883)
467258e05 [sim] GUI: Add option to not zero disconnected joysticks (#2876)
129be23c9 Clarify JDK installation instructions in readme (#2882)
8e9290e86 [build] Add separate CMake setting for wpimath (#2885)
7cf5bebf8 [wpilibj] Cache NT writes from DriverStation (#2780)
f7f9087fb [command] Fix timing issue in RamseteCommand (#2871)
256e7904f [wpilibj] SimDeviceSim: Fix sim value changed callback (#2880)
c8ea1b6c3 [wpilib] Add function to adjust LQR controller gain for pure time delay (#2878)
2816b06c0 [sim] HAL_GetControlWord: Fully zero output (#2873)
4c695ea08 Add toolchain installation instructions to README (#2875)
a14d51806 [wpimath] DCMotor: fix doc typo (NFC) (#2868)
017097791 [build] CMake: build sim extensions as shared libs (#2866)
f61726b5a [build] Fix cmake-config files (#2865)
fc27fdac5 [wpilibc] Cache NT values from driver station (#2768)
47c59859e [sim] Make SimDevice callbacks synchronous (#2861)
6e76ab9c0 [build] Turn on WITH_GUI for Windows cmake CI
5f78b7670 [build] Set GLFW_INSTALL to OFF
5e0808c84 [wpigui] Fix Windows cmake build
508f05a47 [imgui] Fix typo in Windows CMake target sources
Change-Id: I1737b45965f31803a96676bedc7dc40e337aa321
git-subtree-dir: third_party/allwpilib
git-subtree-split: e473a00f9785f9949e5ced30901baeaf426d2fc9
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/hal/.styleguide b/hal/.styleguide
index 49d4e29..77cd815 100644
--- a/hal/.styleguide
+++ b/hal/.styleguide
@@ -10,6 +10,7 @@
generatedFileExclude {
hal/src/main/native/athena/ctre/
+ hal/src/main/native/athena/rev/
hal/src/main/native/athena/frccansae/
hal/src/main/native/athena/visa/
hal/src/main/native/include/ctre/
@@ -30,6 +31,7 @@
includeOtherLibs {
^FRC_FPGA_ChipObject/
^FRC_NetworkCommunication/
+ ^fmt/
^i2clib/
^llvm/
^opencv2/
diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
index 2e99064..fae74aa 100644
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -65,8 +65,8 @@
set (hal_config_dir share/hal)
endif()
-configure_file(hal-config.cmake.in ${CMAKE_BINARY_DIR}/hal-config.cmake )
-install(FILES ${CMAKE_BINARY_DIR}/hal-config.cmake DESTINATION ${hal_config_dir})
+configure_file(hal-config.cmake.in ${WPILIB_BINARY_DIR}/hal-config.cmake )
+install(FILES ${WPILIB_BINARY_DIR}/hal-config.cmake DESTINATION ${hal_config_dir})
install(EXPORT hal DESTINATION ${hal_config_dir})
# Java bindings
@@ -74,7 +74,7 @@
find_package(Java REQUIRED)
find_package(JNI REQUIRED)
include(UseJava)
- set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
+ set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
configure_file(src/generate/FRCNetComm.java.in FRCNetComm.java)
diff --git a/hal/build.gradle b/hal/build.gradle
index e5b5f6c..ed67125 100644
--- a/hal/build.gradle
+++ b/hal/build.gradle
@@ -43,8 +43,6 @@
}
}
-apply plugin: DisableBuildingGTest
-
ext {
addHalDependency = { binary, shared->
binary.tasks.withType(AbstractNativeSourceCompileTask) {
@@ -129,34 +127,55 @@
}
}
+Action<List<String>> symbolFilter = { symbols ->
+ symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
+} as Action<List<String>>;
+
nativeUtils.exportsConfigs {
hal {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
- '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
- '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ x86ExcludeSymbols = [
+ '_CT??_R0?AV_System_error',
+ '_CT??_R0?AVexception',
+ '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error',
+ '_CT??_R0?AVsystem_error',
+ '_CTA5?AVfailure',
+ '_TI5?AVfailure',
+ '_CT??_R0?AVout_of_range',
+ '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range',
+ '_CT??_R0?AVbad_cast'
+ ]
+ x64ExcludeSymbols = [
+ '_CT??_R0?AV_System_error',
+ '_CT??_R0?AVexception',
+ '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error',
+ '_CT??_R0?AVsystem_error',
+ '_CTA5?AVfailure',
+ '_TI5?AVfailure',
+ '_CT??_R0?AVout_of_range',
+ '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range',
+ '_CT??_R0?AVbad_cast'
+ ]
}
halJNI {
- x86SymbolFilter = { symbols ->
- symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
- }
- x64SymbolFilter = { symbols ->
- symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
- }
+ x86SymbolFilter = symbolFilter
+ x64SymbolFilter = symbolFilter
}
}
model {
binaries {
all {
+ it.tasks.withType(AbstractNativeSourceCompileTask) {
+ it.dependsOn generateUsageReporting
+ }
if (!(it instanceof NativeBinarySpec)) return
- if (it.component.name != 'hal' && it.component.name != 'halBase') return
- if (it.targetPlatform.name != nativeUtils.wpi.platforms.roborio) return
- nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared')
+ if (it.component.name != 'hal' && it.component.name != 'halBase') return
+ if (it.targetPlatform.name != nativeUtils.wpi.platforms.roborio) return
+ nativeUtils.useRequiredLibrary(it, 'ni_link_libraries')
}
}
}
diff --git a/hal/hal-config.cmake.in b/hal/hal-config.cmake.in
index ae5533c..49eac3d 100644
--- a/hal/hal-config.cmake.in
+++ b/hal/hal-config.cmake.in
@@ -2,4 +2,5 @@
@FILENAME_DEP_REPLACE@
@WPIUTIL_DEP_REPLACE@
+@FILENAME_DEP_REPLACE@
include(${SELF_DIR}/hal.cmake)
diff --git a/hal/src/dev/java/edu/wpi/first/hal/DevMain.java b/hal/src/dev/java/edu/wpi/first/hal/DevMain.java
index 25c6c90..efe8e9b 100644
--- a/hal/src/dev/java/edu/wpi/first/hal/DevMain.java
+++ b/hal/src/dev/java/edu/wpi/first/hal/DevMain.java
@@ -1,17 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
public final class DevMain {
- public static void main(String[] args) {
+ public static void main(String[] args) {}
- }
-
- private DevMain() {
- }
+ private DevMain() {}
}
diff --git a/hal/src/dev/native/cpp/main.cpp b/hal/src/dev/native/cpp/main.cpp
index 6bfa3df..721c0f6 100644
--- a/hal/src/dev/native/cpp/main.cpp
+++ b/hal/src/dev/native/cpp/main.cpp
@@ -1,15 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
-#include <iostream>
+#include <fmt/core.h>
#include "hal/HAL.h"
int main() {
- std::cout << "Hello World" << std::endl;
- std::cout << HAL_GetRuntimeType() << std::endl;
+ fmt::print("Hello World\n");
+ fmt::print("{}\n", HAL_GetRuntimeType());
}
diff --git a/hal/src/generate/FRCNetComm.java.in b/hal/src/generate/FRCNetComm.java.in
index 2c2f924..ce21889 100644
--- a/hal/src/generate/FRCNetComm.java.in
+++ b/hal/src/generate/FRCNetComm.java.in
@@ -12,7 +12,7 @@
/**
* Resource type from UsageReporting.
*/
- @SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
+ @SuppressWarnings("TypeName")
public static final class tResourceType {
private tResourceType() {
}
@@ -23,7 +23,7 @@
/**
* Instances from UsageReporting.
*/
- @SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
+ @SuppressWarnings("TypeName")
public static final class tInstances {
private tInstances() {
}
diff --git a/hal/src/generate/ResourceType.txt b/hal/src/generate/ResourceType.txt
index 4ee8eb2..f48cb59 100644
--- a/hal/src/generate/ResourceType.txt
+++ b/hal/src/generate/ResourceType.txt
@@ -92,3 +92,4 @@
kResourceType_DutyCycle = 91
kResourceType_AddressableLEDs = 92
kResourceType_FusionVenom = 93
+kResourceType_PS4Controller = 94
diff --git a/hal/src/main/java/edu/wpi/first/hal/AccelerometerJNI.java b/hal/src/main/java/edu/wpi/first/hal/AccelerometerJNI.java
index e1e3750..3f22bcb 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AccelerometerJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AccelerometerJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
diff --git a/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java b/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
index d3aa8c8..9340748 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
@@ -1,29 +1,23 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
-/**
- * Structure for holding the values stored in an accumulator.
- */
+/** Structure for holding the values stored in an accumulator. */
public class AccumulatorResult {
- /**
- * The total value accumulated.
- */
+ /** The total value accumulated. */
@SuppressWarnings("MemberName")
public long value;
- /**
- * The number of sample value was accumulated over.
- */
+ /** The number of sample value was accumulated over. */
@SuppressWarnings("MemberName")
public long count;
/**
* Set the value and count.
+ *
+ * @param value The total value accumulated.
+ * @param count The number of samples accumulated.
*/
public void set(long value, long count) {
this.value = value;
diff --git a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
index fb34996..c732ec6 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
@@ -1,23 +1,25 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@SuppressWarnings("AbbreviationAsWordInName")
public class AddressableLEDJNI extends JNIWrapper {
public static native int initialize(int pwmHandle);
+
public static native void free(int handle);
public static native void setLength(int handle, int length);
+
public static native void setData(int handle, byte[] data);
- public static native void setBitTiming(int handle, int lowTime0, int highTime0, int lowTime1, int highTime1);
+ public static native void setBitTiming(
+ int handle, int lowTime0, int highTime0, int lowTime1, int highTime1);
+
public static native void setSyncTime(int handle, int syncTime);
public static native void start(int handle);
+
public static native void stop(int handle);
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java b/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
index 148dd76..7b601b3 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
@@ -1,12 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
public enum AllianceStationID {
- Red1, Red2, Red3, Blue1, Blue2, Blue3
+ Red1,
+ Red2,
+ Red3,
+ Blue1,
+ Blue2,
+ Blue3
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
index 332be79..5763f6e 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -14,12 +11,11 @@
public static native void freeAnalogGyro(int handle);
- public static native void setAnalogGyroParameters(int handle,
- double voltsPerDegreePerSecond,
- double offset, int center);
+ public static native void setAnalogGyroParameters(
+ int handle, double voltsPerDegreePerSecond, double offset, int center);
- public static native void setAnalogGyroVoltsPerDegreePerSecond(int handle,
- double voltsPerDegreePerSecond);
+ public static native void setAnalogGyroVoltsPerDegreePerSecond(
+ int handle, double voltsPerDegreePerSecond);
public static native void resetAnalogGyro(int handle);
diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
index 449c065..e2deadd 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
@@ -1,32 +1,22 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
public class AnalogJNI extends JNIWrapper {
/**
- * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br> enum values
+ * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br>
+ * enum values
*/
public interface AnalogTriggerType {
- /**
- * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i>
- */
+ /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i> */
int kInWindow = 0;
- /**
- * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i>
- */
+ /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i> */
int kState = 1;
- /**
- * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i>
- */
+ /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i> */
int kRisingPulse = 2;
- /**
- * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i>
- */
+ /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i> */
int kFallingPulse = 3;
}
@@ -68,6 +58,8 @@
public static native int getAnalogVoltsToValue(int analogPortHandle, double voltage);
+ public static native double getAnalogValueToVolts(int analogPortHandle, int value);
+
public static native double getAnalogVoltage(int analogPortHandle);
public static native double getAnalogAverageVoltage(int analogPortHandle);
@@ -98,20 +90,20 @@
public static native void cleanAnalogTrigger(int analogTriggerHandle);
- public static native void setAnalogTriggerLimitsRaw(int analogTriggerHandle, int lower,
- int upper);
+ public static native void setAnalogTriggerLimitsRaw(
+ int analogTriggerHandle, int lower, int upper);
- public static native void setAnalogTriggerLimitsDutyCycle(int analogTriggerHandle, double lower,
- double higher);
+ public static native void setAnalogTriggerLimitsDutyCycle(
+ int analogTriggerHandle, double lower, double higher);
- public static native void setAnalogTriggerLimitsVoltage(int analogTriggerHandle,
- double lower, double upper);
+ public static native void setAnalogTriggerLimitsVoltage(
+ int analogTriggerHandle, double lower, double upper);
- public static native void setAnalogTriggerAveraged(int analogTriggerHandle,
- boolean useAveragedValue);
+ public static native void setAnalogTriggerAveraged(
+ int analogTriggerHandle, boolean useAveragedValue);
- public static native void setAnalogTriggerFiltered(int analogTriggerHandle,
- boolean useFilteredValue);
+ public static native void setAnalogTriggerFiltered(
+ int analogTriggerHandle, boolean useFilteredValue);
public static native boolean getAnalogTriggerInWindow(int analogTriggerHandle);
diff --git a/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java b/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
index 3507569..31cf973 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -15,15 +12,15 @@
public static native void writeCANPacket(int handle, byte[] data, int apiId);
- public static native void writeCANPacketRepeating(int handle, byte[] data, int apiId,
- int repeatMs);
+ public static native void writeCANPacketRepeating(
+ int handle, byte[] data, int apiId, int repeatMs);
public static native void writeCANRTRFrame(int handle, int length, int apiId);
public static native int writeCANPacketNoThrow(int handle, byte[] data, int apiId);
- public static native int writeCANPacketRepeatingNoThrow(int handle, byte[] data, int apiId,
- int repeatMs);
+ public static native int writeCANPacketRepeatingNoThrow(
+ int handle, byte[] data, int apiId, int repeatMs);
public static native int writeCANRTRFrameNoThrow(int handle, int length, int apiId);
@@ -33,6 +30,6 @@
public static native boolean readCANPacketLatest(int handle, int apiId, CANData data);
- public static native boolean readCANPacketTimeout(int handle, int apiId, int timeoutMs,
- CANData data);
+ public static native boolean readCANPacketTimeout(
+ int handle, int apiId, int timeoutMs, CANData data);
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/CANData.java b/hal/src/main/java/edu/wpi/first/hal/CANData.java
index 23d37c9..94e9f57 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CANData.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CANData.java
@@ -1,22 +1,25 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
public class CANData {
@SuppressWarnings("MemberName")
public final byte[] data = new byte[8];
+
@SuppressWarnings("MemberName")
public int length;
+
@SuppressWarnings("MemberName")
public long timestamp;
/**
* API used from JNI to set the data.
+ *
+ * @param length Length of packet in bytes.
+ * @param timestamp CAN frame timestamp in microseconds.
+ * @return Buffer containing CAN frame.
*/
@SuppressWarnings("PMD.MethodReturnsInternalArray")
public byte[] setData(int length, long timestamp) {
diff --git a/hal/src/main/java/edu/wpi/first/hal/CTREPCMJNI.java b/hal/src/main/java/edu/wpi/first/hal/CTREPCMJNI.java
new file mode 100644
index 0000000..20d5cb8
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/CTREPCMJNI.java
@@ -0,0 +1,52 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class CTREPCMJNI extends JNIWrapper {
+ public static native int initialize(int module);
+
+ public static native void free(int handle);
+
+ public static native boolean checkSolenoidChannel(int channel);
+
+ public static native boolean getCompressor(int handle);
+
+ public static native void setClosedLoopControl(int handle, boolean enabled);
+
+ public static native boolean getClosedLoopControl(int handle);
+
+ public static native boolean getPressureSwitch(int handle);
+
+ public static native double getCompressorCurrent(int handle);
+
+ public static native boolean getCompressorCurrentTooHighFault(int handle);
+
+ public static native boolean getCompressorCurrentTooHighStickyFault(int handle);
+
+ public static native boolean getCompressorShortedFault(int handle);
+
+ public static native boolean getCompressorShortedStickyFault(int handle);
+
+ public static native boolean getCompressorNotConnectedFault(int handle);
+
+ public static native boolean getCompressorNotConnectedStickyFault(int handle);
+
+ public static native int getSolenoids(int handle);
+
+ public static native void setSolenoids(int handle, int mask, int values);
+
+ public static native int getSolenoidDisabledList(int handle);
+
+ public static native boolean getSolenoidVoltageFault(int handle);
+
+ public static native boolean getSolenoidVoltageStickyFault(int handle);
+
+ public static native void clearAllStickyFaults(int handle);
+
+ public static native void fireOneShot(int handle, int index);
+
+ public static native void setOneShotDuration(int handle, int index, int durMs);
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/CompressorJNI.java b/hal/src/main/java/edu/wpi/first/hal/CompressorJNI.java
deleted file mode 100644
index 64e9e1d..0000000
--- a/hal/src/main/java/edu/wpi/first/hal/CompressorJNI.java
+++ /dev/null
@@ -1,38 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.hal;
-
-public class CompressorJNI extends JNIWrapper {
- public static native int initializeCompressor(byte module);
-
- public static native boolean checkCompressorModule(byte module);
-
- public static native boolean getCompressor(int compressorHandle);
-
- public static native void setCompressorClosedLoopControl(int compressorHandle, boolean value);
-
- public static native boolean getCompressorClosedLoopControl(int compressorHandle);
-
- public static native boolean getCompressorPressureSwitch(int compressorHandle);
-
- public static native double getCompressorCurrent(int compressorHandle);
-
- public static native boolean getCompressorCurrentTooHighFault(int compressorHandle);
-
- public static native boolean getCompressorCurrentTooHighStickyFault(int compressorHandle);
-
- public static native boolean getCompressorShortedStickyFault(int compressorHandle);
-
- public static native boolean getCompressorShortedFault(int compressorHandle);
-
- public static native boolean getCompressorNotConnectedStickyFault(int compressorHandle);
-
- public static native boolean getCompressorNotConnectedFault(int compressorHandle);
-
- public static native void clearAllPCMStickyFaults(byte compressorModule);
-}
diff --git a/hal/src/main/java/edu/wpi/first/hal/ConstantsJNI.java b/hal/src/main/java/edu/wpi/first/hal/ConstantsJNI.java
index 3db75f5..aba5b33 100644
--- a/hal/src/main/java/edu/wpi/first/hal/ConstantsJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/ConstantsJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
diff --git a/hal/src/main/java/edu/wpi/first/hal/ControlWord.java b/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
index 8353606..a568343 100644
--- a/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
+++ b/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
-/**
- * A wrapper for the HALControlWord bitfield.
- */
+/** A wrapper for the HALControlWord bitfield. */
public class ControlWord {
private boolean m_enabled;
private boolean m_autonomous;
@@ -18,8 +13,13 @@
private boolean m_fmsAttached;
private boolean m_dsAttached;
- void update(boolean enabled, boolean autonomous, boolean test, boolean emergencyStop,
- boolean fmsAttached, boolean dsAttached) {
+ void update(
+ boolean enabled,
+ boolean autonomous,
+ boolean test,
+ boolean emergencyStop,
+ boolean fmsAttached,
+ boolean dsAttached) {
m_enabled = enabled;
m_autonomous = autonomous;
m_test = test;
diff --git a/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java b/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
index b7935d6..f164dbd 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -16,19 +13,19 @@
public static native void setCounterAverageSize(int counterHandle, int size);
- public static native void setCounterUpSource(int counterHandle, int digitalSourceHandle,
- int analogTriggerType);
+ public static native void setCounterUpSource(
+ int counterHandle, int digitalSourceHandle, int analogTriggerType);
- public static native void setCounterUpSourceEdge(int counterHandle, boolean risingEdge,
- boolean fallingEdge);
+ public static native void setCounterUpSourceEdge(
+ int counterHandle, boolean risingEdge, boolean fallingEdge);
public static native void clearCounterUpSource(int counterHandle);
- public static native void setCounterDownSource(int counterHandle, int digitalSourceHandle,
- int analogTriggerType);
+ public static native void setCounterDownSource(
+ int counterHandle, int digitalSourceHandle, int analogTriggerType);
- public static native void setCounterDownSourceEdge(int counterHandle, boolean risingEdge,
- boolean fallingEdge);
+ public static native void setCounterDownSourceEdge(
+ int counterHandle, boolean risingEdge, boolean fallingEdge);
public static native void clearCounterDownSource(int counterHandle);
@@ -36,15 +33,13 @@
public static native void setCounterExternalDirectionMode(int counterHandle);
- public static native void setCounterSemiPeriodMode(int counterHandle,
- boolean highSemiPeriod);
+ public static native void setCounterSemiPeriodMode(int counterHandle, boolean highSemiPeriod);
public static native void setCounterPulseLengthMode(int counterHandle, double threshold);
public static native int getCounterSamplesToAverage(int counterHandle);
- public static native void setCounterSamplesToAverage(int counterHandle,
- int samplesToAverage);
+ public static native void setCounterSamplesToAverage(int counterHandle, int samplesToAverage);
public static native void resetCounter(int counterHandle);
@@ -60,6 +55,5 @@
public static native boolean getCounterDirection(int counterHandle);
- public static native void setCounterReverseDirection(int counterHandle,
- boolean reverseDirection);
+ public static native void setCounterReverseDirection(int counterHandle, boolean reverseDirection);
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java b/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
index ad83c3c..dab1aaf 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -17,8 +14,7 @@
public static native void setDIOSimDevice(int handle, int device);
- // TODO(Thad): Switch this to use boolean
- public static native void setDIO(int dioPortHandle, short value);
+ public static native void setDIO(int dioPortHandle, boolean value);
public static native void setDIODirection(int dioPortHandle, boolean input);
diff --git a/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java b/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java
new file mode 100644
index 0000000..21c06f1
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java
@@ -0,0 +1,57 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class DMAJNI extends JNIWrapper {
+ public static native int initialize();
+
+ public static native void free(int handle);
+
+ public static native void setPause(int handle, boolean pause);
+
+ public static native void setTimedTrigger(int handle, double periodSeconds);
+
+ public static native void setTimedTriggerCycles(int handle, int cycles);
+
+ public static native void addEncoder(int handle, int encoderHandle);
+
+ public static native void addEncoderPeriod(int handle, int encoderHandle);
+
+ public static native void addCounter(int handle, int counterHandle);
+
+ public static native void addCounterPeriod(int handle, int counterHandle);
+
+ public static native void addDigitalSource(int handle, int digitalSourceHandle);
+
+ public static native void addDutyCycle(int handle, int dutyCycleHandle);
+
+ public static native void addAnalogInput(int handle, int analogInputHandle);
+
+ public static native void addAveragedAnalogInput(int handle, int analogInputHandle);
+
+ public static native void addAnalogAccumulator(int handle, int analogInputHandle);
+
+ public static native int setExternalTrigger(
+ int handle, int digitalSourceHandle, int analogTriggerType, boolean rising, boolean falling);
+
+ public static native void clearSensors(int handle);
+
+ public static native void clearExternalTriggers(int handle);
+
+ public static native void startDMA(int handle, int queueDepth);
+
+ public static native void stopDMA(int handle);
+
+ // 0-21 channelOffsets
+ // 22: capture size
+ // 23: triggerChannels (bitflags)
+ // 24: remaining
+ // 25: read status
+ public static native long readDMA(
+ int handle, double timeoutSeconds, int[] buffer, int[] sampleStore);
+
+ public static native DMAJNISample.BaseStore getSensorReadData(int handle);
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java b/hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java
new file mode 100644
index 0000000..78a0e99
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java
@@ -0,0 +1,169 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+import java.util.HashMap;
+import java.util.Map;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class DMAJNISample {
+ private static final int kEnable_Accumulator0 = 8;
+ private static final int kEnable_Accumulator1 = 9;
+
+ static class BaseStore {
+ public final int m_valueType;
+ public final int m_index;
+
+ BaseStore(int valueType, int index) {
+ this.m_valueType = valueType;
+ this.m_index = index;
+ }
+ }
+
+ private final int[] m_dataBuffer = new int[100];
+ private final int[] m_storage = new int[100];
+ private long m_timeStamp;
+ private Map<Integer, BaseStore> m_propertyMap = new HashMap<>();
+
+ public int update(int dmaHandle, double timeoutSeconds) {
+ m_timeStamp = DMAJNI.readDMA(dmaHandle, timeoutSeconds, m_dataBuffer, m_storage);
+ return m_storage[25];
+ }
+
+ public int getCaptureSize() {
+ return m_storage[22];
+ }
+
+ public int getTriggerChannels() {
+ return m_storage[23];
+ }
+
+ public int getRemaining() {
+ return m_storage[24];
+ }
+
+ public long getTime() {
+ return m_timeStamp;
+ }
+
+ private BaseStore addSensorInternal(int handle) {
+ BaseStore sensorData = DMAJNI.getSensorReadData(handle);
+ m_propertyMap.put(handle, sensorData);
+ return sensorData;
+ }
+
+ public void addSensor(int handle) {
+ addSensorInternal(handle);
+ }
+
+ private int readValue(int valueType, int index) {
+ int offset = m_storage[valueType];
+ if (offset == -1) {
+ throw new RuntimeException("Resource not found in DMA capture");
+ }
+ return m_dataBuffer[offset + index];
+ }
+
+ public int getEncoder(int encoderHandle) {
+ BaseStore data = m_propertyMap.get(encoderHandle);
+ if (data == null) {
+ data = addSensorInternal(encoderHandle);
+ }
+ return readValue(data.m_valueType, data.m_index);
+ }
+
+ public int getEncoderPeriod(int encoderHandle) {
+ BaseStore data = m_propertyMap.get(encoderHandle);
+ if (data == null) {
+ data = addSensorInternal(encoderHandle);
+ }
+ // + 2 Hack, but needed to not have to call into JNI
+ return readValue(data.m_valueType + 2, data.m_index);
+ }
+
+ public int getCounter(int counterHandle) {
+ BaseStore data = m_propertyMap.get(counterHandle);
+ if (data == null) {
+ data = addSensorInternal(counterHandle);
+ }
+ return readValue(data.m_valueType, data.m_index);
+ }
+
+ public int getCounterPeriod(int counterHandle) {
+ BaseStore data = m_propertyMap.get(counterHandle);
+ if (data == null) {
+ data = addSensorInternal(counterHandle);
+ }
+ // Hack, but needed to not have to call into JNI
+ return readValue(data.m_valueType + 2, data.m_index);
+ }
+
+ public boolean getDigitalSource(int digitalSourceHandle) {
+ BaseStore data = m_propertyMap.get(digitalSourceHandle);
+ if (data == null) {
+ data = addSensorInternal(digitalSourceHandle);
+ }
+
+ int value = readValue(data.m_valueType, 0);
+
+ return ((value >> data.m_index) & 0x1) != 0;
+ }
+
+ public int getAnalogInput(int analogInputHandle) {
+ BaseStore data = m_propertyMap.get(analogInputHandle);
+ if (data == null) {
+ data = addSensorInternal(analogInputHandle);
+ }
+
+ int value = readValue(data.m_valueType, data.m_index / 2);
+ if ((data.m_index % 2) != 0) {
+ return (value >>> 16) & 0xFFFF;
+ } else {
+ return value & 0xFFFF;
+ }
+ }
+
+ public int getAnalogInputAveraged(int analogInputHandle) {
+ BaseStore data = m_propertyMap.get(analogInputHandle);
+ if (data == null) {
+ data = addSensorInternal(analogInputHandle);
+ }
+
+ // + 2 Hack, but needed to not have to call into JNI
+ int value = readValue(data.m_valueType + 2, data.m_index);
+ return value;
+ }
+
+ public void getAnalogAccumulator(int analogInputHandle, AccumulatorResult result) {
+ BaseStore data = m_propertyMap.get(analogInputHandle);
+ if (data == null) {
+ data = addSensorInternal(analogInputHandle);
+ }
+
+ if (data.m_index == 0) {
+ int val0 = readValue(kEnable_Accumulator0, 0);
+ int val1 = readValue(kEnable_Accumulator0, 1);
+ int val2 = readValue(kEnable_Accumulator0, 2);
+ result.count = val2;
+ result.value = ((long) val1 << 32) | val0;
+ } else if (data.m_index == 1) {
+ int val0 = readValue(kEnable_Accumulator1, 0);
+ int val1 = readValue(kEnable_Accumulator1, 1);
+ int val2 = readValue(kEnable_Accumulator1, 2);
+ result.count = val2;
+ result.value = ((long) val1 << 32) | val0;
+ } else {
+ throw new RuntimeException("Resource not found in DMA capture");
+ }
+ }
+
+ public int getDutyCycleOutput(int dutyCycleHandle) {
+ BaseStore data = m_propertyMap.get(dutyCycleHandle);
+ if (data == null) {
+ data = addSensorInternal(dutyCycleHandle);
+ }
+ return readValue(data.m_valueType, data.m_index);
+ }
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/DigitalGlitchFilterJNI.java b/hal/src/main/java/edu/wpi/first/hal/DigitalGlitchFilterJNI.java
index aa818cf..cf0a781 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DigitalGlitchFilterJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DigitalGlitchFilterJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
diff --git a/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java b/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
index f0f93e1..a1bba6f 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
@@ -1,19 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
public class DutyCycleJNI extends JNIWrapper {
public static native int initialize(int digitalSourceHandle, int analogTriggerType);
+
public static native void free(int handle);
public static native int getFrequency(int handle);
+
public static native double getOutput(int handle);
+
public static native int getOutputRaw(int handle);
+
public static native int getOutputScaleFactor(int handle);
@SuppressWarnings("AbbreviationAsWordInName")
diff --git a/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java b/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
index 40fa1c1..f67e3a5 100644
--- a/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
@@ -1,16 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
public class EncoderJNI extends JNIWrapper {
- public static native int initializeEncoder(int digitalSourceHandleA, int analogTriggerTypeA,
- int digitalSourceHandleB, int analogTriggerTypeB,
- boolean reverseDirection, int encodingType);
+ public static native int initializeEncoder(
+ int digitalSourceHandleA,
+ int analogTriggerTypeA,
+ int digitalSourceHandleB,
+ int analogTriggerTypeB,
+ boolean reverseDirection,
+ int encodingType);
public static native void freeEncoder(int encoderHandle);
@@ -40,16 +41,14 @@
public static native void setEncoderDistancePerPulse(int encoderHandle, double distancePerPulse);
- public static native void setEncoderReverseDirection(int encoderHandle,
- boolean reverseDirection);
+ public static native void setEncoderReverseDirection(int encoderHandle, boolean reverseDirection);
- public static native void setEncoderSamplesToAverage(int encoderHandle,
- int samplesToAverage);
+ public static native void setEncoderSamplesToAverage(int encoderHandle, int samplesToAverage);
public static native int getEncoderSamplesToAverage(int encoderHandle);
- public static native void setEncoderIndexSource(int encoderHandle, int digitalSourceHandle,
- int analogTriggerType, int indexingType);
+ public static native void setEncoderIndexSource(
+ int encoderHandle, int digitalSourceHandle, int analogTriggerType, int indexingType);
@SuppressWarnings("AbbreviationAsWordInName")
public static native int getEncoderFPGAIndex(int encoderHandle);
diff --git a/hal/src/main/java/edu/wpi/first/hal/HAL.java b/hal/src/main/java/edu/wpi/first/hal/HAL.java
index 5e07488..af97450 100644
--- a/hal/src/main/java/edu/wpi/first/hal/HAL.java
+++ b/hal/src/main/java/edu/wpi/first/hal/HAL.java
@@ -1,16 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
/**
- * JNI Wrapper for HAL<br>.
+ * JNI Wrapper for HAL<br>
+ * .
*/
@SuppressWarnings({"AbbreviationAsWordInName", "MethodName"})
public final class HAL extends JNIWrapper {
@@ -26,6 +26,97 @@
public static native void exitMain();
+ private static native void simPeriodicBeforeNative();
+
+ private static final List<Runnable> s_simPeriodicBefore = new ArrayList<>();
+
+ public static class SimPeriodicBeforeCallback implements AutoCloseable {
+ private SimPeriodicBeforeCallback(Runnable r) {
+ m_run = r;
+ }
+
+ @Override
+ public void close() {
+ synchronized (s_simPeriodicBefore) {
+ s_simPeriodicBefore.remove(m_run);
+ }
+ }
+
+ private final Runnable m_run;
+ }
+
+ /**
+ * Registers a callback to be run by IterativeRobotBase prior to the user's simulationPeriodic
+ * code.
+ *
+ * @param r runnable
+ * @return Callback object (must be retained for callback to stay active).
+ */
+ public static SimPeriodicBeforeCallback registerSimPeriodicBeforeCallback(Runnable r) {
+ synchronized (s_simPeriodicBefore) {
+ s_simPeriodicBefore.add(r);
+ }
+ return new SimPeriodicBeforeCallback(r);
+ }
+
+ /**
+ * Runs SimPeriodicBefore callbacks. IterativeRobotBase calls this prior to the user's
+ * simulationPeriodic code.
+ */
+ public static void simPeriodicBefore() {
+ simPeriodicBeforeNative();
+ synchronized (s_simPeriodicBefore) {
+ for (Runnable r : s_simPeriodicBefore) {
+ r.run();
+ }
+ }
+ }
+
+ private static native void simPeriodicAfterNative();
+
+ private static final List<Runnable> s_simPeriodicAfter = new ArrayList<>();
+
+ public static class SimPeriodicAfterCallback implements AutoCloseable {
+ private SimPeriodicAfterCallback(Runnable r) {
+ m_run = r;
+ }
+
+ @Override
+ public void close() {
+ synchronized (s_simPeriodicAfter) {
+ s_simPeriodicAfter.remove(m_run);
+ }
+ }
+
+ private final Runnable m_run;
+ }
+
+ /**
+ * Registers a callback to be run by IterativeRobotBase after the user's simulationPeriodic code.
+ *
+ * @param r runnable
+ * @return Callback object (must be retained for callback to stay active).
+ */
+ public static SimPeriodicAfterCallback registerSimPeriodicAfterCallback(Runnable r) {
+ synchronized (s_simPeriodicAfter) {
+ s_simPeriodicAfter.add(r);
+ }
+ return new SimPeriodicAfterCallback(r);
+ }
+
+ /**
+ * Runs SimPeriodicAfter callbacks. IterativeRobotBase calls this after the user's
+ * simulationPeriodic code.
+ */
+ public static void simPeriodicAfter() {
+ simPeriodicAfterNative();
+ synchronized (s_simPeriodicAfter) {
+ for (Runnable r : s_simPeriodicAfter) {
+ r.run();
+ }
+ }
+ }
+
public static native void observeUserProgramStarting();
public static native void observeUserProgramDisabled();
@@ -45,33 +136,38 @@
}
/**
- * Report the usage of a resource of interest. <br>
+ * Report the usage of a resource of interest.
*
* <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
* char*)</code>
*
- * @param resource one of the values in the tResourceType above (max value 51). <br>
- * @param instanceNumber an index that identifies the resource instance. <br>
- * @param context an optional additional context number for some cases (such as module
- * number). Set to 0 to omit. <br>
- * @param feature a string to be included describing features in use on a specific
- * resource. Setting the same resource more than once allows you to change
- * the feature string.
+ * @param resource one of the values in the tResourceType above (max value 51).
+ * @param instanceNumber an index that identifies the resource instance.
+ * @param context an optional additional context number for some cases (such as module number).
+ * Set to 0 to omit.
+ * @param feature a string to be included describing features in use on a specific resource.
+ * Setting the same resource more than once allows you to change the feature string.
+ * @return TODO
*/
public static native int report(int resource, int instanceNumber, int context, String feature);
public static native int nativeGetControlWord();
- @SuppressWarnings("JavadocMethod")
+ @SuppressWarnings("MissingJavadocMethod")
public static void getControlWord(ControlWord controlWord) {
int word = nativeGetControlWord();
- controlWord.update((word & 1) != 0, ((word >> 1) & 1) != 0, ((word >> 2) & 1) != 0,
- ((word >> 3) & 1) != 0, ((word >> 4) & 1) != 0, ((word >> 5) & 1) != 0);
+ controlWord.update(
+ (word & 1) != 0,
+ ((word >> 1) & 1) != 0,
+ ((word >> 2) & 1) != 0,
+ ((word >> 3) & 1) != 0,
+ ((word >> 4) & 1) != 0,
+ ((word >> 5) & 1) != 0);
}
private static native int nativeGetAllianceStation();
- @SuppressWarnings("JavadocMethod")
+ @SuppressWarnings("MissingJavadocMethod")
public static AllianceStationID getAllianceStation() {
switch (nativeGetAllianceStation()) {
case 0:
@@ -91,13 +187,13 @@
}
}
- @SuppressWarnings("JavadocMethod")
+ @SuppressWarnings("MissingJavadocMethod")
public static native boolean isNewControlData();
- @SuppressWarnings("JavadocMethod")
+ @SuppressWarnings("MissingJavadocMethod")
public static native void releaseDSMutex();
- @SuppressWarnings("JavadocMethod")
+ @SuppressWarnings("MissingJavadocMethod")
public static native boolean waitForDSDataTimeout(double timeout);
public static int kMaxJoystickAxes = 12;
@@ -109,8 +205,8 @@
public static native int getJoystickButtons(byte joystickNum, ByteBuffer count);
- public static native int setJoystickOutputs(byte joystickNum, int outputs, short leftRumble,
- short rightRumble);
+ public static native int setJoystickOutputs(
+ byte joystickNum, int outputs, short leftRumble, short rightRumble);
public static native int getJoystickIsXbox(byte joystickNum);
@@ -128,9 +224,14 @@
public static native int getMatchInfo(MatchInfoData info);
- public static native int sendError(boolean isError, int errorCode, boolean isLVCode,
- String details, String location, String callStack,
- boolean printMsg);
+ public static native int sendError(
+ boolean isError,
+ int errorCode,
+ boolean isLVCode,
+ String details,
+ String location,
+ String callStack,
+ boolean printMsg);
public static native int sendConsoleLine(String line);
@@ -138,7 +239,5 @@
public static native int getPort(byte channel);
- private HAL() {
-
- }
+ private HAL() {}
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/HALUtil.java b/hal/src/main/java/edu/wpi/first/hal/HALUtil.java
index 0e5fe21..4da20a2 100644
--- a/hal/src/main/java/edu/wpi/first/hal/HALUtil.java
+++ b/hal/src/main/java/edu/wpi/first/hal/HALUtil.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -18,6 +15,10 @@
public static final int NO_AVAILABLE_RESOURCES = -104;
public static final int PARAMETER_OUT_OF_RANGE = -1028;
+ public static final int RUNTIME_ROBORIO = 0;
+ public static final int RUNTIME_ROBORIO2 = 1;
+ public static final int RUNTIME_SIMULATION = 2;
+
public static native short getFPGAVersion();
public static native int getFPGARevision();
@@ -38,7 +39,5 @@
return getHALstrerror(getHALErrno());
}
- private HALUtil() {
-
- }
+ private HALUtil() {}
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/HALValue.java b/hal/src/main/java/edu/wpi/first/hal/HALValue.java
index 636af8f..ded57de 100644
--- a/hal/src/main/java/edu/wpi/first/hal/HALValue.java
+++ b/hal/src/main/java/edu/wpi/first/hal/HALValue.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -30,9 +27,7 @@
m_long = value;
}
- private HALValue() {
-
- }
+ private HALValue() {}
/**
* Get the type of the value.
@@ -44,7 +39,7 @@
}
/**
- * Get the value as a boolean. Does not perform type checking.
+ * Get the value as a boolean. Does not perform type checking.
*
* @return value contents
*/
@@ -53,7 +48,7 @@
}
/**
- * Get the value as a long. Does not perform type checking.
+ * Get the value as a long. Does not perform type checking.
*
* @return value contents
*/
@@ -62,7 +57,7 @@
}
/**
- * Get the value as a double. Does not perform type checking.
+ * Get the value as a double. Does not perform type checking.
*
* @return value contents
*/
@@ -71,7 +66,7 @@
}
/**
- * Get the native long value. Does not perform type checking.
+ * Get the native long value. Does not perform type checking.
*
* @return value contents
*/
@@ -80,7 +75,7 @@
}
/**
- * Get the native double value. Does not perform type checking.
+ * Get the native double value. Does not perform type checking.
*
* @return value contents
*/
@@ -152,15 +147,15 @@
*/
public static HALValue fromNative(int type, long value1, double value2) {
switch (type) {
- case 0x01:
+ case kBoolean:
return makeBoolean(value1 != 0);
- case 0x02:
+ case kDouble:
return makeDouble(value2);
- case 0x16:
+ case kEnum:
return makeEnum((int) value1);
- case 0x32:
+ case kInt:
return makeInt((int) value1);
- case 0x64:
+ case kLong:
return makeLong(value1);
default:
return makeUnassigned();
diff --git a/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java b/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
index 12a9af0..821c89b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -13,21 +10,30 @@
public class I2CJNI extends JNIWrapper {
public static native void i2CInitialize(int port);
- public static native int i2CTransaction(int port, byte address, ByteBuffer dataToSend,
- byte sendSize, ByteBuffer dataReceived, byte receiveSize);
+ public static native int i2CTransaction(
+ int port,
+ byte address,
+ ByteBuffer dataToSend,
+ byte sendSize,
+ ByteBuffer dataReceived,
+ byte receiveSize);
- public static native int i2CTransactionB(int port, byte address, byte[] dataToSend,
- byte sendSize, byte[] dataReceived, byte receiveSize);
+ public static native int i2CTransactionB(
+ int port,
+ byte address,
+ byte[] dataToSend,
+ byte sendSize,
+ byte[] dataReceived,
+ byte receiveSize);
public static native int i2CWrite(int port, byte address, ByteBuffer dataToSend, byte sendSize);
public static native int i2CWriteB(int port, byte address, byte[] dataToSend, byte sendSize);
- public static native int i2CRead(int port, byte address, ByteBuffer dataReceived,
- byte receiveSize);
+ public static native int i2CRead(
+ int port, byte address, ByteBuffer dataReceived, byte receiveSize);
- public static native int i2CReadB(int port, byte address, byte[] dataReceived,
- byte receiveSize);
+ public static native int i2CReadB(int port, byte address, byte[] dataReceived, byte receiveSize);
public static native void i2CClose(int port);
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java b/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
index e370d5b..a47a364 100644
--- a/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
@@ -1,43 +1,28 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
public class InterruptJNI extends JNIWrapper {
public static final int HalInvalidHandle = 0;
- public interface InterruptJNIHandlerFunction {
- void apply(int interruptAssertedMask, Object param);
- }
-
- public static native int initializeInterrupts(boolean watcher);
+ public static native int initializeInterrupts();
public static native void cleanInterrupts(int interruptHandle);
- public static native int waitForInterrupt(int interruptHandle, double timeout,
- boolean ignorePrevious);
-
- public static native void enableInterrupts(int interruptHandle);
-
- public static native void disableInterrupts(int interruptHandle);
+ public static native int waitForInterrupt(
+ int interruptHandle, double timeout, boolean ignorePrevious);
public static native long readInterruptRisingTimestamp(int interruptHandle);
public static native long readInterruptFallingTimestamp(int interruptHandle);
- public static native void requestInterrupts(int interruptHandle, int digitalSourceHandle,
- int analogTriggerType);
+ public static native void requestInterrupts(
+ int interruptHandle, int digitalSourceHandle, int analogTriggerType);
- public static native void attachInterruptHandler(int interruptHandle,
- InterruptJNIHandlerFunction handler,
- Object param);
-
- public static native void setInterruptUpSourceEdge(int interruptHandle, boolean risingEdge,
- boolean fallingEdge);
+ public static native void setInterruptUpSourceEdge(
+ int interruptHandle, boolean risingEdge, boolean fallingEdge);
public static native void releaseWaitingInterrupt(int interruptHandle);
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java b/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
index 63ad39f..b2b54da 100644
--- a/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
+++ b/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
@@ -1,20 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
+import edu.wpi.first.util.RuntimeLoader;
import java.io.IOException;
import java.util.concurrent.atomic.AtomicBoolean;
-import edu.wpi.first.wpiutil.RuntimeLoader;
-
-/**
- * Base class for all JNI wrappers.
- */
+/** Base class for all JNI wrappers. */
public class JNIWrapper {
static boolean libraryLoaded = false;
static RuntimeLoader<JNIWrapper> loader = null;
@@ -34,7 +28,9 @@
static {
if (Helper.getExtractOnStaticLoad()) {
try {
- loader = new RuntimeLoader<>("wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
+ loader =
+ new RuntimeLoader<>(
+ "wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
loader.loadLibrary();
} catch (IOException ex) {
ex.printStackTrace();
@@ -46,12 +42,16 @@
/**
* Force load the library.
+ *
+ * @throws IOException if the library load failed
*/
public static synchronized void forceLoad() throws IOException {
if (libraryLoaded) {
return;
}
- loader = new RuntimeLoader<>("wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
+ loader =
+ new RuntimeLoader<>(
+ "wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
loader.loadLibrary();
libraryLoaded = true;
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/MatchInfoData.java b/hal/src/main/java/edu/wpi/first/hal/MatchInfoData.java
index 2f11515..6737c58 100644
--- a/hal/src/main/java/edu/wpi/first/hal/MatchInfoData.java
+++ b/hal/src/main/java/edu/wpi/first/hal/MatchInfoData.java
@@ -1,52 +1,47 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
-/**
- * Structure for holding the match info data request.
- */
+/** Structure for holding the match info data request. */
public class MatchInfoData {
- /**
- * Stores the event name.
- */
+ /** Stores the event name. */
@SuppressWarnings("MemberName")
public String eventName = "";
- /**
- * Stores the game specific message.
- */
+ /** Stores the game specific message. */
@SuppressWarnings("MemberName")
public String gameSpecificMessage = "";
- /**
- * Stores the match number.
- */
+ /** Stores the match number. */
@SuppressWarnings("MemberName")
public int matchNumber;
- /**
- * Stores the replay number.
- */
+ /** Stores the replay number. */
@SuppressWarnings("MemberName")
public int replayNumber;
- /**
- * Stores the match type.
- */
+ /** Stores the match type. */
@SuppressWarnings("MemberName")
public int matchType;
/**
* Called from JNI to set the structure data.
+ *
+ * @param eventName Event name.
+ * @param gameSpecificMessage Game-specific message.
+ * @param matchNumber Match number.
+ * @param replayNumber Replay number.
+ * @param matchType Match type.
*/
- @SuppressWarnings("JavadocMethod")
- public void setData(String eventName, String gameSpecificMessage,
- int matchNumber, int replayNumber, int matchType) {
+ @SuppressWarnings("MissingJavadocMethod")
+ public void setData(
+ String eventName,
+ String gameSpecificMessage,
+ int matchNumber,
+ int replayNumber,
+ int matchType) {
this.eventName = eventName;
this.gameSpecificMessage = gameSpecificMessage;
this.matchNumber = matchNumber;
diff --git a/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java b/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
index 000c7d6..c8f4eef 100644
--- a/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -16,38 +13,63 @@
public class NotifierJNI extends JNIWrapper {
/**
* Initializes the notifier.
+ *
+ * @return True on success.
*/
public static native int initializeNotifier();
/**
+ * Sets the HAL notifier thread priority.
+ *
+ * @param realTime Set to true to set a real-time priority, false for standard priority.
+ * @param priority Priority to set the thread to. For real-time, this is 1-99 with 99 being
+ * highest. For non-real-time, this is forced to 0. See "man 7 sched" for more details.
+ * @return True on success.
+ */
+ public static native boolean setHALThreadPriority(boolean realTime, int priority);
+
+ /**
* Sets the name of the notifier.
+ *
+ * @param notifierHandle Notifier handle.
+ * @param name Notifier name.
*/
public static native void setNotifierName(int notifierHandle, String name);
/**
- * Wakes up the waiter with time=0. Note: after this function is called, all
- * calls to waitForNotifierAlarm() will immediately start returning 0.
+ * Wakes up the waiter with time=0. Note: after this function is called, all calls to
+ * waitForNotifierAlarm() will immediately start returning 0.
+ *
+ * @param notifierHandle Notifier handle.
*/
public static native void stopNotifier(int notifierHandle);
/**
* Deletes the notifier object when we are done with it.
+ *
+ * @param notifierHandle Notifier handle.
*/
public static native void cleanNotifier(int notifierHandle);
/**
* Sets the notifier to wakeup the waiter in another triggerTime microseconds.
+ *
+ * @param notifierHandle Notifier handle.
+ * @param triggerTime Trigger time in microseconds.
*/
public static native void updateNotifierAlarm(int notifierHandle, long triggerTime);
/**
- * Cancels any pending wakeups set by updateNotifierAlarm(). Does NOT wake
- * up any waiters.
+ * Cancels any pending wakeups set by updateNotifierAlarm(). Does NOT wake up any waiters.
+ *
+ * @param notifierHandle Notifier handle.
*/
public static native void cancelNotifierAlarm(int notifierHandle);
/**
* Block until woken up by an alarm (or stop).
+ *
+ * @param notifierHandle Notifier handle.
* @return Time when woken up.
*/
public static native long waitForNotifierAlarm(int notifierHandle);
diff --git a/hal/src/main/java/edu/wpi/first/hal/PDPJNI.java b/hal/src/main/java/edu/wpi/first/hal/PDPJNI.java
deleted file mode 100644
index e2d7fcc..0000000
--- a/hal/src/main/java/edu/wpi/first/hal/PDPJNI.java
+++ /dev/null
@@ -1,35 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.hal;
-
-@SuppressWarnings("AbbreviationAsWordInName")
-public class PDPJNI extends JNIWrapper {
- public static native int initializePDP(int module);
-
- public static native boolean checkPDPModule(int module);
-
- public static native boolean checkPDPChannel(int channel);
-
- public static native double getPDPTemperature(int handle);
-
- public static native double getPDPVoltage(int handle);
-
- public static native double getPDPChannelCurrent(byte channel, int handle);
-
- public static native void getPDPAllCurrents(int handle, double[] currents);
-
- public static native double getPDPTotalCurrent(int handle);
-
- public static native double getPDPTotalPower(int handle);
-
- public static native double getPDPTotalEnergy(int handle);
-
- public static native void resetPDPTotalEnergy(int handle);
-
- public static native void clearPDPStickyFaults(int handle);
-}
diff --git a/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java b/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java
index d29b0df..e64d6da 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
-/**
- * Structure for holding the config data result for PWM.
- */
+/** Structure for holding the config data result for PWM. */
public class PWMConfigDataResult {
PWMConfigDataResult(int max, int deadbandMax, int center, int deadbandMin, int min) {
this.max = max;
@@ -19,33 +14,23 @@
this.min = min;
}
- /**
- * The maximum PWM value.
- */
+ /** The maximum PWM value. */
@SuppressWarnings("MemberName")
public int max;
- /**
- * The deadband maximum PWM value.
- */
+ /** The deadband maximum PWM value. */
@SuppressWarnings("MemberName")
public int deadbandMax;
- /**
- * The center PWM value.
- */
+ /** The center PWM value. */
@SuppressWarnings("MemberName")
public int center;
- /**
- * The deadband minimum PWM value.
- */
+ /** The deadband minimum PWM value. */
@SuppressWarnings("MemberName")
public int deadbandMin;
- /**
- * The minimum PWM value.
- */
+ /** The minimum PWM value. */
@SuppressWarnings("MemberName")
public int min;
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java b/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
index 3af6f96..946ad07 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -15,13 +12,21 @@
public static native void freePWMPort(int pwmPortHandle);
- public static native void setPWMConfigRaw(int pwmPortHandle, int maxPwm,
- int deadbandMaxPwm, int centerPwm,
- int deadbandMinPwm, int minPwm);
+ public static native void setPWMConfigRaw(
+ int pwmPortHandle,
+ int maxPwm,
+ int deadbandMaxPwm,
+ int centerPwm,
+ int deadbandMinPwm,
+ int minPwm);
- public static native void setPWMConfig(int pwmPortHandle, double maxPwm,
- double deadbandMaxPwm, double centerPwm,
- double deadbandMinPwm, double minPwm);
+ public static native void setPWMConfig(
+ int pwmPortHandle,
+ double maxPwm,
+ double deadbandMaxPwm,
+ double centerPwm,
+ double deadbandMinPwm,
+ double minPwm);
public static native PWMConfigDataResult getPWMConfigRaw(int pwmPortHandle);
@@ -41,7 +46,7 @@
public static native double getPWMPosition(int pwmPortHandle);
- public static native void setPWMDisabled(int pwmPortHandle);
+ public static native void setPWMDisabled(int pwmPortHandle);
public static native void latchPWMZero(int pwmPortHandle);
diff --git a/hal/src/main/java/edu/wpi/first/hal/PortsJNI.java b/hal/src/main/java/edu/wpi/first/hal/PortsJNI.java
index a2ac60b..6a06ff9 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PortsJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PortsJNI.java
@@ -1,12 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
+@SuppressWarnings("AbbreviationAsWordInName")
public class PortsJNI extends JNIWrapper {
public static native int getNumAccumulators();
@@ -36,11 +34,19 @@
public static native int getNumRelayHeaders();
- public static native int getNumPCMModules();
+ public static native int getNumCTREPCMModules();
- public static native int getNumSolenoidChannels();
+ public static native int getNumCTRESolenoidChannels();
- public static native int getNumPDPModules();
+ public static native int getNumCTREPDPModules();
- public static native int getNumPDPChannels();
+ public static native int getNumCTREPDPChannels();
+
+ public static native int getNumREVPDHModules();
+
+ public static native int getNumREVPDHChannels();
+
+ public static native int getNumREVPHModules();
+
+ public static native int getNumREVPHChannels();
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java b/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
new file mode 100644
index 0000000..b2ac61a
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
@@ -0,0 +1,49 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class PowerDistributionJNI extends JNIWrapper {
+ public static final int AUTOMATIC_TYPE = 0;
+ public static final int CTRE_TYPE = 1;
+ public static final int REV_TYPE = 2;
+ public static final int DEFAULT_MODULE = -1;
+
+ public static native int initialize(int module, int type);
+
+ public static native void free(int handle);
+
+ public static native int getModuleNumber(int handle);
+
+ public static native boolean checkModule(int module, int type);
+
+ public static native boolean checkChannel(int handle, int channel);
+
+ public static native int getType(int handle);
+
+ public static native int getNumChannels(int handle);
+
+ public static native double getTemperature(int handle);
+
+ public static native double getVoltage(int handle);
+
+ public static native double getChannelCurrent(int handle, int channel);
+
+ public static native void getAllCurrents(int handle, double[] currents);
+
+ public static native double getTotalCurrent(int handle);
+
+ public static native double getTotalPower(int handle);
+
+ public static native double getTotalEnergy(int handle);
+
+ public static native void resetTotalEnergy(int handle);
+
+ public static native void clearStickyFaults(int handle);
+
+ public static native boolean getSwitchableChannel(int handle);
+
+ public static native void setSwitchableChannel(int handle, boolean enabled);
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/PowerJNI.java b/hal/src/main/java/edu/wpi/first/hal/PowerJNI.java
index 7a0a376..0bea6ed 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PowerJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PowerJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -35,4 +32,8 @@
public static native boolean getUserActive3V3();
public static native int getUserCurrentFaults3V3();
+
+ public static native void setBrownoutVoltage(double voltage);
+
+ public static native double getBrownoutVoltage();
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java b/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
new file mode 100644
index 0000000..a164106
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
@@ -0,0 +1,32 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHJNI extends JNIWrapper {
+ public static native int initialize(int module);
+
+ public static native void free(int handle);
+
+ public static native boolean checkSolenoidChannel(int channel);
+
+ public static native boolean getCompressor(int handle);
+
+ public static native void setClosedLoopControl(int handle, boolean enabled);
+
+ public static native boolean getClosedLoopControl(int handle);
+
+ public static native boolean getPressureSwitch(int handle);
+
+ public static native double getAnalogPressure(int handle, int channel);
+
+ public static native double getCompressorCurrent(int handle);
+
+ public static native int getSolenoids(int handle);
+
+ public static native void setSolenoids(int handle, int mask, int values);
+
+ public static native void fireOneShot(int handle, int index, int durMs);
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/RelayJNI.java b/hal/src/main/java/edu/wpi/first/hal/RelayJNI.java
index 1b507dc..eee2854 100644
--- a/hal/src/main/java/edu/wpi/first/hal/RelayJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/RelayJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
diff --git a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
index c203213..05ac08a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
@@ -13,11 +10,11 @@
public class SPIJNI extends JNIWrapper {
public static native void spiInitialize(int port);
- public static native int spiTransaction(int port, ByteBuffer dataToSend,
- ByteBuffer dataReceived, byte size);
+ public static native int spiTransaction(
+ int port, ByteBuffer dataToSend, ByteBuffer dataReceived, byte size);
- public static native int spiTransactionB(int port, byte[] dataToSend,
- byte[] dataReceived, byte size);
+ public static native int spiTransactionB(
+ int port, byte[] dataToSend, byte[] dataReceived, byte size);
public static native int spiWrite(int port, ByteBuffer dataToSend, byte sendSize);
@@ -31,8 +28,8 @@
public static native void spiSetSpeed(int port, int speed);
- public static native void spiSetOpts(int port, int msbFirst, int sampleOnTrailing,
- int clkIdleHigh);
+ public static native void spiSetOpts(
+ int port, int msbFirst, int sampleOnTrailing, int clkIdleHigh);
public static native void spiSetChipSelectActiveHigh(int port);
@@ -44,9 +41,12 @@
public static native void spiStartAutoRate(int port, double period);
- public static native void spiStartAutoTrigger(int port, int digitalSourceHandle,
- int analogTriggerType, boolean triggerRising,
- boolean triggerFalling);
+ public static native void spiStartAutoTrigger(
+ int port,
+ int digitalSourceHandle,
+ int analogTriggerType,
+ boolean triggerRising,
+ boolean triggerFalling);
public static native void spiStopAuto(int port);
@@ -54,13 +54,14 @@
public static native void spiForceAutoRead(int port);
- public static native int spiReadAutoReceivedData(int port, ByteBuffer buffer, int numToRead,
- double timeout);
+ public static native int spiReadAutoReceivedData(
+ int port, ByteBuffer buffer, int numToRead, double timeout);
- public static native int spiReadAutoReceivedData(int port, int[] buffer, int numToRead,
- double timeout);
+ public static native int spiReadAutoReceivedData(
+ int port, int[] buffer, int numToRead, double timeout);
public static native int spiGetAutoDroppedCount(int port);
- public static native void spiConfigureAutoStall(int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
+ public static native void spiConfigureAutoStall(
+ int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java b/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java
index 267947b..ee9464e 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java b/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java
index 00e8552..3f4c257 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
-/**
- * A wrapper around a simulator boolean value handle.
- */
+/** A wrapper around a simulator boolean value handle. */
public class SimBoolean extends SimValue {
/**
* Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueBoolean().
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimDevice.java b/hal/src/main/java/edu/wpi/first/hal/SimDevice.java
index ecddc2e..67c39fe 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimDevice.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimDevice.java
@@ -1,23 +1,39 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
/**
* A wrapper around a simulator device handle.
+ *
+ * <p>Teams: if you are using this class, you are likely confusing it for {@link
+ * edu.wpi.first.wpilibj.simulation.SimDeviceSim}.
+ *
+ * <p>Vendors: This class should be used from inside the device class to define the
+ * properties/fields of the device. Use {@link #create} to get a SimDevice object, then use {@link
+ * #createDouble(String, Direction, double)} or similar to define the device's fields. See {@link
+ * edu.wpi.first.wpilibj.ADXRS450_Gyro} for an example implementation.
*/
public class SimDevice implements AutoCloseable {
+ public enum Direction {
+ kInput(SimDeviceJNI.kInput),
+ kOutput(SimDeviceJNI.kOutput),
+ kBidir(SimDeviceJNI.kBidir);
+
+ public final int m_value;
+
+ Direction(int value) {
+ m_value = value;
+ }
+ }
+
/**
* Creates a simulated device.
*
- * <p>The device name must be unique. Returns null if the device name
- * already exists. If multiple instances of the same device are desired,
- * recommend appending the instance/unique identifer in brackets to the base
- * name, e.g. "device[1]".
+ * <p>The device name must be unique. Returns null if the device name already exists. If multiple
+ * instances of the same device are desired, recommend appending the instance/unique identifer in
+ * brackets to the base name, e.g. "device[1]".
*
* <p>null is returned if not in simulation.
*
@@ -35,10 +51,9 @@
/**
* Creates a simulated device.
*
- * <p>The device name must be unique. Returns null if the device name
- * already exists. This is a convenience method that appends index in
- * brackets to the device name, e.g. passing index=1 results in "device[1]"
- * for the device name.
+ * <p>The device name must be unique. Returns null if the device name already exists. This is a
+ * convenience method that appends index in brackets to the device name, e.g. passing index=1
+ * results in "device[1]" for the device name.
*
* <p>null is returned if not in simulation.
*
@@ -53,10 +68,9 @@
/**
* Creates a simulated device.
*
- * <p>The device name must be unique. Returns null if the device name
- * already exists. This is a convenience method that appends index and
- * channel in brackets to the device name, e.g. passing index=1 and channel=2
- * results in "device[1,2]" for the device name.
+ * <p>The device name must be unique. Returns null if the device name already exists. This is a
+ * convenience method that appends index and channel in brackets to the device name, e.g. passing
+ * index=1 and channel=2 results in "device[1,2]" for the device name.
*
* <p>null is returned if not in simulation.
*
@@ -101,9 +115,25 @@
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated value object
+ * @deprecated Use direction function instead
*/
+ @Deprecated
public SimValue createValue(String name, boolean readonly, HALValue initialValue) {
- int handle = SimDeviceJNI.createSimValue(m_handle, name, readonly, initialValue);
+ return createValue(name, readonly ? Direction.kOutput : Direction.kInput, initialValue);
+ }
+
+ /**
+ * Creates a value on the simulated device.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value object
+ */
+ public SimValue createValue(String name, Direction direction, HALValue initialValue) {
+ int handle = SimDeviceJNI.createSimValue(m_handle, name, direction.m_value, initialValue);
if (handle <= 0) {
return null;
}
@@ -111,6 +141,42 @@
}
/**
+ * Creates an int value on the simulated device.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated double value object
+ */
+ public SimInt createInt(String name, Direction direction, int initialValue) {
+ int handle = SimDeviceJNI.createSimValueInt(m_handle, name, direction.m_value, initialValue);
+ if (handle <= 0) {
+ return null;
+ }
+ return new SimInt(handle);
+ }
+
+ /**
+ * Creates a long value on the simulated device.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated double value object
+ */
+ public SimLong createLong(String name, Direction direction, long initialValue) {
+ int handle = SimDeviceJNI.createSimValueLong(m_handle, name, direction.m_value, initialValue);
+ if (handle <= 0) {
+ return null;
+ }
+ return new SimLong(handle);
+ }
+
+ /**
* Creates a double value on the simulated device.
*
* <p>Returns null if not in simulation.
@@ -119,9 +185,25 @@
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated double value object
+ * @deprecated Use direction function instead
*/
+ @Deprecated
public SimDouble createDouble(String name, boolean readonly, double initialValue) {
- int handle = SimDeviceJNI.createSimValueDouble(m_handle, name, readonly, initialValue);
+ return createDouble(name, readonly ? Direction.kOutput : Direction.kInput, initialValue);
+ }
+
+ /**
+ * Creates a double value on the simulated device.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated double value object
+ */
+ public SimDouble createDouble(String name, Direction direction, double initialValue) {
+ int handle = SimDeviceJNI.createSimValueDouble(m_handle, name, direction.m_value, initialValue);
if (handle <= 0) {
return null;
}
@@ -140,9 +222,54 @@
* @param options array of option descriptions
* @param initialValue initial value (selection)
* @return simulated enum value object
+ * @deprecated Use direction function instead
*/
+ @Deprecated
public SimEnum createEnum(String name, boolean readonly, String[] options, int initialValue) {
- int handle = SimDeviceJNI.createSimValueEnum(m_handle, name, readonly, options, initialValue);
+ return createEnum(name, readonly ? Direction.kOutput : Direction.kInput, options, initialValue);
+ }
+
+ /**
+ * Creates an enumerated value on the simulated device.
+ *
+ * <p>Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param options array of option descriptions
+ * @param initialValue initial value (selection)
+ * @return simulated enum value object
+ */
+ public SimEnum createEnum(String name, Direction direction, String[] options, int initialValue) {
+ int handle =
+ SimDeviceJNI.createSimValueEnum(m_handle, name, direction.m_value, options, initialValue);
+ if (handle <= 0) {
+ return null;
+ }
+ return new SimEnum(handle);
+ }
+
+ /**
+ * Creates an enumerated value on the simulated device with double values.
+ *
+ * <p>Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param options array of option descriptions
+ * @param optionValues array of option values (must be the same size as options)
+ * @param initialValue initial value (selection)
+ * @return simulated enum value object
+ */
+ public SimEnum createEnumDouble(
+ String name, Direction direction, String[] options, double[] optionValues, int initialValue) {
+ int handle =
+ SimDeviceJNI.createSimValueEnumDouble(
+ m_handle, name, direction.m_value, options, optionValues, initialValue);
if (handle <= 0) {
return null;
}
@@ -158,9 +285,26 @@
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated boolean value object
+ * @deprecated Use direction function instead
*/
+ @Deprecated
public SimBoolean createBoolean(String name, boolean readonly, boolean initialValue) {
- int handle = SimDeviceJNI.createSimValueBoolean(m_handle, name, readonly, initialValue);
+ return createBoolean(name, readonly ? Direction.kOutput : Direction.kInput, initialValue);
+ }
+
+ /**
+ * Creates a boolean value on the simulated device.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated boolean value object
+ */
+ public SimBoolean createBoolean(String name, Direction direction, boolean initialValue) {
+ int handle =
+ SimDeviceJNI.createSimValueBoolean(m_handle, name, direction.m_value, initialValue);
if (handle <= 0) {
return null;
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java b/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
index d9b8931..4279916 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
@@ -1,20 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
public class SimDeviceJNI extends JNIWrapper {
+ public static final int kInput = 0;
+ public static final int kOutput = 1;
+ public static final int kBidir = 2;
+
/**
* Creates a simulated device.
*
- * <p>The device name must be unique. 0 is returned if the device name
- * already exists. If multiple instances of the same device are desired,
- * recommend appending the instance/unique identifer in brackets to the base
- * name, e.g. "device[1]".
+ * <p>The device name must be unique. 0 is returned if the device name already exists. If multiple
+ * instances of the same device are desired, recommend appending the instance/unique identifer in
+ * brackets to the base name, e.g. "device[1]".
*
* <p>0 is returned if not in simulation.
*
@@ -26,49 +26,124 @@
/**
* Frees a simulated device.
*
- * <p>This also allows the same device name to be used again.
- * This also frees all the simulated values created on the device.
+ * <p>This also allows the same device name to be used again. This also frees all the simulated
+ * values created on the device.
*
* @param handle simulated device handle
*/
public static native void freeSimDevice(int handle);
- private static native int createSimValueNative(int device, String name, boolean readonly,
- int type, long value1, double value2);
+ private static native int createSimValueNative(
+ int device, String name, int direction, int type, long value1, double value2);
/**
* Creates a value on a simulated device.
*
- * <p>Returns 0 if not in simulation; this can be used to avoid calls
- * to Set/Get functions.
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated value handle
+ * @deprecated Use direction-taking function instead
*/
- public static int createSimValue(int device, String name, boolean readonly,
- HALValue initialValue) {
- return createSimValueNative(device, name, readonly, initialValue.getType(),
- initialValue.getNativeLong(), initialValue.getNativeDouble());
+ @Deprecated
+ public static int createSimValue(
+ int device, String name, boolean readonly, HALValue initialValue) {
+ return createSimValueNative(
+ device,
+ name,
+ readonly ? kOutput : kInput,
+ initialValue.getType(),
+ initialValue.getNativeLong(),
+ initialValue.getNativeDouble());
+ }
+
+ /**
+ * Creates a value on a simulated device.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+ public static int createSimValue(int device, String name, int direction, HALValue initialValue) {
+ return createSimValueNative(
+ device,
+ name,
+ direction,
+ initialValue.getType(),
+ initialValue.getNativeLong(),
+ initialValue.getNativeDouble());
+ }
+
+ /**
+ * Creates an int value on a simulated device.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+ public static int createSimValueInt(int device, String name, int direction, int initialValue) {
+ return createSimValueNative(device, name, direction, HALValue.kInt, initialValue, 0.0);
+ }
+
+ /**
+ * Creates a long value on a simulated device.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+ public static int createSimValueLong(int device, String name, int direction, long initialValue) {
+ return createSimValueNative(device, name, direction, HALValue.kLong, initialValue, 0.0);
}
/**
* Creates a double value on a simulated device.
*
- * <p>Returns 0 if not in simulation; this can be used to avoid calls
- * to Set/Get functions.
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated value handle
+ * @deprecated Use direction-taking function instead
*/
- public static int createSimValueDouble(int device, String name, boolean readonly,
- double initialValue) {
- return createSimValueNative(device, name, readonly, HALValue.kDouble, 0, initialValue);
+ @Deprecated
+ public static int createSimValueDouble(
+ int device, String name, boolean readonly, double initialValue) {
+ return createSimValueNative(
+ device, name, readonly ? kOutput : kInput, HALValue.kDouble, 0, initialValue);
+ }
+
+ /**
+ * Creates a double value on a simulated device.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+ public static int createSimValueDouble(
+ int device, String name, int direction, double initialValue) {
+ return createSimValueNative(device, name, direction, HALValue.kDouble, 0, initialValue);
}
/**
@@ -76,8 +151,7 @@
*
* <p>Enumerated values are always in the range 0 to numOptions-1.
*
- * <p>Returns 0 if not in simulation; this can be used to avoid calls
- * to Set/Get functions.
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
@@ -85,26 +159,88 @@
* @param options array of option descriptions
* @param initialValue initial value (selection)
* @return simulated value handle
+ * @deprecated Use direction-taking function instead
*/
- public static native int createSimValueEnum(int device, String name, boolean readonly,
- String[] options, int initialValue);
+ @Deprecated
+ public static int createSimValueEnum(
+ int device, String name, boolean readonly, String[] options, int initialValue) {
+ return createSimValueEnum(device, name, readonly ? kOutput : kInput, options, initialValue);
+ }
+
+ /**
+ * Creates an enumerated value on a simulated device.
+ *
+ * <p>Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param options array of option descriptions
+ * @param initialValue initial value (selection)
+ * @return simulated value handle
+ */
+ public static native int createSimValueEnum(
+ int device, String name, int direction, String[] options, int initialValue);
+
+ /**
+ * Creates an enumerated value on a simulated device with double values.
+ *
+ * <p>Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param options array of option descriptions
+ * @param optionValues array of option values (must be the same size as options)
+ * @param initialValue initial value (selection)
+ * @return simulated value handle
+ */
+ public static native int createSimValueEnumDouble(
+ int device,
+ String name,
+ int direction,
+ String[] options,
+ double[] optionValues,
+ int initialValue);
/**
* Creates a boolean value on a simulated device.
*
- * <p>Returns 0 if not in simulation; this can be used to avoid calls
- * to Set/Get functions.
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated value handle
+ * @deprecated Use direction-taking function instead
*/
- public static int createSimValueBoolean(int device, String name, boolean readonly,
- boolean initialValue) {
- return createSimValueNative(device, name, readonly, HALValue.kBoolean,
- initialValue ? 1 : 0, 0.0);
+ @Deprecated
+ public static int createSimValueBoolean(
+ int device, String name, boolean readonly, boolean initialValue) {
+ return createSimValueNative(
+ device, name, readonly ? kOutput : kInput, HALValue.kBoolean, initialValue ? 1 : 0, 0.0);
+ }
+
+ /**
+ * Creates a boolean value on a simulated device.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+ public static int createSimValueBoolean(
+ int device, String name, int direction, boolean initialValue) {
+ return createSimValueNative(
+ device, name, direction, HALValue.kBoolean, initialValue ? 1 : 0, 0.0);
}
/**
@@ -116,6 +252,22 @@
public static native HALValue getSimValue(int handle);
/**
+ * Gets a simulated value (int).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+ public static native int getSimValueInt(int handle);
+
+ /**
+ * Gets a simulated value (long).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+ public static native long getSimValueLong(int handle);
+
+ /**
* Gets a simulated value (double).
*
* @param handle simulated value handle
@@ -152,6 +304,26 @@
}
/**
+ * Sets a simulated value (int).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+ public static void setSimValueInt(int handle, int value) {
+ setSimValueNative(handle, HALValue.kInt, value, 0.0);
+ }
+
+ /**
+ * Sets a simulated value (long).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+ public static void setSimValueLong(int handle, long value) {
+ setSimValueNative(handle, HALValue.kLong, value, 0.0);
+ }
+
+ /**
* Sets a simulated value (double).
*
* @param handle simulated value handle
@@ -180,4 +352,13 @@
public static void setSimValueBoolean(int handle, boolean value) {
setSimValueNative(handle, HALValue.kBoolean, value ? 1 : 0, 0.0);
}
+
+ /**
+ * Resets a simulated double or integral value to 0. Has no effect on other value types. Use this
+ * instead of Set(0) for resetting incremental sensor values like encoder counts or gyro
+ * accumulated angle to ensure correct behavior in a distributed system (e.g. WebSockets).
+ *
+ * @param handle simulated value handle
+ */
+ public static native void resetSimValue(int handle);
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimDouble.java b/hal/src/main/java/edu/wpi/first/hal/SimDouble.java
index 51c9789..508208f 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimDouble.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimDouble.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
-/**
- * A wrapper around a simulator double value handle.
- */
+/** A wrapper around a simulator double value handle. */
public class SimDouble extends SimValue {
/**
* Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueDouble().
@@ -37,4 +32,13 @@
public void set(double value) {
SimDeviceJNI.setSimValueDouble(m_handle, value);
}
+
+ /**
+ * Resets the simulated value to 0. Use this instead of Set(0) for resetting incremental sensor
+ * values like encoder counts or gyro accumulated angle to ensure correct behavior in a
+ * distributed system (e.g. WebSockets).
+ */
+ public void reset() {
+ SimDeviceJNI.resetSimValue(m_handle);
+ }
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimEnum.java b/hal/src/main/java/edu/wpi/first/hal/SimEnum.java
index d951bed..78f963d 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimEnum.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimEnum.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
-/**
- * A wrapper around a simulator enum value handle.
- */
+/** A wrapper around a simulator enum value handle. */
public class SimEnum extends SimValue {
/**
* Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueEnum().
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimInt.java b/hal/src/main/java/edu/wpi/first/hal/SimInt.java
new file mode 100644
index 0000000..f2d30eb
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/SimInt.java
@@ -0,0 +1,44 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+/** A wrapper around a simulator int value handle. */
+public class SimInt extends SimValue {
+ /**
+ * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueInt().
+ *
+ * @param handle simulated value handle
+ */
+ public SimInt(int handle) {
+ super(handle);
+ }
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ public int get() {
+ return SimDeviceJNI.getSimValueInt(m_handle);
+ }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ public void set(int value) {
+ SimDeviceJNI.setSimValueInt(m_handle, value);
+ }
+
+ /**
+ * Resets the simulated value to 0. Use this instead of Set(0) for resetting incremental sensor
+ * values like encoder counts or gyro accumulated angle to ensure correct behavior in a
+ * distributed system (e.g. WebSockets).
+ */
+ public void reset() {
+ SimDeviceJNI.resetSimValue(m_handle);
+ }
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimLong.java b/hal/src/main/java/edu/wpi/first/hal/SimLong.java
new file mode 100644
index 0000000..80ad963
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/SimLong.java
@@ -0,0 +1,44 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+/** A wrapper around a simulator long value handle. */
+public class SimLong extends SimValue {
+ /**
+ * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueLong().
+ *
+ * @param handle simulated value handle
+ */
+ public SimLong(int handle) {
+ super(handle);
+ }
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ public long get() {
+ return SimDeviceJNI.getSimValueLong(m_handle);
+ }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ public void set(long value) {
+ SimDeviceJNI.setSimValueLong(m_handle, value);
+ }
+
+ /**
+ * Resets the simulated value to 0. Use this instead of Set(0) for resetting incremental sensor
+ * values like encoder counts or gyro accumulated angle to ensure correct behavior in a
+ * distributed system (e.g. WebSockets).
+ */
+ public void reset() {
+ SimDeviceJNI.resetSimValue(m_handle);
+ }
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimValue.java b/hal/src/main/java/edu/wpi/first/hal/SimValue.java
index 05d6b0c..a486981 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimValue.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimValue.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
-/**
- * A wrapper around a simulator value handle.
- */
+/** A wrapper around a simulator value handle. */
public class SimValue {
/**
* Wraps a simulated value handle as returned by SimDeviceJNI.createSimValue().
diff --git a/hal/src/main/java/edu/wpi/first/hal/SolenoidJNI.java b/hal/src/main/java/edu/wpi/first/hal/SolenoidJNI.java
deleted file mode 100644
index 66acbea..0000000
--- a/hal/src/main/java/edu/wpi/first/hal/SolenoidJNI.java
+++ /dev/null
@@ -1,36 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.hal;
-
-public class SolenoidJNI extends JNIWrapper {
- public static native int initializeSolenoidPort(int halPortHandle);
-
- public static native boolean checkSolenoidModule(int module);
-
- public static native boolean checkSolenoidChannel(int channel);
-
- public static native void freeSolenoidPort(int portHandle);
-
- public static native void setSolenoid(int portHandle, boolean on);
-
- public static native boolean getSolenoid(int portHandle);
-
- public static native int getAllSolenoids(int module);
-
- public static native int getPCMSolenoidBlackList(int module);
-
- public static native boolean getPCMSolenoidVoltageStickyFault(int module);
-
- public static native boolean getPCMSolenoidVoltageFault(int module);
-
- public static native void clearAllPCMStickyFaults(int module);
-
- public static native void setOneShotDuration(int portHandle, long durationMS);
-
- public static native void fireOneShot(int portHandle);
-}
diff --git a/hal/src/main/java/edu/wpi/first/hal/ThreadsJNI.java b/hal/src/main/java/edu/wpi/first/hal/ThreadsJNI.java
index e320eb5..c854e20 100644
--- a/hal/src/main/java/edu/wpi/first/hal/ThreadsJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/ThreadsJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal;
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java b/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
index dc089f8..3c0a4b9 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.can;
@@ -17,9 +14,10 @@
static final int ERR_CANSessionMux_NotAllowed = -44088;
static final int ERR_CANSessionMux_NotInitialized = -44089;
- @SuppressWarnings({"JavadocMethod", "PMD.CyclomaticComplexity"})
- public static void checkStatus(int status, int messageID) throws CANInvalidBufferException,
- CANMessageNotAllowedException, CANNotInitializedException, UncleanStatusException {
+ @SuppressWarnings("MissingJavadocMethod")
+ public static void checkStatus(int status, int messageID)
+ throws CANInvalidBufferException, CANMessageNotAllowedException, CANNotInitializedException,
+ UncleanStatusException {
switch (status) {
case NIRioStatus.kRioStatusSuccess:
// Everything is ok... don't throw.
@@ -41,7 +39,5 @@
}
}
- private CANExceptionFactory() {
-
- }
+ private CANExceptionFactory() {}
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANInvalidBufferException.java b/hal/src/main/java/edu/wpi/first/hal/can/CANInvalidBufferException.java
index 8ea718b..ef2fa0d 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANInvalidBufferException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANInvalidBufferException.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.can;
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java b/hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java
index 754157b..b4f344f 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java
@@ -1,17 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.can;
+import edu.wpi.first.hal.JNIWrapper;
import java.nio.ByteBuffer;
import java.nio.IntBuffer;
-import edu.wpi.first.hal.JNIWrapper;
-
@SuppressWarnings("AbbreviationAsWordInName")
public class CANJNI extends JNIWrapper {
public static final int CAN_SEND_PERIOD_NO_REPEAT = 0;
@@ -22,15 +18,13 @@
public static final int CAN_IS_FRAME_11BIT = 0x40000000;
@SuppressWarnings("MethodName")
- public static native void FRCNetCommCANSessionMuxSendMessage(int messageID,
- byte[] data,
- int periodMs);
+ public static native void FRCNetCommCANSessionMuxSendMessage(
+ int messageID, byte[] data, int periodMs);
@SuppressWarnings("MethodName")
public static native byte[] FRCNetCommCANSessionMuxReceiveMessage(
IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp);
-
@SuppressWarnings("MethodName")
- public static native void GetCANStatus(CANStatus status);
+ public static native void getCANStatus(CANStatus status);
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANMessageNotAllowedException.java b/hal/src/main/java/edu/wpi/first/hal/can/CANMessageNotAllowedException.java
index f4ba6a8..de7a70a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANMessageNotAllowedException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANMessageNotAllowedException.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.can;
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANMessageNotFoundException.java b/hal/src/main/java/edu/wpi/first/hal/can/CANMessageNotFoundException.java
index 0838691..39eab14 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANMessageNotFoundException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANMessageNotFoundException.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.can;
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANNotInitializedException.java b/hal/src/main/java/edu/wpi/first/hal/can/CANNotInitializedException.java
index 119b59d..30f139d 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANNotInitializedException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANNotInitializedException.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.can;
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANStatus.java b/hal/src/main/java/edu/wpi/first/hal/can/CANStatus.java
index 492d999..62df8e8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANStatus.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANStatus.java
@@ -1,49 +1,38 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.can;
-/**
- * Structure for holding the result of a CAN Status request.
- */
+/** Structure for holding the result of a CAN Status request. */
public class CANStatus {
- /**
- * The utilization of the CAN Bus.
- */
+ /** The utilization of the CAN Bus. */
@SuppressWarnings("MemberName")
public double percentBusUtilization;
- /**
- * The CAN Bus off count.
- */
+ /** The CAN Bus off count. */
@SuppressWarnings("MemberName")
public int busOffCount;
- /**
- * The CAN Bus TX full count.
- */
+ /** The CAN Bus TX full count. */
@SuppressWarnings("MemberName")
public int txFullCount;
- /**
- * The CAN Bus receive error count.
- */
+ /** The CAN Bus receive error count. */
@SuppressWarnings("MemberName")
public int receiveErrorCount;
- /**
- * The CAN Bus transmit error count.
- */
+ /** The CAN Bus transmit error count. */
@SuppressWarnings("MemberName")
public int transmitErrorCount;
- @SuppressWarnings("JavadocMethod")
- public void setStatus(double percentBusUtilization, int busOffCount, int txFullCount,
- int receiveErrorCount, int transmitErrorCount) {
+ @SuppressWarnings("MissingJavadocMethod")
+ public void setStatus(
+ double percentBusUtilization,
+ int busOffCount,
+ int txFullCount,
+ int receiveErrorCount,
+ int transmitErrorCount) {
this.percentBusUtilization = percentBusUtilization;
this.busOffCount = busOffCount;
this.txFullCount = txFullCount;
diff --git a/hal/src/main/java/edu/wpi/first/hal/communication/NIRioStatus.java b/hal/src/main/java/edu/wpi/first/hal/communication/NIRioStatus.java
index f49f34e..ad17a3e 100644
--- a/hal/src/main/java/edu/wpi/first/hal/communication/NIRioStatus.java
+++ b/hal/src/main/java/edu/wpi/first/hal/communication/NIRioStatus.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.communication;
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
index cb42c98..5ea3726 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
@@ -1,38 +1,55 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AccelerometerDataJNI extends JNIWrapper {
- public static native int registerActiveCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerActiveCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelActiveCallback(int index, int uid);
+
public static native boolean getActive(int index);
+
public static native void setActive(int index, boolean active);
- public static native int registerRangeCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerRangeCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelRangeCallback(int index, int uid);
+
public static native int getRange(int index);
+
public static native void setRange(int index, int range);
- public static native int registerXCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerXCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelXCallback(int index, int uid);
+
public static native double getX(int index);
+
public static native void setX(int index, double x);
- public static native int registerYCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerYCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelYCallback(int index, int uid);
+
public static native double getY(int index);
+
public static native void setY(int index, double y);
- public static native int registerZCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerZCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelZCallback(int index, int uid);
+
public static native double getZ(int index);
+
public static native void setZ(int index, double z);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
index 0aa4d47..8ba0e94 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
@@ -1,38 +1,54 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AddressableLEDDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
- public static native int registerOutputPortCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerOutputPortCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelOutputPortCallback(int index, int uid);
+
public static native int getOutputPort(int index);
+
public static native void setOutputPort(int index, int outputPort);
- public static native int registerLengthCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerLengthCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelLengthCallback(int index, int uid);
+
public static native int getLength(int index);
+
public static native void setLength(int index, int length);
- public static native int registerRunningCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerRunningCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelRunningCallback(int index, int uid);
+
public static native boolean getRunning(int index);
+
public static native void setRunning(int index, boolean running);
public static native int registerDataCallback(int index, ConstBufferCallback callback);
+
public static native void cancelDataCallback(int index, int uid);
+
public static native byte[] getData(int index);
+
public static native void setData(int index, byte[] data);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
index 42cc508..a6acc9a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
@@ -1,28 +1,37 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AnalogGyroDataJNI extends JNIWrapper {
- public static native int registerAngleCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerAngleCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelAngleCallback(int index, int uid);
+
public static native double getAngle(int index);
+
public static native void setAngle(int index, double angle);
- public static native int registerRateCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerRateCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelRateCallback(int index, int uid);
+
public static native double getRate(int index);
+
public static native void setRate(int index, double rate);
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
index 3656ffa..4229c09 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
@@ -1,58 +1,91 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AnalogInDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
- public static native int registerAverageBitsCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerAverageBitsCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelAverageBitsCallback(int index, int uid);
+
public static native int getAverageBits(int index);
+
public static native void setAverageBits(int index, int averageBits);
- public static native int registerOversampleBitsCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerOversampleBitsCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelOversampleBitsCallback(int index, int uid);
+
public static native int getOversampleBits(int index);
+
public static native void setOversampleBits(int index, int oversampleBits);
- public static native int registerVoltageCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerVoltageCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelVoltageCallback(int index, int uid);
+
public static native double getVoltage(int index);
+
public static native void setVoltage(int index, double voltage);
- public static native int registerAccumulatorInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerAccumulatorInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelAccumulatorInitializedCallback(int index, int uid);
+
public static native boolean getAccumulatorInitialized(int index);
+
public static native void setAccumulatorInitialized(int index, boolean accumulatorInitialized);
- public static native int registerAccumulatorValueCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerAccumulatorValueCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelAccumulatorValueCallback(int index, int uid);
+
public static native long getAccumulatorValue(int index);
+
public static native void setAccumulatorValue(int index, long accumulatorValue);
- public static native int registerAccumulatorCountCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerAccumulatorCountCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelAccumulatorCountCallback(int index, int uid);
+
public static native long getAccumulatorCount(int index);
+
public static native void setAccumulatorCount(int index, long accumulatorCount);
- public static native int registerAccumulatorCenterCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerAccumulatorCenterCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelAccumulatorCenterCallback(int index, int uid);
+
public static native int getAccumulatorCenter(int index);
+
public static native void setAccumulatorCenter(int index, int AccumulatorCenter);
- public static native int registerAccumulatorDeadbandCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerAccumulatorDeadbandCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelAccumulatorDeadbandCallback(int index, int uid);
+
public static native int getAccumulatorDeadband(int index);
+
public static native void setAccumulatorDeadband(int index, int AccumulatorDeadband);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
index 23bc8ac..6af16a0 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
@@ -1,23 +1,28 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AnalogOutDataJNI extends JNIWrapper {
- public static native int registerVoltageCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerVoltageCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelVoltageCallback(int index, int uid);
+
public static native double getVoltage(int index);
+
public static native void setVoltage(int index, double voltage);
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
index ca89a28..67b65b5 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
@@ -1,28 +1,37 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AnalogTriggerDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
- public static native int registerTriggerLowerBoundCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerTriggerLowerBoundCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelTriggerLowerBoundCallback(int index, int uid);
+
public static native double getTriggerLowerBound(int index);
+
public static native void setTriggerLowerBound(int index, double triggerLowerBound);
- public static native int registerTriggerUpperBoundCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerTriggerUpperBoundCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelTriggerUpperBoundCallback(int index, int uid);
+
public static native double getTriggerUpperBound(int index);
+
public static native void setTriggerUpperBound(int index, double triggerUpperBound);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/BufferCallback.java b/hal/src/main/java/edu/wpi/first/hal/simulation/BufferCallback.java
index a8d8ce1..e93a921 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/BufferCallback.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/BufferCallback.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/CTREPCMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/CTREPCMDataJNI.java
new file mode 100644
index 0000000..9f60e7e
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/CTREPCMDataJNI.java
@@ -0,0 +1,72 @@
+// 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.
+
+package edu.wpi.first.hal.simulation;
+
+import edu.wpi.first.hal.JNIWrapper;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class CTREPCMDataJNI extends JNIWrapper {
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelInitializedCallback(int index, int uid);
+
+ public static native boolean getInitialized(int index);
+
+ public static native void setInitialized(int index, boolean initialized);
+
+ public static native int registerSolenoidOutputCallback(
+ int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelSolenoidOutputCallback(int index, int channel, int uid);
+
+ public static native boolean getSolenoidOutput(int index, int channel);
+
+ public static native void setSolenoidOutput(int index, int channel, boolean solenoidOutput);
+
+ public static native int registerCompressorOnCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelCompressorOnCallback(int index, int uid);
+
+ public static native boolean getCompressorOn(int index);
+
+ public static native void setCompressorOn(int index, boolean compressorOn);
+
+ public static native int registerClosedLoopEnabledCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelClosedLoopEnabledCallback(int index, int uid);
+
+ public static native boolean getClosedLoopEnabled(int index);
+
+ public static native void setClosedLoopEnabled(int index, boolean closeLoopEnabled);
+
+ public static native int registerPressureSwitchCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelPressureSwitchCallback(int index, int uid);
+
+ public static native boolean getPressureSwitch(int index);
+
+ public static native void setPressureSwitch(int index, boolean pressureSwitch);
+
+ public static native int registerCompressorCurrentCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelCompressorCurrentCallback(int index, int uid);
+
+ public static native double getCompressorCurrent(int index);
+
+ public static native void setCompressorCurrent(int index, double compressorCurrent);
+
+ public static native void registerAllNonSolenoidCallbacks(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void registerAllSolenoidCallbacks(
+ int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+ public static native void resetData(int index);
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/ConstBufferCallback.java b/hal/src/main/java/edu/wpi/first/hal/simulation/ConstBufferCallback.java
index 6cb2375..9e88ec3 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/ConstBufferCallback.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/ConstBufferCallback.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
index 5d41a2f..0c59415 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
@@ -1,38 +1,55 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class DIODataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
- public static native int registerValueCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerValueCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelValueCallback(int index, int uid);
+
public static native boolean getValue(int index);
+
public static native void setValue(int index, boolean value);
- public static native int registerPulseLengthCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerPulseLengthCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelPulseLengthCallback(int index, int uid);
+
public static native double getPulseLength(int index);
+
public static native void setPulseLength(int index, double pulseLength);
- public static native int registerIsInputCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerIsInputCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelIsInputCallback(int index, int uid);
+
public static native boolean getIsInput(int index);
+
public static native void setIsInput(int index, boolean isInput);
- public static native int registerFilterIndexCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerFilterIndexCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelFilterIndexCallback(int index, int uid);
+
public static native int getFilterIndex(int index);
+
public static native void setFilterIndex(int index, int filterIndex);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
index 4e2709f..addcffc 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
@@ -1,28 +1,37 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class DigitalPWMDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
- public static native int registerDutyCycleCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerDutyCycleCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelDutyCycleCallback(int index, int uid);
+
public static native double getDutyCycle(int index);
+
public static native void setDutyCycle(int index, double dutyCycle);
- public static native int registerPinCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerPinCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelPinCallback(int index, int uid);
+
public static native int getPin(int index);
+
public static native void setPin(int index, int pin);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
index a1046c5..196f017 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
@@ -11,76 +8,129 @@
public class DriverStationDataJNI extends JNIWrapper {
public static native int registerEnabledCallback(NotifyCallback callback, boolean initialNotify);
+
public static native void cancelEnabledCallback(int uid);
+
public static native boolean getEnabled();
+
public static native void setEnabled(boolean enabled);
- public static native int registerAutonomousCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerAutonomousCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelAutonomousCallback(int uid);
+
public static native boolean getAutonomous();
+
public static native void setAutonomous(boolean autonomous);
public static native int registerTestCallback(NotifyCallback callback, boolean initialNotify);
+
public static native void cancelTestCallback(int uid);
+
public static native boolean getTest();
+
public static native void setTest(boolean test);
public static native int registerEStopCallback(NotifyCallback callback, boolean initialNotify);
+
public static native void cancelEStopCallback(int uid);
+
public static native boolean getEStop();
+
public static native void setEStop(boolean eStop);
- public static native int registerFmsAttachedCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerFmsAttachedCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelFmsAttachedCallback(int uid);
+
public static native boolean getFmsAttached();
+
public static native void setFmsAttached(boolean fmsAttached);
- public static native int registerDsAttachedCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerDsAttachedCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelDsAttachedCallback(int uid);
+
public static native boolean getDsAttached();
+
public static native void setDsAttached(boolean dsAttached);
- public static native int registerAllianceStationIdCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerAllianceStationIdCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelAllianceStationIdCallback(int uid);
+
public static native int getAllianceStationId();
+
public static native void setAllianceStationId(int allianceStationId);
- public static native int registerMatchTimeCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerMatchTimeCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelMatchTimeCallback(int uid);
+
public static native double getMatchTime();
+
public static native void setMatchTime(double matchTime);
public static native void setJoystickAxes(byte joystickNum, float[] axesArray);
+
public static native void setJoystickPOVs(byte joystickNum, short[] povsArray);
+
public static native void setJoystickButtons(byte joystickNum, int buttons, int count);
+
public static native long getJoystickOutputs(int stick);
+
public static native int getJoystickRumble(int stick, int rumbleNum);
- public static native void setMatchInfo(String eventName, String gameSpecificMessage, int matchNumber, int replayNumber, int matchType);
+ public static native void setMatchInfo(
+ String eventName,
+ String gameSpecificMessage,
+ int matchNumber,
+ int replayNumber,
+ int matchType);
public static native void registerAllCallbacks(NotifyCallback callback, boolean initialNotify);
+
public static native void notifyNewData();
public static native void setSendError(boolean shouldSend);
+
public static native void setSendConsoleLine(boolean shouldSend);
public static native void setJoystickButton(int stick, int button, boolean state);
+
public static native void setJoystickAxis(int stick, int axis, double value);
+
public static native void setJoystickPOV(int stick, int pov, int value);
+
public static native void setJoystickButtonsValue(int stick, int buttons);
+
public static native void setJoystickAxisCount(int stick, int count);
+
public static native void setJoystickPOVCount(int stick, int count);
+
public static native void setJoystickButtonCount(int stick, int count);
public static native void setJoystickIsXbox(int stick, boolean isXbox);
+
public static native void setJoystickType(int stick, int type);
+
public static native void setJoystickName(int stick, String name);
+
public static native void setJoystickAxisType(int stick, int axis, int type);
public static native void setGameSpecificMessage(String message);
+
public static native void setEventName(String name);
+
public static native void setMatchType(int type);
+
public static native void setMatchNumber(int matchNumber);
+
public static native void setReplayNumber(int replayNumber);
public static native void resetData();
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
index 3228341..8f244ca 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
@@ -1,28 +1,37 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class DutyCycleDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
- public static native int registerFrequencyCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerFrequencyCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelFrequencyCallback(int index, int uid);
+
public static native int getFrequency(int index);
+
public static native void setFrequency(int index, int frequency);
- public static native int registerOutputCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerOutputCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelOutputCallback(int index, int uid);
+
public static native double getOutput(int index);
+
public static native void setOutput(int index, double output);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
index db78d3c..fc9d2e5 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
@@ -1,58 +1,90 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class EncoderDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
- public static native int registerCountCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerCountCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelCountCallback(int index, int uid);
+
public static native int getCount(int index);
+
public static native void setCount(int index, int count);
- public static native int registerPeriodCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerPeriodCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelPeriodCallback(int index, int uid);
+
public static native double getPeriod(int index);
+
public static native void setPeriod(int index, double period);
- public static native int registerResetCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerResetCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelResetCallback(int index, int uid);
+
public static native boolean getReset(int index);
+
public static native void setReset(int index, boolean reset);
- public static native int registerMaxPeriodCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerMaxPeriodCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelMaxPeriodCallback(int index, int uid);
+
public static native double getMaxPeriod(int index);
+
public static native void setMaxPeriod(int index, double maxPeriod);
- public static native int registerDirectionCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerDirectionCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelDirectionCallback(int index, int uid);
+
public static native boolean getDirection(int index);
+
public static native void setDirection(int index, boolean direction);
- public static native int registerReverseDirectionCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerReverseDirectionCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelReverseDirectionCallback(int index, int uid);
+
public static native boolean getReverseDirection(int index);
+
public static native void setReverseDirection(int index, boolean reverseDirection);
- public static native int registerSamplesToAverageCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerSamplesToAverageCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelSamplesToAverageCallback(int index, int uid);
+
public static native int getSamplesToAverage(int index);
+
public static native void setSamplesToAverage(int index, int samplesToAverage);
public static native void setDistance(int index, double distance);
+
public static native double getDistance(int index);
+
public static native void setRate(int index, double rate);
+
public static native double getRate(int index);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
index 8dbc9e6..ebe15eb 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
@@ -1,24 +1,27 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class I2CDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
public static native int registerReadCallback(int index, BufferCallback callback);
+
public static native void cancelReadCallback(int index, int uid);
public static native int registerWriteCallback(int index, ConstBufferCallback callback);
+
public static native void cancelWriteCallback(int index, int uid);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
index 823318c..9c7b0a2 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
@@ -11,5 +8,6 @@
public class NotifierDataJNI extends JNIWrapper {
public static native long getNextTimeout();
+
public static native int getNumNotifiers();
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/NotifyCallback.java b/hal/src/main/java/edu/wpi/first/hal/simulation/NotifyCallback.java
index 22ec015..55605b8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/NotifyCallback.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/NotifyCallback.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PCMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PCMDataJNI.java
deleted file mode 100644
index 6b72297..0000000
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/PCMDataJNI.java
+++ /dev/null
@@ -1,52 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.hal.simulation;
-
-import edu.wpi.first.hal.JNIWrapper;
-
-public class PCMDataJNI extends JNIWrapper {
- public static native int registerSolenoidInitializedCallback(int index, int channel, NotifyCallback callback, boolean initialNotify);
- public static native void cancelSolenoidInitializedCallback(int index, int channel, int uid);
- public static native boolean getSolenoidInitialized(int index, int channel);
- public static native void setSolenoidInitialized(int index, int channel, boolean solenoidInitialized);
-
- public static native int registerSolenoidOutputCallback(int index, int channel, NotifyCallback callback, boolean initialNotify);
- public static native void cancelSolenoidOutputCallback(int index, int channel, int uid);
- public static native boolean getSolenoidOutput(int index, int channel);
- public static native void setSolenoidOutput(int index, int channel, boolean solenoidOutput);
-
- public static native int registerCompressorInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
- public static native void cancelCompressorInitializedCallback(int index, int uid);
- public static native boolean getCompressorInitialized(int index);
- public static native void setCompressorInitialized(int index, boolean compressorInitialized);
-
- public static native int registerCompressorOnCallback(int index, NotifyCallback callback, boolean initialNotify);
- public static native void cancelCompressorOnCallback(int index, int uid);
- public static native boolean getCompressorOn(int index);
- public static native void setCompressorOn(int index, boolean compressorOn);
-
- public static native int registerClosedLoopEnabledCallback(int index, NotifyCallback callback, boolean initialNotify);
- public static native void cancelClosedLoopEnabledCallback(int index, int uid);
- public static native boolean getClosedLoopEnabled(int index);
- public static native void setClosedLoopEnabled(int index, boolean closeLoopEnabled);
-
- public static native int registerPressureSwitchCallback(int index, NotifyCallback callback, boolean initialNotify);
- public static native void cancelPressureSwitchCallback(int index, int uid);
- public static native boolean getPressureSwitch(int index);
- public static native void setPressureSwitch(int index, boolean pressureSwitch);
-
- public static native int registerCompressorCurrentCallback(int index, NotifyCallback callback, boolean initialNotify);
- public static native void cancelCompressorCurrentCallback(int index, int uid);
- public static native double getCompressorCurrent(int index);
- public static native void setCompressorCurrent(int index, double compressorCurrent);
-
- public static native void registerAllNonSolenoidCallbacks(int index, NotifyCallback callback, boolean initialNotify);
- public static native void registerAllSolenoidCallbacks(int index, int channel, NotifyCallback callback, boolean initialNotify);
-
- public static native void resetData(int index);
-}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PDPDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PDPDataJNI.java
deleted file mode 100644
index 8825f60..0000000
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/PDPDataJNI.java
+++ /dev/null
@@ -1,35 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.hal.simulation;
-
-import edu.wpi.first.hal.JNIWrapper;
-
-public class PDPDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
- public static native void cancelInitializedCallback(int index, int uid);
- public static native boolean getInitialized(int index);
- public static native void setInitialized(int index, boolean initialized);
-
- public static native int registerTemperatureCallback(int index, NotifyCallback callback, boolean initialNotify);
- public static native void cancelTemperatureCallback(int index, int uid);
- public static native double getTemperature(int index);
- public static native void setTemperature(int index, double temperature);
-
- public static native int registerVoltageCallback(int index, NotifyCallback callback, boolean initialNotify);
- public static native void cancelVoltageCallback(int index, int uid);
- public static native double getVoltage(int index);
- public static native void setVoltage(int index, double voltage);
-
-
- public static native int registerCurrentCallback(int index, int channel, NotifyCallback callback, boolean initialNotify);
- public static native void cancelCurrentCallback(int index, int channel, int uid);
- public static native double getCurrent(int index, int channel);
- public static native void setCurrent(int index, int channel, double current);
-
- public static native void resetData(int index);
-}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
index f44b56b..bf75398 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
@@ -1,43 +1,64 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class PWMDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
- public static native int registerRawValueCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerRawValueCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelRawValueCallback(int index, int uid);
+
public static native int getRawValue(int index);
+
public static native void setRawValue(int index, int rawValue);
- public static native int registerSpeedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerSpeedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelSpeedCallback(int index, int uid);
+
public static native double getSpeed(int index);
+
public static native void setSpeed(int index, double speed);
- public static native int registerPositionCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerPositionCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelPositionCallback(int index, int uid);
+
public static native double getPosition(int index);
+
public static native void setPosition(int index, double position);
- public static native int registerPeriodScaleCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerPeriodScaleCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelPeriodScaleCallback(int index, int uid);
+
public static native int getPeriodScale(int index);
+
public static native void setPeriodScale(int index, int periodScale);
- public static native int registerZeroLatchCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerZeroLatchCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelZeroLatchCallback(int index, int uid);
+
public static native boolean getZeroLatch(int index);
+
public static native void setZeroLatch(int index, boolean zeroLatch);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PowerDistributionDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PowerDistributionDataJNI.java
new file mode 100644
index 0000000..c17da13
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/PowerDistributionDataJNI.java
@@ -0,0 +1,47 @@
+// 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.
+
+package edu.wpi.first.hal.simulation;
+
+import edu.wpi.first.hal.JNIWrapper;
+
+public class PowerDistributionDataJNI extends JNIWrapper {
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelInitializedCallback(int index, int uid);
+
+ public static native boolean getInitialized(int index);
+
+ public static native void setInitialized(int index, boolean initialized);
+
+ public static native int registerTemperatureCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelTemperatureCallback(int index, int uid);
+
+ public static native double getTemperature(int index);
+
+ public static native void setTemperature(int index, double temperature);
+
+ public static native int registerVoltageCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelVoltageCallback(int index, int uid);
+
+ public static native double getVoltage(int index);
+
+ public static native void setVoltage(int index, double voltage);
+
+ public static native int registerCurrentCallback(
+ int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelCurrentCallback(int index, int channel, int uid);
+
+ public static native double getCurrent(int index, int channel);
+
+ public static native void setCurrent(int index, int channel, double current);
+
+ public static native void resetData(int index);
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java
new file mode 100644
index 0000000..b12fdcb
--- /dev/null
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java
@@ -0,0 +1,72 @@
+// 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.
+
+package edu.wpi.first.hal.simulation;
+
+import edu.wpi.first.hal.JNIWrapper;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHDataJNI extends JNIWrapper {
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelInitializedCallback(int index, int uid);
+
+ public static native boolean getInitialized(int index);
+
+ public static native void setInitialized(int index, boolean initialized);
+
+ public static native int registerSolenoidOutputCallback(
+ int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelSolenoidOutputCallback(int index, int channel, int uid);
+
+ public static native boolean getSolenoidOutput(int index, int channel);
+
+ public static native void setSolenoidOutput(int index, int channel, boolean solenoidOutput);
+
+ public static native int registerCompressorOnCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelCompressorOnCallback(int index, int uid);
+
+ public static native boolean getCompressorOn(int index);
+
+ public static native void setCompressorOn(int index, boolean compressorOn);
+
+ public static native int registerClosedLoopEnabledCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelClosedLoopEnabledCallback(int index, int uid);
+
+ public static native boolean getClosedLoopEnabled(int index);
+
+ public static native void setClosedLoopEnabled(int index, boolean closeLoopEnabled);
+
+ public static native int registerPressureSwitchCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelPressureSwitchCallback(int index, int uid);
+
+ public static native boolean getPressureSwitch(int index);
+
+ public static native void setPressureSwitch(int index, boolean pressureSwitch);
+
+ public static native int registerCompressorCurrentCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelCompressorCurrentCallback(int index, int uid);
+
+ public static native double getCompressorCurrent(int index);
+
+ public static native void setCompressorCurrent(int index, double compressorCurrent);
+
+ public static native void registerAllNonSolenoidCallbacks(
+ int index, NotifyCallback callback, boolean initialNotify);
+
+ public static native void registerAllSolenoidCallbacks(
+ int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+ public static native void resetData(int index);
+}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
index e7973a3..3b165e2 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
@@ -1,33 +1,46 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class RelayDataJNI extends JNIWrapper {
- public static native int registerInitializedForwardCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedForwardCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedForwardCallback(int index, int uid);
+
public static native boolean getInitializedForward(int index);
+
public static native void setInitializedForward(int index, boolean initializedForward);
- public static native int registerInitializedReverseCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedReverseCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedReverseCallback(int index, int uid);
+
public static native boolean getInitializedReverse(int index);
+
public static native void setInitializedReverse(int index, boolean initializedReverse);
- public static native int registerForwardCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerForwardCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelForwardCallback(int index, int uid);
+
public static native boolean getForward(int index);
+
public static native void setForward(int index, boolean forward);
- public static native int registerReverseCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerReverseCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelReverseCallback(int index, int uid);
+
public static native boolean getReverse(int index);
+
public static native void setReverse(int index, boolean reverse);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
index a95abfe..a822ede 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
@@ -1,89 +1,159 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class RoboRioDataJNI extends JNIWrapper {
- public static native int registerFPGAButtonCallback(NotifyCallback callback, boolean initialNotify);
+ @SuppressWarnings("AbbreviationAsWordInName")
+ public static native int registerFPGAButtonCallback(
+ NotifyCallback callback, boolean initialNotify);
+
+ @SuppressWarnings("AbbreviationAsWordInName")
public static native void cancelFPGAButtonCallback(int uid);
+
+ @SuppressWarnings("AbbreviationAsWordInName")
public static native boolean getFPGAButton();
+
+ @SuppressWarnings("AbbreviationAsWordInName")
public static native void setFPGAButton(boolean fPGAButton);
- public static native int registerVInVoltageCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerVInVoltageCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelVInVoltageCallback(int uid);
+
public static native double getVInVoltage();
+
public static native void setVInVoltage(double vInVoltage);
- public static native int registerVInCurrentCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerVInCurrentCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelVInCurrentCallback(int uid);
+
public static native double getVInCurrent();
+
public static native void setVInCurrent(double vInCurrent);
- public static native int registerUserVoltage6VCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserVoltage6VCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserVoltage6VCallback(int uid);
+
public static native double getUserVoltage6V();
+
public static native void setUserVoltage6V(double userVoltage6V);
- public static native int registerUserCurrent6VCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserCurrent6VCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserCurrent6VCallback(int uid);
+
public static native double getUserCurrent6V();
+
public static native void setUserCurrent6V(double userCurrent6V);
- public static native int registerUserActive6VCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserActive6VCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserActive6VCallback(int uid);
+
public static native boolean getUserActive6V();
+
public static native void setUserActive6V(boolean userActive6V);
- public static native int registerUserVoltage5VCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserVoltage5VCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserVoltage5VCallback(int uid);
+
public static native double getUserVoltage5V();
+
public static native void setUserVoltage5V(double userVoltage5V);
- public static native int registerUserCurrent5VCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserCurrent5VCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserCurrent5VCallback(int uid);
+
public static native double getUserCurrent5V();
+
public static native void setUserCurrent5V(double userCurrent5V);
- public static native int registerUserActive5VCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserActive5VCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserActive5VCallback(int uid);
+
public static native boolean getUserActive5V();
+
public static native void setUserActive5V(boolean userActive5V);
- public static native int registerUserVoltage3V3Callback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserVoltage3V3Callback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserVoltage3V3Callback(int uid);
+
public static native double getUserVoltage3V3();
+
public static native void setUserVoltage3V3(double userVoltage3V3);
- public static native int registerUserCurrent3V3Callback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserCurrent3V3Callback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserCurrent3V3Callback(int uid);
+
public static native double getUserCurrent3V3();
+
public static native void setUserCurrent3V3(double userCurrent3V3);
- public static native int registerUserActive3V3Callback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserActive3V3Callback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserActive3V3Callback(int uid);
+
public static native boolean getUserActive3V3();
+
public static native void setUserActive3V3(boolean userActive3V3);
- public static native int registerUserFaults6VCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserFaults6VCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserFaults6VCallback(int uid);
+
public static native int getUserFaults6V();
+
public static native void setUserFaults6V(int userFaults6V);
- public static native int registerUserFaults5VCallback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserFaults5VCallback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserFaults5VCallback(int uid);
+
public static native int getUserFaults5V();
+
public static native void setUserFaults5V(int userFaults5V);
- public static native int registerUserFaults3V3Callback(NotifyCallback callback, boolean initialNotify);
+ public static native int registerUserFaults3V3Callback(
+ NotifyCallback callback, boolean initialNotify);
+
public static native void cancelUserFaults3V3Callback(int uid);
+
public static native int getUserFaults3V3();
+
public static native void setUserFaults3V3(int userFaults3V3);
+ public static native int registerBrownoutVoltageCallback(
+ NotifyCallback callback, boolean initialNotify);
+
+ public static native void cancelBrownoutVoltageCallback(int uid);
+
+ public static native double getBrownoutVoltage();
+
+ public static native void setBrownoutVoltage(double brownoutVoltage);
+
public static native void resetData();
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
index 2e8ebae..9ceaad8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
@@ -1,38 +1,55 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class SPIAccelerometerDataJNI extends JNIWrapper {
- public static native int registerActiveCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerActiveCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelActiveCallback(int index, int uid);
+
public static native boolean getActive(int index);
+
public static native void setActive(int index, boolean active);
- public static native int registerRangeCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerRangeCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelRangeCallback(int index, int uid);
+
public static native int getRange(int index);
+
public static native void setRange(int index, int range);
- public static native int registerXCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerXCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelXCallback(int index, int uid);
+
public static native double getX(int index);
+
public static native void setX(int index, double x);
- public static native int registerYCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerYCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelYCallback(int index, int uid);
+
public static native double getY(int index);
+
public static native void setY(int index, double y);
- public static native int registerZCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerZCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelZCallback(int index, int uid);
+
public static native double getZ(int index);
+
public static native void setZ(int index, double z);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
index fd6b854..11b777e 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
@@ -1,27 +1,32 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class SPIDataJNI extends JNIWrapper {
- public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+ public static native int registerInitializedCallback(
+ int index, NotifyCallback callback, boolean initialNotify);
+
public static native void cancelInitializedCallback(int index, int uid);
+
public static native boolean getInitialized(int index);
+
public static native void setInitialized(int index, boolean initialized);
public static native int registerReadCallback(int index, BufferCallback callback);
+
public static native void cancelReadCallback(int index, int uid);
public static native int registerWriteCallback(int index, ConstBufferCallback callback);
+
public static native void cancelWriteCallback(int index, int uid);
- public static native int registerReadAutoReceiveBufferCallback(int index, SpiReadAutoReceiveBufferCallback callback);
+ public static native int registerReadAutoReceiveBufferCallback(
+ int index, SpiReadAutoReceiveBufferCallback callback);
+
public static native void cancelReadAutoReceiveBufferCallback(int index, int uid);
public static native void resetData(int index);
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceCallback.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceCallback.java
index 2390bf4..d9390ce 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceCallback.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceCallback.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
index ea2a9f6..ef6536a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
@@ -12,19 +9,27 @@
public class SimDeviceDataJNI extends JNIWrapper {
public static native void setSimDeviceEnabled(String prefix, boolean enabled);
+
public static native boolean isSimDeviceEnabled(String name);
- public static native int registerSimDeviceCreatedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify);
+ public static native int registerSimDeviceCreatedCallback(
+ String prefix, SimDeviceCallback callback, boolean initialNotify);
+
public static native void cancelSimDeviceCreatedCallback(int uid);
- public static native int registerSimDeviceFreedCallback(String prefix, SimDeviceCallback callback);
+ public static native int registerSimDeviceFreedCallback(
+ String prefix, SimDeviceCallback callback, boolean initialNotify);
+
public static native void cancelSimDeviceFreedCallback(int uid);
public static native int getSimDeviceHandle(String name);
+ public static native String getSimDeviceName(int handle);
+
public static native int getSimValueDeviceHandle(int handle);
public static class SimDeviceInfo {
+ @SuppressWarnings("JavadocMethod")
public SimDeviceInfo(String name, int handle) {
this.name = name;
this.handle = handle;
@@ -36,21 +41,43 @@
@SuppressWarnings("MemberName")
public int handle;
}
+
public static native SimDeviceInfo[] enumerateSimDevices(String prefix);
- public static native int registerSimValueCreatedCallback(int device, SimValueCallback callback, boolean initialNotify);
+ public static native int registerSimValueCreatedCallback(
+ int device, SimValueCallback callback, boolean initialNotify);
+
public static native void cancelSimValueCreatedCallback(int uid);
- public static native int registerSimValueChangedCallback(int handle, SimValueCallback callback, boolean initialNotify);
+ public static native int registerSimValueChangedCallback(
+ int handle, SimValueCallback callback, boolean initialNotify);
+
public static native void cancelSimValueChangedCallback(int uid);
+ /**
+ * Register a callback for SimDeviceJNI.resetSimValue(). The callback is called with the old
+ * value.
+ *
+ * @param handle simulated value handle
+ * @param callback callback
+ * @param initialNotify ignored (present for consistency)
+ * @return TODO
+ */
+ public static native int registerSimValueResetCallback(
+ int handle, SimValueCallback callback, boolean initialNotify);
+
+ public static native void cancelSimValueResetCallback(int uid);
+
public static native int getSimValueHandle(int device, String name);
public static class SimValueInfo {
- public SimValueInfo(String name, int handle, boolean readonly, int type, long value1, double value2) {
+ @SuppressWarnings("JavadocMethod")
+ public SimValueInfo(
+ String name, int handle, int direction, int type, long value1, double value2) {
this.name = name;
this.handle = handle;
- this.readonly = readonly;
+ this.readonly = direction == 1;
+ this.direction = direction;
this.value = HALValue.fromNative(type, value1, value2);
}
@@ -61,14 +88,21 @@
public int handle;
@SuppressWarnings("MemberName")
+ @Deprecated
public boolean readonly;
@SuppressWarnings("MemberName")
+ public int direction;
+
+ @SuppressWarnings("MemberName")
public HALValue value;
}
+
public static native SimValueInfo[] enumerateSimValues(int device);
public static native String[] getSimValueEnumOptions(int handle);
+ public static native double[] getSimValueEnumDoubleValues(int handle);
+
public static native void resetSimDeviceData();
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback.java
index d65ab38..4f9da94 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
@@ -11,9 +8,10 @@
@FunctionalInterface
public interface SimValueCallback {
- void callback(String name, int handle, boolean readonly, HALValue value);
+ void callback(String name, int handle, int direction, HALValue value);
- default void callbackNative(String name, int handle, boolean readonly, int type, long value1, double value2) {
- callback(name, handle, readonly, HALValue.fromNative(type, value1, value2));
+ default void callbackNative(
+ String name, int handle, int direction, int type, long value1, double value2) {
+ callback(name, handle, direction, HALValue.fromNative(type, value1, value2));
}
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
index 8147507..3dfeb06 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
@@ -11,14 +8,24 @@
public class SimulatorJNI extends JNIWrapper {
public static native void setRuntimeType(int type);
+
public static native void waitForProgramStart();
+
public static native void setProgramStarted();
+
public static native boolean getProgramStarted();
+
public static native void restartTiming();
+
public static native void pauseTiming();
+
public static native void resumeTiming();
+
public static native boolean isTimingPaused();
+
public static native void stepTiming(long delta);
+
public static native void stepTimingAsync(long delta);
+
public static native void resetHandles();
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SpiReadAutoReceiveBufferCallback.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SpiReadAutoReceiveBufferCallback.java
index 8061b5b..10dd0d2 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SpiReadAutoReceiveBufferCallback.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SpiReadAutoReceiveBufferCallback.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.simulation;
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/AllocationException.java b/hal/src/main/java/edu/wpi/first/hal/util/AllocationException.java
index 42e2059..e9f9a91 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/AllocationException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/AllocationException.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.util;
-/**
- * Exception indicating that the resource is already allocated.
- */
+/** Exception indicating that the resource is already allocated. */
@SuppressWarnings("serial")
public class AllocationException extends RuntimeException {
/**
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/BoundaryException.java b/hal/src/main/java/edu/wpi/first/hal/util/BoundaryException.java
index 8fef4c9..683980d 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/BoundaryException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/BoundaryException.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.util;
@@ -31,8 +28,8 @@
*/
public static void assertWithinBounds(double value, double lower, double upper) {
if (value < lower || value > upper) {
- throw new BoundaryException("Value must be between " + lower + " and " + upper + ", " + value
- + " given");
+ throw new BoundaryException(
+ "Value must be between " + lower + " and " + upper + ", " + value + " given");
}
}
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java b/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java
index d9a8a80..6155f17 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.util;
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/HalHandleException.java b/hal/src/main/java/edu/wpi/first/hal/util/HalHandleException.java
index a775ec4..65c11f5 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/HalHandleException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/HalHandleException.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.util;
-/**
- * Exception indicating that an error has occurred with a HAL Handle.
- */
+/** Exception indicating that an error has occurred with a HAL Handle. */
@SuppressWarnings("serial")
public class HalHandleException extends RuntimeException {
/**
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java b/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
index 3d6ab36..90650fc 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
package edu.wpi.first.hal.util;
-/**
- * Exception for bad status codes from the chip object.
- */
+/** Exception for bad status codes from the chip object. */
@SuppressWarnings("serial")
public final class UncleanStatusException extends IllegalStateException {
private final int m_statusCode;
@@ -17,7 +12,7 @@
/**
* Create a new UncleanStatusException.
*
- * @param status the status code that caused the exception
+ * @param status the status code that caused the exception
* @param message A message describing the exception
*/
public UncleanStatusException(int status, String message) {
@@ -43,9 +38,7 @@
this(-1, message);
}
- /**
- * Create a new UncleanStatusException.
- */
+ /** Create a new UncleanStatusException. */
public UncleanStatusException() {
this(-1, "Status code was non-zero");
}
diff --git a/hal/src/main/native/athena/Accelerometer.cpp b/hal/src/main/native/athena/Accelerometer.cpp
index bc4d502..73b1357 100644
--- a/hal/src/main/native/athena/Accelerometer.cpp
+++ b/hal/src/main/native/athena/Accelerometer.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Accelerometer.h"
@@ -78,11 +75,9 @@
kReg_OffZ = 0x31
};
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAccelerometer() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
namespace hal {
@@ -94,7 +89,7 @@
*/
static void initializeAccelerometer() {
hal::init::CheckInit();
- int32_t status;
+ int32_t status = 0;
if (!accel) {
accel.reset(tAccel::create(&status));
@@ -126,7 +121,8 @@
// Execute and wait until it's done (up to a millisecond)
initialTime = HAL_GetFPGATime(&status);
while (accel->readSTAT(&status) & 1) {
- if (HAL_GetFPGATime(&status) > initialTime + 1000) break;
+ if (HAL_GetFPGATime(&status) > initialTime + 1000)
+ break;
}
// Send a stop transmit/receive message with the data
@@ -137,7 +133,8 @@
// Execute and wait until it's done (up to a millisecond)
initialTime = HAL_GetFPGATime(&status);
while (accel->readSTAT(&status) & 1) {
- if (HAL_GetFPGATime(&status) > initialTime + 1000) break;
+ if (HAL_GetFPGATime(&status) > initialTime + 1000)
+ break;
}
}
@@ -154,7 +151,8 @@
// Execute and wait until it's done (up to a millisecond)
initialTime = HAL_GetFPGATime(&status);
while (accel->readSTAT(&status) & 1) {
- if (HAL_GetFPGATime(&status) > initialTime + 1000) break;
+ if (HAL_GetFPGATime(&status) > initialTime + 1000)
+ break;
}
// Receive a message with the data and stop
@@ -165,7 +163,8 @@
// Execute and wait until it's done (up to a millisecond)
initialTime = HAL_GetFPGATime(&status);
while (accel->readSTAT(&status) & 1) {
- if (HAL_GetFPGATime(&status) > initialTime + 1000) break;
+ if (HAL_GetFPGATime(&status) > initialTime + 1000)
+ break;
}
return accel->readDATI(&status);
diff --git a/hal/src/main/native/athena/AddressableLED.cpp b/hal/src/main/native/athena/AddressableLED.cpp
index 7334c99..74a323a 100644
--- a/hal/src/main/native/athena/AddressableLED.cpp
+++ b/hal/src/main/native/athena/AddressableLED.cpp
@@ -1,19 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AddressableLED.h"
#include <cstring>
#include <FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga_HMB.h>
+#include <fmt/format.h>
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/AddressableLEDTypes.h"
#include "hal/ChipObject.h"
@@ -35,8 +34,7 @@
HAL_AddressableLEDHandle, AddressableLED, kNumAddressableLEDs,
HAL_HandleEnum::AddressableLED>* addressableLEDHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAddressableLED() {
static LimitedHandleResource<HAL_AddressableLEDHandle, AddressableLED,
kNumAddressableLEDs,
@@ -44,8 +42,7 @@
alH;
addressableLEDHandles = &alH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -147,8 +144,13 @@
return;
}
- if (length > HAL_kAddressableLEDMaxLength) {
+ if (length > HAL_kAddressableLEDMaxLength || length < 0) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format(
+ "LED length must be less than or equal to {}. {} was requested",
+ HAL_kAddressableLEDMaxLength, length));
return;
}
@@ -178,8 +180,13 @@
return;
}
- if (length > led->stringLength) {
+ if (length > led->stringLength || length < 0) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format(
+ "Data length must be less than or equal to {}. {} was requested",
+ led->stringLength, length));
return;
}
diff --git a/hal/src/main/native/athena/AnalogAccumulator.cpp b/hal/src/main/native/athena/AnalogAccumulator.cpp
index 6664c52..7ff7d47 100644
--- a/hal/src/main/native/athena/AnalogAccumulator.cpp
+++ b/hal/src/main/native/athena/AnalogAccumulator.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogAccumulator.h"
@@ -12,11 +9,9 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogAccumulator() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -28,7 +23,8 @@
return false;
}
for (int32_t i = 0; i < kNumAccumulators; i++) {
- if (port->channel == kAccumulatorChannels[i]) return true;
+ if (port->channel == kAccumulatorChannels[i])
+ return true;
}
return false;
}
diff --git a/hal/src/main/native/athena/AnalogGyro.cpp b/hal/src/main/native/athena/AnalogGyro.cpp
index 12d688d..19f26dd 100644
--- a/hal/src/main/native/athena/AnalogGyro.cpp
+++ b/hal/src/main/native/athena/AnalogGyro.cpp
@@ -1,18 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogGyro.h"
+#include <string>
#include <thread>
-#include <wpi/raw_ostream.h>
+#include <fmt/format.h>
#include "AnalogInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "hal/AnalogAccumulator.h"
#include "hal/AnalogInput.h"
#include "hal/handles/IndexedHandleResource.h"
@@ -24,6 +23,7 @@
double voltsPerDegreePerSecond;
double offset;
int32_t center;
+ std::string previousAllocation;
};
} // namespace
@@ -39,54 +39,62 @@
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>* analogGyroHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogGyro() {
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>
agHandles;
analogGyroHandles = &agHandles;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
static void Wait(double seconds) {
- if (seconds < 0.0) return;
+ if (seconds < 0.0) {
+ return;
+ }
std::this_thread::sleep_for(std::chrono::duration<double>(seconds));
}
extern "C" {
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
+ const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
+ // Handle will be type checked by HAL_IsAccumulatorChannel
+ int16_t channel = getHandleIndex(analogHandle);
if (!HAL_IsAccumulatorChannel(analogHandle, status)) {
if (*status == 0) {
*status = HAL_INVALID_ACCUMULATOR_CHANNEL;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Gyro",
+ 0, kNumAccumulators, channel);
}
return HAL_kInvalidHandle;
}
- // handle known to be correct, so no need to type check
- int16_t channel = getHandleIndex(analogHandle);
+ HAL_GyroHandle handle;
+ auto gyro = analogGyroHandles->Allocate(channel, &handle, status);
- auto handle = analogGyroHandles->Allocate(channel, status);
-
- if (*status != 0)
+ if (*status != 0) {
+ if (gyro) {
+ hal::SetLastErrorPreviouslyAllocated(status, "Analog Gyro", channel,
+ gyro->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Gyro",
+ 0, kNumAccumulators, channel);
+ }
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
// Initialize port structure
- auto gyro = analogGyroHandles->Get(handle);
- if (gyro == nullptr) { // would only error on thread issue
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
- }
gyro->handle = analogHandle;
gyro->voltsPerDegreePerSecond = 0;
gyro->offset = 0;
gyro->center = 0;
+ gyro->previousAllocation = allocationLocation ? allocationLocation : "";
+
return handle;
}
@@ -100,17 +108,25 @@
gyro->voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
HAL_SetAnalogAverageBits(gyro->handle, kAverageBits, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
HAL_SetAnalogOversampleBits(gyro->handle, kOversampleBits, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
double sampleRate =
kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
HAL_SetAnalogSampleRate(sampleRate, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
Wait(0.1);
HAL_SetAnalogGyroDeadband(handle, 0.0, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
}
void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
@@ -151,14 +167,18 @@
return;
}
HAL_ResetAccumulator(gyro->handle, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
const double sampleTime = 1.0 / HAL_GetAnalogSampleRate(status);
const double overSamples =
1 << HAL_GetAnalogOversampleBits(gyro->handle, status);
const double averageSamples =
1 << HAL_GetAnalogAverageBits(gyro->handle, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
Wait(sampleTime * overSamples * averageSamples);
}
@@ -170,15 +190,19 @@
}
HAL_InitAccumulator(gyro->handle, status);
- if (*status != 0) return;
- wpi::outs() << "Calibrating analog gyro for " << kCalibrationSampleTime
- << " seconds." << '\n';
+ if (*status != 0) {
+ return;
+ }
+ fmt::print("Calibrating analog gyro for {} seconds.\n",
+ kCalibrationSampleTime);
Wait(kCalibrationSampleTime);
int64_t value;
int64_t count;
HAL_GetAccumulatorOutput(gyro->handle, &value, &count, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
gyro->center = static_cast<int32_t>(
static_cast<double>(value) / static_cast<double>(count) + 0.5);
@@ -186,7 +210,9 @@
gyro->offset = static_cast<double>(value) / static_cast<double>(count) -
static_cast<double>(gyro->center);
HAL_SetAccumulatorCenter(gyro->handle, gyro->center, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
HAL_ResetAnalogGyro(handle, status);
}
@@ -200,7 +226,9 @@
int32_t deadband = static_cast<int32_t>(
volts * 1e9 / HAL_GetAnalogLSBWeight(gyro->handle, status) *
(1 << HAL_GetAnalogOversampleBits(gyro->handle, status)));
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
HAL_SetAccumulatorDeadband(gyro->handle, deadband, status);
}
diff --git a/hal/src/main/native/athena/AnalogInput.cpp b/hal/src/main/native/athena/AnalogInput.cpp
index 1d502b9..6b3add1 100644
--- a/hal/src/main/native/athena/AnalogInput.cpp
+++ b/hal/src/main/native/athena/AnalogInput.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogInput.h"
@@ -12,44 +9,52 @@
#include "AnalogInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/AnalogAccumulator.h"
#include "hal/handles/HandlesInternal.h"
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogInput() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
using namespace hal;
extern "C" {
-HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
- int32_t* status) {
+HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
+ HAL_PortHandle portHandle, const char* allocationLocation,
+ int32_t* status) {
hal::init::CheckInit();
initializeAnalog(status);
- if (*status != 0) return HAL_kInvalidHandle;
+ if (*status != 0) {
+ return HAL_kInvalidHandle;
+ }
int16_t channel = getPortHandleChannel(portHandle);
- if (channel == InvalidHandleIndex) {
- *status = PARAMETER_OUT_OF_RANGE;
+ if (channel == InvalidHandleIndex || channel >= kNumAnalogInputs) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
+ 0, kNumAnalogInputs, channel);
return HAL_kInvalidHandle;
}
- HAL_AnalogInputHandle handle = analogInputHandles->Allocate(channel, status);
+ HAL_AnalogInputHandle handle;
+ auto analog_port = analogInputHandles->Allocate(channel, &handle, status);
- if (*status != 0)
+ if (*status != 0) {
+ if (analog_port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "Analog Input", channel,
+ analog_port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
+ 0, kNumAnalogInputs, channel);
+ }
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
// Initialize port structure
- auto analog_port = analogInputHandles->Get(handle);
- if (analog_port == nullptr) { // would only error on thread issue
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
- }
analog_port->channel = static_cast<uint8_t>(channel);
if (HAL_IsAccumulatorChannel(handle, status)) {
analog_port->accumulator.reset(tAccumulator::create(channel, status));
@@ -61,6 +66,8 @@
analogInputSystem->writeScanList(channel, channel, status);
HAL_SetAnalogAverageBits(handle, kDefaultAverageBits, status);
HAL_SetAnalogOversampleBits(handle, kDefaultOversampleBits, status);
+ analog_port->previousAllocation =
+ allocationLocation ? allocationLocation : "";
return handle;
}
@@ -69,7 +76,9 @@
analogInputHandles->Free(analogPortHandle);
}
-HAL_Bool HAL_CheckAnalogModule(int32_t module) { return module == 1; }
+HAL_Bool HAL_CheckAnalogModule(int32_t module) {
+ return module == 1;
+}
HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) {
return channel < kNumAnalogInputs && channel >= 0;
@@ -83,13 +92,17 @@
// TODO: Need double comparison with epsilon.
// wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
initializeAnalog(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
setAnalogSampleRate(samplesPerSecond, status);
}
double HAL_GetAnalogSampleRate(int32_t* status) {
initializeAnalog(status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
uint32_t ticksPerConversion = analogInputSystem->readLoopTiming(status);
uint32_t ticksPerSample =
ticksPerConversion * getAnalogNumActiveChannels(status);
diff --git a/hal/src/main/native/athena/AnalogInternal.cpp b/hal/src/main/native/athena/AnalogInternal.cpp
index 6ac16b8..7ae6adc 100644
--- a/hal/src/main/native/athena/AnalogInternal.cpp
+++ b/hal/src/main/native/athena/AnalogInternal.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "AnalogInternal.h"
@@ -43,9 +40,13 @@
void initializeAnalog(int32_t* status) {
hal::init::CheckInit();
- if (analogSystemInitialized) return;
+ if (analogSystemInitialized) {
+ return;
+ }
std::scoped_lock lock(analogRegisterWindowMutex);
- if (analogSystemInitialized) return;
+ if (analogSystemInitialized) {
+ return;
+ }
analogInputSystem.reset(tAI::create(status));
analogOutputSystem.reset(tAO::create(status));
setAnalogNumChannelsToActivate(kNumAnalogInputs);
@@ -55,7 +56,9 @@
int32_t getAnalogNumActiveChannels(int32_t* status) {
int32_t scanSize = analogInputSystem->readConfig_ScanSize(status);
- if (scanSize == 0) return 8;
+ if (scanSize == 0) {
+ return 8;
+ }
return scanSize;
}
@@ -64,8 +67,9 @@
}
int32_t getAnalogNumChannelsToActivate(int32_t* status) {
- if (analogNumChannelsToActivate == 0)
+ if (analogNumChannelsToActivate == 0) {
return getAnalogNumActiveChannels(status);
+ }
return analogNumChannelsToActivate;
}
@@ -82,7 +86,9 @@
ticksPerSample / getAnalogNumChannelsToActivate(status);
// ticksPerConversion must be at least 80
if (ticksPerConversion < 80) {
- if ((*status) >= 0) *status = SAMPLE_RATE_TOO_HIGH;
+ if ((*status) >= 0) {
+ *status = SAMPLE_RATE_TOO_HIGH;
+ }
ticksPerConversion = 80;
}
diff --git a/hal/src/main/native/athena/AnalogInternal.h b/hal/src/main/native/athena/AnalogInternal.h
index a74562f..431c624 100644
--- a/hal/src/main/native/athena/AnalogInternal.h
+++ b/hal/src/main/native/athena/AnalogInternal.h
@@ -1,15 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <memory>
+#include <string>
#include <wpi/mutex.h>
@@ -34,6 +32,7 @@
struct AnalogPort {
uint8_t channel;
std::unique_ptr<tAccumulator> accumulator;
+ std::string previousAllocation;
};
extern IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort,
diff --git a/hal/src/main/native/athena/AnalogOutput.cpp b/hal/src/main/native/athena/AnalogOutput.cpp
index 77f841b..eab7d82 100644
--- a/hal/src/main/native/athena/AnalogOutput.cpp
+++ b/hal/src/main/native/athena/AnalogOutput.cpp
@@ -1,14 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogOutput.h"
+#include <string>
+
#include "AnalogInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/Errors.h"
#include "hal/handles/HandlesInternal.h"
@@ -20,6 +20,7 @@
struct AnalogOutput {
uint8_t channel;
+ std::string previousAllocation;
};
} // namespace
@@ -28,45 +29,53 @@
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>*
analogOutputHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogOutput() {
static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>
aoH;
analogOutputHandles = &aoH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
-HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
- int32_t* status) {
+HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
+ HAL_PortHandle portHandle, const char* allocationLocation,
+ int32_t* status) {
hal::init::CheckInit();
initializeAnalog(status);
- if (*status != 0) return HAL_kInvalidHandle;
-
- int16_t channel = getPortHandleChannel(portHandle);
- if (channel == InvalidHandleIndex) {
- *status = PARAMETER_OUT_OF_RANGE;
+ if (*status != 0) {
return HAL_kInvalidHandle;
}
- HAL_AnalogOutputHandle handle =
- analogOutputHandles->Allocate(channel, status);
-
- if (*status != 0)
- return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- auto port = analogOutputHandles->Get(handle);
- if (port == nullptr) { // would only error on thread issue
- *status = HAL_HANDLE_ERROR;
+ int16_t channel = getPortHandleChannel(portHandle);
+ if (channel == InvalidHandleIndex || channel >= kNumAnalogOutputs) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Output",
+ 0, kNumAnalogOutputs, channel);
return HAL_kInvalidHandle;
}
+ HAL_AnalogOutputHandle handle;
+ auto port = analogOutputHandles->Allocate(channel, &handle, status);
+
+ if (*status != 0) {
+ if (port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "Analog Output", channel,
+ port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status,
+ "Invalid Index for Analog Output", 0,
+ kNumAnalogOutputs, channel);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
port->channel = static_cast<uint8_t>(channel);
+ port->previousAllocation = allocationLocation ? allocationLocation : "";
+
return handle;
}
@@ -85,10 +94,11 @@
uint16_t rawValue = static_cast<uint16_t>(voltage / 5.0 * 0x1000);
- if (voltage < 0.0)
+ if (voltage < 0.0) {
rawValue = 0;
- else if (voltage > 5.0)
+ } else if (voltage > 5.0) {
rawValue = 0x1000;
+ }
analogOutputSystem->writeMXP(port->channel, rawValue, status);
}
diff --git a/hal/src/main/native/athena/AnalogTrigger.cpp b/hal/src/main/native/athena/AnalogTrigger.cpp
index 9ec3f29..d9e2b92 100644
--- a/hal/src/main/native/athena/AnalogTrigger.cpp
+++ b/hal/src/main/native/athena/AnalogTrigger.cpp
@@ -1,15 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogTrigger.h"
#include "AnalogInternal.h"
#include "DutyCycleInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/AnalogInput.h"
#include "hal/DutyCycle.h"
@@ -33,8 +31,7 @@
kNumAnalogTriggers, HAL_HandleEnum::AnalogTrigger>*
analogTriggerHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogTrigger() {
static LimitedHandleResource<HAL_AnalogTriggerHandle, AnalogTrigger,
kNumAnalogTriggers,
@@ -42,8 +39,7 @@
atH;
analogTriggerHandles = &atH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -143,6 +139,11 @@
if (lower < 0.0 || upper > 1.0) {
*status = PARAMETER_OUT_OF_RANGE;
+ auto lowerStr = std::to_string(lower);
+ auto upperStr = std::to_string(upper);
+ hal::SetLastError(
+ status, "Lower must be >= 0 and upper must be <=1. Requested lower " +
+ lowerStr + " Requested upper " + upperStr);
return;
}
diff --git a/hal/src/main/native/athena/CAN.cpp b/hal/src/main/native/athena/CAN.cpp
index 8105358..3436a0b 100644
--- a/hal/src/main/native/athena/CAN.cpp
+++ b/hal/src/main/native/athena/CAN.cpp
@@ -1,19 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/CAN.h"
#include <FRC_NetworkCommunication/CANSessionMux.h>
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeCAN() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
diff --git a/hal/src/main/native/athena/CANAPI.cpp b/hal/src/main/native/athena/CANAPI.cpp
index d460885..a7c5b37 100644
--- a/hal/src/main/native/athena/CANAPI.cpp
+++ b/hal/src/main/native/athena/CANAPI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/CANAPI.h"
@@ -47,15 +44,13 @@
return ms & 0xFFFFFFFF;
}
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeCANAPI() {
static UnlimitedHandleResource<HAL_CANHandle, CANStorage, HAL_HandleEnum::CAN>
cH;
canHandles = &cH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
static int32_t CreateCANId(CANStorage* storage, int32_t apiId) {
int32_t createdId = 0;
diff --git a/hal/src/main/native/athena/CTREPCM.cpp b/hal/src/main/native/athena/CTREPCM.cpp
new file mode 100644
index 0000000..b000ace
--- /dev/null
+++ b/hal/src/main/native/athena/CTREPCM.cpp
@@ -0,0 +1,399 @@
+// 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.
+
+#include "hal/CTREPCM.h"
+
+#include <fmt/format.h>
+
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
+
+using namespace hal;
+
+static constexpr HAL_CANManufacturer manufacturer =
+ HAL_CANManufacturer::HAL_CAN_Man_kCTRE;
+
+static constexpr HAL_CANDeviceType deviceType =
+ HAL_CANDeviceType::HAL_CAN_Dev_kPneumatics;
+
+static constexpr int32_t Status1 = 0x50;
+static constexpr int32_t StatusSolFaults = 0x51;
+static constexpr int32_t StatusDebug = 0x52;
+
+static constexpr int32_t Control1 = 0x70;
+static constexpr int32_t Control2 = 0x71;
+static constexpr int32_t Control3 = 0x72;
+
+static constexpr int32_t TimeoutMs = 100;
+static constexpr int32_t SendPeriod = 20;
+
+union PcmStatus {
+ uint8_t data[8];
+ struct Bits {
+ /* Byte 0 */
+ unsigned SolenoidBits : 8;
+ /* Byte 1 */
+ unsigned compressorOn : 1;
+ unsigned stickyFaultFuseTripped : 1;
+ unsigned stickyFaultCompCurrentTooHigh : 1;
+ unsigned faultFuseTripped : 1;
+ unsigned faultCompCurrentTooHigh : 1;
+ unsigned faultHardwareFailure : 1;
+ unsigned isCloseloopEnabled : 1;
+ unsigned pressureSwitchEn : 1;
+ /* Byte 2*/
+ unsigned battVoltage : 8;
+ /* Byte 3 */
+ unsigned solenoidVoltageTop8 : 8;
+ /* Byte 4 */
+ unsigned compressorCurrentTop6 : 6;
+ unsigned solenoidVoltageBtm2 : 2;
+ /* Byte 5 */
+ unsigned StickyFault_dItooHigh : 1;
+ unsigned Fault_dItooHigh : 1;
+ unsigned moduleEnabled : 1;
+ unsigned closedLoopOutput : 1;
+ unsigned compressorCurrentBtm4 : 4;
+ /* Byte 6 */
+ unsigned tokenSeedTop8 : 8;
+ /* Byte 7 */
+ unsigned tokenSeedBtm8 : 8;
+ } bits;
+};
+
+union PcmControl {
+ uint8_t data[8];
+ struct Bits {
+ /* Byte 0 */
+ unsigned tokenTop8 : 8;
+ /* Byte 1 */
+ unsigned tokenBtm8 : 8;
+ /* Byte 2 */
+ unsigned solenoidBits : 8;
+ /* Byte 3*/
+ unsigned reserved : 4;
+ unsigned closeLoopOutput : 1;
+ unsigned compressorOn : 1;
+ unsigned closedLoopEnable : 1;
+ unsigned clearStickyFaults : 1;
+ /* Byte 4 */
+ unsigned OneShotField_h8 : 8;
+ /* Byte 5 */
+ unsigned OneShotField_l8 : 8;
+ } bits;
+};
+
+struct PcmControlSetOneShotDur {
+ uint8_t sol10MsPerUnit[8];
+};
+
+union PcmStatusFault {
+ uint8_t data[8];
+ struct Bits {
+ /* Byte 0 */
+ unsigned SolenoidDisabledList : 8;
+ /* Byte 1 */
+ unsigned reserved_bit0 : 1;
+ unsigned reserved_bit1 : 1;
+ unsigned reserved_bit2 : 1;
+ unsigned reserved_bit3 : 1;
+ unsigned StickyFault_CompNoCurrent : 1;
+ unsigned Fault_CompNoCurrent : 1;
+ unsigned StickyFault_SolenoidJumper : 1;
+ unsigned Fault_SolenoidJumper : 1;
+ } bits;
+};
+
+union PcmDebug {
+ uint8_t data[8];
+ struct Bits {
+ unsigned tokFailsTop8 : 8;
+ unsigned tokFailsBtm8 : 8;
+ unsigned lastFailedTokTop8 : 8;
+ unsigned lastFailedTokBtm8 : 8;
+ unsigned tokSuccessTop8 : 8;
+ unsigned tokSuccessBtm8 : 8;
+ } bits;
+};
+
+namespace {
+struct PCM {
+ HAL_CANHandle canHandle;
+ wpi::mutex lock;
+ std::string previousAllocation;
+ PcmControl control;
+ PcmControlSetOneShotDur oneShot;
+};
+} // namespace
+
+static IndexedHandleResource<HAL_CTREPCMHandle, PCM, kNumCTREPCMModules,
+ HAL_HandleEnum::CTREPCM>* pcmHandles;
+
+namespace hal::init {
+void InitializeCTREPCM() {
+ static IndexedHandleResource<HAL_CTREPCMHandle, PCM, kNumCTREPCMModules,
+ HAL_HandleEnum::CTREPCM>
+ pH;
+ pcmHandles = &pH;
+}
+} // namespace hal::init
+
+#define READ_PACKET(type, frame, failureValue) \
+ auto pcm = pcmHandles->Get(handle); \
+ if (pcm == nullptr) { \
+ *status = HAL_HANDLE_ERROR; \
+ return failureValue; \
+ } \
+ type pcmStatus; \
+ int32_t length = 0; \
+ uint64_t receivedTimestamp = 0; \
+ HAL_ReadCANPacketTimeout(pcm->canHandle, frame, pcmStatus.data, &length, \
+ &receivedTimestamp, TimeoutMs, status); \
+ if (*status != 0) { \
+ return failureValue; \
+ }
+
+#define READ_STATUS(failureValue) READ_PACKET(PcmStatus, Status1, failureValue)
+#define READ_SOL_FAULTS(failureValue) \
+ READ_PACKET(PcmStatusFault, StatusSolFaults, failureValue)
+
+static void SendControl(PCM* pcm, int32_t* status) {
+ HAL_WriteCANPacketRepeating(pcm->canHandle, pcm->control.data, 8, Control1,
+ SendPeriod, status);
+}
+
+extern "C" {
+
+HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
+ const char* allocationLocation,
+ int32_t* status) {
+ hal::init::CheckInit();
+
+ HAL_CTREPCMHandle handle;
+ auto pcm = pcmHandles->Allocate(module, &handle, status);
+
+ if (*status != 0) {
+ if (pcm) {
+ hal::SetLastErrorPreviouslyAllocated(status, "CTRE PCM", module,
+ pcm->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
+ kNumCTREPCMModules, module);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
+ pcm->canHandle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
+ if (*status != 0) {
+ pcmHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
+
+ std::memset(&pcm->oneShot, 0, sizeof(pcm->oneShot));
+ std::memset(&pcm->control, 0, sizeof(pcm->control));
+
+ pcm->previousAllocation = allocationLocation ? allocationLocation : "";
+
+ // Enable closed loop control
+ HAL_SetCTREPCMClosedLoopControl(handle, true, status);
+ if (*status != 0) {
+ HAL_FreeCTREPCM(handle);
+ return HAL_kInvalidHandle;
+ }
+ return handle;
+}
+
+void HAL_FreeCTREPCM(HAL_CTREPCMHandle handle) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm) {
+ HAL_CleanCAN(pcm->canHandle);
+ }
+ pcmHandles->Free(handle);
+}
+
+HAL_Bool HAL_CheckCTREPCMSolenoidChannel(int32_t channel) {
+ return channel < kNumCTRESolenoidChannels && channel >= 0;
+}
+
+HAL_Bool HAL_GetCTREPCMCompressor(HAL_CTREPCMHandle handle, int32_t* status) {
+ READ_STATUS(false);
+ return pcmStatus.bits.compressorOn;
+}
+
+void HAL_SetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle, HAL_Bool enabled,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ std::scoped_lock lock{pcm->lock};
+ pcm->control.bits.closedLoopEnable = enabled ? 1 : 0;
+ SendControl(pcm.get(), status);
+}
+
+HAL_Bool HAL_GetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_STATUS(false);
+ return pcmStatus.bits.isCloseloopEnabled;
+}
+
+HAL_Bool HAL_GetCTREPCMPressureSwitch(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_STATUS(false);
+ return pcmStatus.bits.pressureSwitchEn;
+}
+
+double HAL_GetCTREPCMCompressorCurrent(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_STATUS(0);
+ uint32_t result = pcmStatus.bits.compressorCurrentTop6;
+ result <<= 4;
+ result |= pcmStatus.bits.compressorCurrentBtm4;
+ return result * 0.03125; /* 5.5 fixed pt value in Amps */
+}
+
+HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_STATUS(false);
+ return pcmStatus.bits.faultCompCurrentTooHigh;
+}
+
+HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(
+ HAL_CTREPCMHandle handle, int32_t* status) {
+ READ_STATUS(false);
+ return pcmStatus.bits.stickyFaultCompCurrentTooHigh;
+}
+HAL_Bool HAL_GetCTREPCMCompressorShortedStickyFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_STATUS(false);
+ return pcmStatus.bits.Fault_dItooHigh;
+}
+HAL_Bool HAL_GetCTREPCMCompressorShortedFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_STATUS(false);
+ return pcmStatus.bits.StickyFault_dItooHigh;
+}
+HAL_Bool HAL_GetCTREPCMCompressorNotConnectedStickyFault(
+ HAL_CTREPCMHandle handle, int32_t* status) {
+ READ_SOL_FAULTS(false);
+ return pcmStatus.bits.StickyFault_CompNoCurrent;
+}
+HAL_Bool HAL_GetCTREPCMCompressorNotConnectedFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_SOL_FAULTS(false);
+ return pcmStatus.bits.Fault_CompNoCurrent;
+}
+
+int32_t HAL_GetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t* status) {
+ READ_STATUS(0);
+ return pcmStatus.bits.SolenoidBits & 0xFF;
+}
+
+void HAL_SetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t mask,
+ int32_t values, int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ uint8_t smallMask = mask & 0xFF;
+ uint8_t smallValues =
+ (values & 0xFF) & smallMask; // Enforce only masked values are set
+ uint8_t invertMask = ~smallMask;
+
+ std::scoped_lock lock{pcm->lock};
+ uint8_t existingValue = invertMask & pcm->control.bits.solenoidBits;
+ pcm->control.bits.solenoidBits = existingValue | smallValues;
+ SendControl(pcm.get(), status);
+}
+
+int32_t HAL_GetCTREPCMSolenoidDisabledList(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_SOL_FAULTS(0);
+ return pcmStatus.bits.SolenoidDisabledList;
+}
+
+HAL_Bool HAL_GetCTREPCMSolenoidVoltageStickyFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_STATUS(false);
+ return pcmStatus.bits.stickyFaultFuseTripped;
+}
+
+HAL_Bool HAL_GetCTREPCMSolenoidVoltageFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ READ_STATUS(false);
+ return pcmStatus.bits.faultFuseTripped;
+}
+
+void HAL_ClearAllCTREPCMStickyFaults(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ uint8_t controlData[] = {0, 0, 0, 0x80};
+ HAL_WriteCANPacket(handle, controlData, sizeof(controlData), Control2,
+ status);
+}
+
+void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
+ int32_t* status) {
+ if (index > 7 || index < 0) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Only [0-7] are valid index values. Requested {}", index));
+ return;
+ }
+
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ std::scoped_lock lock{pcm->lock};
+ uint16_t oneShotField = pcm->control.bits.OneShotField_h8;
+ oneShotField <<= 8;
+ oneShotField |= pcm->control.bits.OneShotField_l8;
+
+ uint16_t shift = 2 * index;
+ uint16_t mask = 3;
+ uint8_t chBits = (oneShotField >> shift) & mask;
+ chBits = (chBits % 3) + 1;
+ oneShotField &= ~(mask << shift);
+ oneShotField |= (chBits << shift);
+ pcm->control.bits.OneShotField_h8 = oneShotField >> 8;
+ pcm->control.bits.OneShotField_l8 = oneShotField;
+ SendControl(pcm.get(), status);
+}
+
+void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
+ int32_t durMs, int32_t* status) {
+ if (index > 7 || index < 0) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Only [0-7] are valid index values. Requested {}", index));
+ return;
+ }
+
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ std::scoped_lock lock{pcm->lock};
+ pcm->oneShot.sol10MsPerUnit[index] =
+ (std::min)(static_cast<uint32_t>(durMs) / 10,
+ static_cast<uint32_t>(0xFF));
+ HAL_WriteCANPacketRepeating(pcm->canHandle, pcm->oneShot.sol10MsPerUnit, 8,
+ Control2, SendPeriod, status);
+}
+
+} // extern "C"
diff --git a/hal/src/main/native/athena/PDP.cpp b/hal/src/main/native/athena/CTREPDP.cpp
similarity index 71%
rename from hal/src/main/native/athena/PDP.cpp
rename to hal/src/main/native/athena/CTREPDP.cpp
index f60e881..1a25a64 100644
--- a/hal/src/main/native/athena/PDP.cpp
+++ b/hal/src/main/native/athena/CTREPDP.cpp
@@ -1,18 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
-#include "hal/PDP.h"
+#include "CTREPDP.h"
+#include <fmt/format.h>
#include <wpi/mutex.h>
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/CANAPI.h"
#include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
using namespace hal;
@@ -103,72 +103,93 @@
} bits;
};
-static wpi::mutex pdpHandleMutex;
-static HAL_PDPHandle pdpHandles[kNumPDPModules];
+namespace {
+struct PDP {
+ HAL_CANHandle canHandle;
+ std::string previousAllocation;
+};
+} // namespace
-namespace hal {
-namespace init {
-void InitializePDP() {
- for (int i = 0; i < kNumPDPModules; i++) {
- pdpHandles[i] = HAL_kInvalidHandle;
- }
+static IndexedHandleResource<HAL_PDPHandle, PDP, kNumCTREPDPModules,
+ HAL_HandleEnum::CTREPDP>* pdpHandles;
+
+namespace hal::init {
+void InitializeCTREPDP() {
+ static IndexedHandleResource<HAL_PDPHandle, PDP, kNumCTREPDPModules,
+ HAL_HandleEnum::CTREPDP>
+ pH;
+ pdpHandles = &pH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
-HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
+HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
+ int32_t* status) {
hal::init::CheckInit();
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
return HAL_kInvalidHandle;
}
- std::scoped_lock lock(pdpHandleMutex);
-
- if (pdpHandles[module] != HAL_kInvalidHandle) {
- *status = 0;
- return pdpHandles[module];
- }
-
- auto handle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
+ HAL_PDPHandle handle;
+ auto pdp = pdpHandles->Allocate(module, &handle, status);
if (*status != 0) {
- HAL_CleanCAN(handle);
+ if (pdp) {
+ hal::SetLastErrorPreviouslyAllocated(status, "CTRE PDP", module,
+ pdp->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
+ kNumCTREPDPModules, module);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
+ pdp->canHandle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
+ if (*status != 0) {
+ pdpHandles->Free(handle);
return HAL_kInvalidHandle;
}
- pdpHandles[module] = handle;
+ pdp->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
void HAL_CleanPDP(HAL_PDPHandle handle) {
- HAL_CleanCAN(handle);
-
- for (int i = 0; i < kNumPDPModules; i++) {
- if (pdpHandles[i] == handle) {
- pdpHandles[i] = HAL_kInvalidHandle;
- return;
- }
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp) {
+ HAL_CleanCAN(pdp->canHandle);
}
+ pdpHandles->Free(handle);
+}
+
+int32_t HAL_GetPDPModuleNumber(HAL_PDPHandle handle, int32_t* status) {
+ return hal::getHandleIndex(handle);
}
HAL_Bool HAL_CheckPDPModule(int32_t module) {
- return module < kNumPDPModules && module >= 0;
+ return module < kNumCTREPDPModules && module >= 0;
}
HAL_Bool HAL_CheckPDPChannel(int32_t channel) {
- return channel < kNumPDPChannels && channel >= 0;
+ return channel < kNumCTREPDPChannels && channel >= 0;
}
double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
PdpStatus3 pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
+ HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
@@ -179,11 +200,17 @@
}
double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
PdpStatus3 pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
+ HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
@@ -197,6 +224,13 @@
int32_t* status) {
if (!HAL_CheckPDPChannel(channel)) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Invalid pdp channel {}", channel));
+ return 0;
+ }
+
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp == nullptr) {
+ *status = HAL_HANDLE_ERROR;
return 0;
}
@@ -207,7 +241,7 @@
if (channel <= 5) {
PdpStatus1 pdpStatus;
- HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
+ HAL_ReadCANPacketTimeout(pdp->canHandle, Status1, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
@@ -240,7 +274,7 @@
}
} else if (channel <= 11) {
PdpStatus2 pdpStatus;
- HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus.data, &length,
+ HAL_ReadCANPacketTimeout(pdp->canHandle, Status2, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
@@ -273,7 +307,7 @@
}
} else {
PdpStatus3 pdpStatus;
- HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
+ HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
@@ -304,20 +338,32 @@
void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
int32_t* status) {
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
int32_t length = 0;
uint64_t receivedTimestamp = 0;
PdpStatus1 pdpStatus;
- HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
+ HAL_ReadCANPacketTimeout(pdp->canHandle, Status1, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
PdpStatus2 pdpStatus2;
- HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus2.data, &length,
+ HAL_ReadCANPacketTimeout(pdp->canHandle, Status2, pdpStatus2.data, &length,
&receivedTimestamp, TimeoutMs, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
PdpStatus3 pdpStatus3;
- HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus3.data, &length,
+ HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus3.data, &length,
&receivedTimestamp, TimeoutMs, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
currents[0] = ((static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
pdpStatus.bits.chan1_l2) *
@@ -372,12 +418,18 @@
}
double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
PdpStatusEnergy pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, status);
+ HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, pdpStatus.data,
+ &length, &receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
}
@@ -390,12 +442,18 @@
}
double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
PdpStatusEnergy pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, status);
+ HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, pdpStatus.data,
+ &length, &receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
}
@@ -410,12 +468,18 @@
}
double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
PdpStatusEnergy pdpStatus;
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, status);
+ HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, pdpStatus.data,
+ &length, &receivedTimestamp, TimeoutMs, status);
if (*status != 0) {
return 0;
}
@@ -438,13 +502,25 @@
}
void HAL_ResetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
uint8_t pdpControl[] = {0x40}; /* only bit set is ResetEnergy */
- HAL_WriteCANPacket(handle, pdpControl, 1, Control1, status);
+ HAL_WriteCANPacket(pdp->canHandle, pdpControl, 1, Control1, status);
}
void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status) {
+ auto pdp = pdpHandles->Get(handle);
+ if (pdp == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
uint8_t pdpControl[] = {0x80}; /* only bit set is ClearStickyFaults */
- HAL_WriteCANPacket(handle, pdpControl, 1, Control1, status);
+ HAL_WriteCANPacket(pdp->canHandle, pdpControl, 1, Control1, status);
}
} // extern "C"
diff --git a/hal/src/main/native/include/hal/PDP.h b/hal/src/main/native/athena/CTREPDP.h
similarity index 71%
rename from hal/src/main/native/include/hal/PDP.h
rename to hal/src/main/native/athena/CTREPDP.h
index c80e8b6..dd4b298 100644
--- a/hal/src/main/native/include/hal/PDP.h
+++ b/hal/src/main/native/athena/CTREPDP.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -28,7 +25,8 @@
* @param module the module number to initialize
* @return the created PDP
*/
-HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status);
+HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
+ int32_t* status);
/**
* Cleans a PDP module.
@@ -38,10 +36,15 @@
void HAL_CleanPDP(HAL_PDPHandle handle);
/**
+ * Gets the module number for a pdp.
+ */
+int32_t HAL_GetPDPModuleNumber(HAL_PDPHandle handle, int32_t* status);
+
+/**
* Checks if a PDP channel is valid.
*
* @param channel the channel to check
- * @return true if the channel is valid, otherwise false
+ * @return true if the channel is valid, otherwise false
*/
HAL_Bool HAL_CheckPDPChannel(int32_t channel);
@@ -49,7 +52,7 @@
* Checks if a PDP module is valid.
*
* @param channel the module to check
- * @return true if the module is valid, otherwise false
+ * @return true if the module is valid, otherwise false
*/
HAL_Bool HAL_CheckPDPModule(int32_t module);
@@ -57,7 +60,7 @@
* Gets the temperature of the PDP.
*
* @param handle the module handle
- * @return the module temperature (celsius)
+ * @return the module temperature (celsius)
*/
double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status);
@@ -65,7 +68,7 @@
* Gets the PDP input voltage.
*
* @param handle the module handle
- * @return the input voltage (volts)
+ * @return the input voltage (volts)
*/
double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status);
@@ -74,7 +77,7 @@
*
* @param module the module
* @param channel the channel
- * @return the channel current (amps)
+ * @return the channel current (amps)
*/
double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
int32_t* status);
@@ -94,7 +97,7 @@
* Gets the total current of the PDP.
*
* @param handle the module handle
- * @return the total current (amps)
+ * @return the total current (amps)
*/
double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status);
@@ -102,7 +105,7 @@
* Gets the total power of the PDP.
*
* @param handle the module handle
- * @return the total power (watts)
+ * @return the total power (watts)
*/
double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status);
@@ -110,7 +113,7 @@
* Gets the total energy of the PDP.
*
* @param handle the module handle
- * @return the total energy (joules)
+ * @return the total energy (joules)
*/
double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status);
diff --git a/hal/src/main/native/athena/Compressor.cpp b/hal/src/main/native/athena/Compressor.cpp
deleted file mode 100644
index f381305..0000000
--- a/hal/src/main/native/athena/Compressor.cpp
+++ /dev/null
@@ -1,202 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "hal/Compressor.h"
-
-#include "HALInitializer.h"
-#include "PCMInternal.h"
-#include "PortsInternal.h"
-#include "ctre/PCM.h"
-#include "hal/Errors.h"
-#include "hal/handles/HandlesInternal.h"
-
-using namespace hal;
-
-namespace hal {
-namespace init {
-void InitializeCompressor() {}
-} // namespace init
-} // namespace hal
-
-extern "C" {
-
-HAL_CompressorHandle HAL_InitializeCompressor(int32_t module, int32_t* status) {
- hal::init::CheckInit();
- // Use status to check for invalid index
- initializePCM(module, status);
- if (*status != 0) {
- return HAL_kInvalidHandle;
- }
-
- // As compressors can have unlimited objects, just create a
- // handle with the module number as the index.
-
- return (HAL_CompressorHandle)createHandle(static_cast<int16_t>(module),
- HAL_HandleEnum::Compressor, 0);
-}
-
-HAL_Bool HAL_CheckCompressorModule(int32_t module) {
- return module < kNumPCMModules && module >= 0;
-}
-
-HAL_Bool HAL_GetCompressor(HAL_CompressorHandle compressorHandle,
- int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[index]->GetCompressor(value);
-
- return value;
-}
-
-void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressorHandle,
- HAL_Bool value, int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- *status = PCM_modules[index]->SetClosedLoopControl(value);
-}
-
-HAL_Bool HAL_GetCompressorClosedLoopControl(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[index]->GetClosedLoopControl(value);
-
- return value;
-}
-
-HAL_Bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressorHandle,
- int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[index]->GetPressure(value);
-
- return value;
-}
-
-double HAL_GetCompressorCurrent(HAL_CompressorHandle compressorHandle,
- int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return 0;
- }
- float value;
-
- *status = PCM_modules[index]->GetCompressorCurrent(value);
-
- return value;
-}
-HAL_Bool HAL_GetCompressorCurrentTooHighFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[index]->GetCompressorCurrentTooHighFault(value);
-
- return value;
-}
-HAL_Bool HAL_GetCompressorCurrentTooHighStickyFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[index]->GetCompressorCurrentTooHighStickyFault(value);
-
- return value;
-}
-HAL_Bool HAL_GetCompressorShortedStickyFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[index]->GetCompressorShortedStickyFault(value);
-
- return value;
-}
-HAL_Bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressorHandle,
- int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[index]->GetCompressorShortedFault(value);
-
- return value;
-}
-HAL_Bool HAL_GetCompressorNotConnectedStickyFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[index]->GetCompressorNotConnectedStickyFault(value);
-
- return value;
-}
-HAL_Bool HAL_GetCompressorNotConnectedFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[index]->GetCompressorNotConnectedFault(value);
-
- return value;
-}
-
-} // extern "C"
diff --git a/hal/src/main/native/athena/Constants.cpp b/hal/src/main/native/athena/Constants.cpp
index 6af443d..a312935 100644
--- a/hal/src/main/native/athena/Constants.cpp
+++ b/hal/src/main/native/athena/Constants.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Constants.h"
@@ -11,11 +8,9 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeConstants() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
diff --git a/hal/src/main/native/athena/ConstantsInternal.h b/hal/src/main/native/athena/ConstantsInternal.h
index 55bbdee..21fece4 100644
--- a/hal/src/main/native/athena/ConstantsInternal.h
+++ b/hal/src/main/native/athena/ConstantsInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/athena/Counter.cpp b/hal/src/main/native/athena/Counter.cpp
index 6d7e254..7f84df8 100644
--- a/hal/src/main/native/athena/Counter.cpp
+++ b/hal/src/main/native/athena/Counter.cpp
@@ -1,15 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Counter.h"
+#include <fmt/format.h>
+
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/HAL.h"
#include "hal/handles/LimitedHandleResource.h"
@@ -28,16 +28,14 @@
static LimitedHandleResource<HAL_CounterHandle, Counter, kNumCounters,
HAL_HandleEnum::Counter>* counterHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeCounter() {
static LimitedHandleResource<HAL_CounterHandle, Counter, kNumCounters,
HAL_HandleEnum::Counter>
ch;
counterHandles = &ch;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -151,6 +149,9 @@
// TODO: wpi_setWPIErrorWithContext(ParameterOutOfRange, "Counter only
// supports DownSource in TwoPulse and ExternalDirection modes.");
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status,
+ "Counter only supports DownSource in TwoPulse and "
+ "ExternalDirection mode.");
return;
}
@@ -265,6 +266,10 @@
}
if (samplesToAverage < 1 || samplesToAverage > 127) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Samples to average must be between "
+ "1 and 127 inclusive. Requested {}",
+ samplesToAverage));
+ return;
}
counter->counter->writeTimerConfig_AverageSize(samplesToAverage, status);
}
@@ -362,10 +367,11 @@
}
if (counter->counter->readConfig_Mode(status) ==
HAL_Counter_kExternalDirection) {
- if (reverseDirection)
+ if (reverseDirection) {
HAL_SetCounterDownSourceEdge(counterHandle, true, true, status);
- else
+ } else {
HAL_SetCounterDownSourceEdge(counterHandle, false, true, status);
+ }
}
}
diff --git a/hal/src/main/native/athena/DIO.cpp b/hal/src/main/native/athena/DIO.cpp
index dc4631e..7b26dd1 100644
--- a/hal/src/main/native/athena/DIO.cpp
+++ b/hal/src/main/native/athena/DIO.cpp
@@ -1,19 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/DIO.h"
#include <cmath>
+#include <cstdio>
#include <thread>
-#include <wpi/raw_ostream.h>
-
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/cpp/fpga_clock.h"
#include "hal/handles/HandlesInternal.h"
@@ -28,8 +25,7 @@
kNumDigitalPWMOutputs, HAL_HandleEnum::DigitalPWM>*
digitalPWMHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeDIO() {
static LimitedHandleResource<HAL_DigitalPWMHandle, uint8_t,
kNumDigitalPWMOutputs,
@@ -37,36 +33,45 @@
dpH;
digitalPWMHandles = &dpH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
- HAL_Bool input, int32_t* status) {
+ HAL_Bool input,
+ const char* allocationLocation,
+ int32_t* status) {
hal::init::CheckInit();
initializeDigital(status);
- if (*status != 0) return HAL_kInvalidHandle;
-
- int16_t channel = getPortHandleChannel(portHandle);
- if (channel == InvalidHandleIndex || channel >= kNumDigitalChannels) {
- *status = PARAMETER_OUT_OF_RANGE;
+ if (*status != 0) {
return HAL_kInvalidHandle;
}
- auto handle =
- digitalChannelHandles->Allocate(channel, HAL_HandleEnum::DIO, status);
-
- if (*status != 0)
- return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
- if (port == nullptr) { // would only occur on thread issue.
- *status = HAL_HANDLE_ERROR;
+ int16_t channel = getPortHandleChannel(portHandle);
+ if (channel == InvalidHandleIndex || channel >= kNumDigitalChannels) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
+ kNumDigitalChannels, channel);
return HAL_kInvalidHandle;
}
+ HAL_DigitalHandle handle;
+
+ auto port = digitalChannelHandles->Allocate(channel, HAL_HandleEnum::DIO,
+ &handle, status);
+
+ if (*status != 0) {
+ if (port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
+ port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
+ kNumDigitalChannels, channel);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
port->channel = static_cast<uint8_t>(channel);
std::scoped_lock lock(digitalDIOMutex);
@@ -116,6 +121,7 @@
}
digitalSystem->writeOutputEnable(outputEnable, status);
+ port->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
@@ -127,7 +133,8 @@
void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
// no status, so no need to check for a proper free.
- if (port == nullptr) return;
+ if (port == nullptr)
+ return;
digitalChannelHandles->Free(dioPortHandle, HAL_HandleEnum::DIO);
// Wait for no other object to hold this handle.
@@ -135,8 +142,8 @@
while (port.use_count() != 1) {
auto current = hal::fpga_clock::now();
if (start + std::chrono::seconds(1) < current) {
- wpi::outs() << "DIO handle free timeout\n";
- wpi::outs().flush();
+ std::puts("DIO handle free timeout");
+ std::fflush(stdout);
break;
}
std::this_thread::yield();
@@ -189,9 +196,11 @@
// higher freq.
// TODO: Round in the linear rate domain.
initializeDigital(status);
- if (*status != 0) return;
- uint16_t pwmPeriodPower = static_cast<uint16_t>(
- std::log(1.0 / (16 * 1.0E-6 * rate)) / std::log(2.0) + 0.5);
+ if (*status != 0) {
+ return;
+ }
+ uint16_t pwmPeriodPower =
+ std::lround(std::log(1.0 / (16 * 1.0E-6 * rate)) / std::log(2.0));
digitalSystem->writePWMPeriodPower(pwmPeriodPower, status);
}
@@ -203,10 +212,16 @@
return;
}
int32_t id = *port;
- if (dutyCycle > 1.0) dutyCycle = 1.0;
- if (dutyCycle < 0.0) dutyCycle = 0.0;
+ if (dutyCycle > 1.0) {
+ dutyCycle = 1.0;
+ }
+ if (dutyCycle < 0.0) {
+ dutyCycle = 0.0;
+ }
double rawDutyCycle = 256.0 * dutyCycle;
- if (rawDutyCycle > 255.5) rawDutyCycle = 255.5;
+ if (rawDutyCycle > 255.5) {
+ rawDutyCycle = 255.5;
+ }
{
std::scoped_lock lock(digitalPwmMutex);
uint16_t pwmPeriodPower = digitalSystem->readPWMPeriodPower(status);
@@ -251,10 +266,35 @@
return;
}
if (value != 0 && value != 1) {
- if (value != 0) value = 1;
+ if (value != 0) {
+ value = 1;
+ }
}
{
std::scoped_lock lock(digitalDIOMutex);
+
+ tDIO::tOutputEnable currentOutputEnable =
+ digitalSystem->readOutputEnable(status);
+
+ HAL_Bool isInput = false;
+
+ if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+ isInput =
+ ((currentOutputEnable.SPIPort >> remapSPIChannel(port->channel)) &
+ 1) == 0;
+ } else if (port->channel < kNumDigitalHeaders) {
+ isInput = ((currentOutputEnable.Headers >> port->channel) & 1) == 0;
+ } else {
+ isInput = ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) &
+ 1) == 0;
+ }
+
+ if (isInput) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, "Cannot set output of an input channel");
+ return;
+ }
+
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
@@ -358,11 +398,11 @@
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
return ((currentOutputEnable.SPIPort >> remapSPIChannel(port->channel)) &
- 1) != 0;
+ 1) == 0;
} else if (port->channel < kNumDigitalHeaders) {
- return ((currentOutputEnable.Headers >> port->channel) & 1) != 0;
+ return ((currentOutputEnable.Headers >> port->channel) & 1) == 0;
} else {
- return ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) & 1) !=
+ return ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) & 1) ==
0;
}
}
@@ -410,7 +450,9 @@
HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
initializeDigital(status);
- if (*status != 0) return false;
+ if (*status != 0) {
+ return false;
+ }
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
return pulseRegister.Headers != 0 && pulseRegister.MXP != 0 &&
pulseRegister.SPIPort != 0;
@@ -459,7 +501,9 @@
void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) {
initializeDigital(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
std::scoped_lock lock(digitalDIOMutex);
digitalSystem->writeFilterPeriodHdr(filterIndex, value, status);
if (*status == 0) {
@@ -469,7 +513,9 @@
int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status) {
initializeDigital(status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
uint32_t hdrPeriod = 0;
uint32_t mxpPeriod = 0;
{
diff --git a/hal/src/main/native/athena/DMA.cpp b/hal/src/main/native/athena/DMA.cpp
index ee39d2d..f7d8b08 100644
--- a/hal/src/main/native/athena/DMA.cpp
+++ b/hal/src/main/native/athena/DMA.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/DMA.h"
@@ -14,8 +11,10 @@
#include <type_traits>
#include "AnalogInternal.h"
+#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "EncoderInternal.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/AnalogAccumulator.h"
#include "hal/AnalogGyro.h"
@@ -73,15 +72,13 @@
static hal::LimitedHandleResource<HAL_DMAHandle, DMA, 1, HAL_HandleEnum::DMA>*
dmaHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeDMA() {
static hal::LimitedHandleResource<HAL_DMAHandle, DMA, 1, HAL_HandleEnum::DMA>
dH;
dmaHandles = &dH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -107,19 +104,25 @@
return HAL_kInvalidHandle;
}
- dma->aDMA->writeConfig_ExternalClock(false, status);
- if (*status != 0) {
- dmaHandles->Free(handle);
- return HAL_kInvalidHandle;
+ std::memset(&dma->captureStore, 0, sizeof(dma->captureStore));
+
+ tDMA::tConfig config;
+ std::memset(&config, 0, sizeof(config));
+ config.Pause = true;
+ dma->aDMA->writeConfig(config, status);
+
+ dma->aDMA->writeRate(1, status);
+
+ tDMA::tExternalTriggers newTrigger;
+ std::memset(&newTrigger, 0, sizeof(newTrigger));
+ for (unsigned char reg = 0; reg < tDMA::kNumExternalTriggersRegisters;
+ reg++) {
+ for (unsigned char bit = 0; bit < tDMA::kNumExternalTriggersElements;
+ bit++) {
+ dma->aDMA->writeExternalTriggers(reg, bit, newTrigger, status);
+ }
}
- HAL_SetDMARate(handle, 1, status);
- if (*status != 0) {
- dmaHandles->Free(handle);
- return HAL_kInvalidHandle;
- }
-
- HAL_SetDMAPause(handle, false, status);
return handle;
}
@@ -127,7 +130,8 @@
auto dma = dmaHandles->Get(handle);
dmaHandles->Free(handle);
- if (!dma) return;
+ if (!dma)
+ return;
int32_t status = 0;
if (dma->manager) {
@@ -142,20 +146,44 @@
return;
}
+ if (!dma->manager) {
+ *status = HAL_INVALID_DMA_STATE;
+ return;
+ }
+
dma->aDMA->writeConfig_Pause(pause, status);
}
-void HAL_SetDMARate(HAL_DMAHandle handle, int32_t cycles, int32_t* status) {
+
+void HAL_SetDMATimedTrigger(HAL_DMAHandle handle, double seconds,
+ int32_t* status) {
+ constexpr double baseMultipler = kSystemClockTicksPerMicrosecond * 1000000;
+ uint32_t cycles = static_cast<uint32_t>(baseMultipler * seconds);
+ HAL_SetDMATimedTriggerCycles(handle, cycles, status);
+}
+
+void HAL_SetDMATimedTriggerCycles(HAL_DMAHandle handle, uint32_t cycles,
+ int32_t* status) {
auto dma = dmaHandles->Get(handle);
if (!dma) {
*status = HAL_HANDLE_ERROR;
return;
}
+ if (dma->manager) {
+ *status = HAL_INVALID_DMA_ADDITION;
+ return;
+ }
+
if (cycles < 1) {
cycles = 1;
}
- dma->aDMA->writeRate(static_cast<uint32_t>(cycles), status);
+ dma->aDMA->writeConfig_ExternalClock(false, status);
+ if (*status != 0) {
+ return;
+ }
+
+ dma->aDMA->writeRate(cycles, status);
}
void HAL_AddDMAEncoder(HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle,
@@ -480,20 +508,20 @@
}
}
-void HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
- HAL_Handle digitalSourceHandle,
- HAL_AnalogTriggerType analogTriggerType,
- HAL_Bool rising, HAL_Bool falling,
- int32_t* status) {
+int32_t HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
+ HAL_Handle digitalSourceHandle,
+ HAL_AnalogTriggerType analogTriggerType,
+ HAL_Bool rising, HAL_Bool falling,
+ int32_t* status) {
auto dma = dmaHandles->Get(handle);
if (!dma) {
*status = HAL_HANDLE_ERROR;
- return;
+ return 0;
}
if (dma->manager) {
*status = HAL_INVALID_DMA_ADDITION;
- return;
+ return 0;
}
int index = 0;
@@ -507,19 +535,21 @@
if (index == 8) {
*status = NO_AVAILABLE_RESOURCES;
- return;
+ return 0;
}
dma->captureStore.triggerChannels |= (1 << index);
auto channelIndex = index;
- auto isExternalClock = dma->aDMA->readConfig_ExternalClock(status);
- if (*status == 0 && !isExternalClock) {
- dma->aDMA->writeConfig_ExternalClock(true, status);
- if (*status != 0) return;
- } else if (*status != 0) {
- return;
+ dma->aDMA->writeConfig_ExternalClock(true, status);
+ if (*status != 0) {
+ return 0;
+ }
+
+ dma->aDMA->writeRate(1, status);
+ if (*status != 0) {
+ return 0;
}
uint8_t pin = 0;
@@ -530,7 +560,10 @@
if (!success) {
*status = PARAMETER_OUT_OF_RANGE;
- return;
+ hal::SetLastError(status,
+ "Digital Source unabled to be mapped properly. Likely "
+ "invalid handle passed.");
+ return 0;
}
tDMA::tExternalTriggers newTrigger;
@@ -542,6 +575,55 @@
dma->aDMA->writeExternalTriggers(channelIndex / 4, channelIndex % 4,
newTrigger, status);
+ return index;
+}
+
+void HAL_ClearDMASensors(HAL_DMAHandle handle, int32_t* status) {
+ auto dma = dmaHandles->Get(handle);
+ if (!dma) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ if (dma->manager) {
+ *status = HAL_INVALID_DMA_STATE;
+ return;
+ }
+
+ bool existingExternal = dma->aDMA->readConfig_ExternalClock(status);
+ if (*status != 0) {
+ return;
+ }
+
+ tDMA::tConfig config;
+ std::memset(&config, 0, sizeof(config));
+ config.Pause = true;
+ config.ExternalClock = existingExternal;
+ dma->aDMA->writeConfig(config, status);
+}
+
+void HAL_ClearDMAExternalTriggers(HAL_DMAHandle handle, int32_t* status) {
+ auto dma = dmaHandles->Get(handle);
+ if (!dma) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ if (dma->manager) {
+ *status = HAL_INVALID_DMA_STATE;
+ return;
+ }
+
+ dma->captureStore.triggerChannels = 0;
+ tDMA::tExternalTriggers newTrigger;
+ std::memset(&newTrigger, 0, sizeof(newTrigger));
+ for (unsigned char reg = 0; reg < tDMA::kNumExternalTriggersRegisters;
+ reg++) {
+ for (unsigned char bit = 0; bit < tDMA::kNumExternalTriggersElements;
+ bit++) {
+ dma->aDMA->writeExternalTriggers(reg, bit, newTrigger, status);
+ }
+ }
}
void HAL_StartDMA(HAL_DMAHandle handle, int32_t queueDepth, int32_t* status) {
@@ -552,12 +634,14 @@
}
if (dma->manager) {
- *status = INCOMPATIBLE_STATE;
+ *status = HAL_INVALID_DMA_STATE;
return;
}
tDMA::tConfig config = dma->aDMA->readConfig(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
{
size_t accum_size = 0;
@@ -594,12 +678,15 @@
dma->captureStore.captureSize = accum_size + 1;
}
- dma->manager = std::make_unique<tDMAManager>(
- g_DMA_index, queueDepth * dma->captureStore.captureSize, status);
+ uint32_t byteDepth = queueDepth * dma->captureStore.captureSize;
+
+ dma->manager = std::make_unique<tDMAManager>(g_DMA_index, byteDepth, status);
if (*status != 0) {
return;
}
+ dma->aDMA->writeConfig_Pause(false, status);
+
dma->manager->start(status);
dma->manager->stop(status);
dma->manager->start(status);
@@ -613,6 +700,8 @@
}
if (dma->manager) {
+ dma->aDMA->writeConfig_Pause(true, status);
+ *status = 0;
dma->manager->stop(status);
dma->manager = nullptr;
}
@@ -625,7 +714,7 @@
enum HAL_DMAReadStatus HAL_ReadDMADirect(void* dmaPointer,
HAL_DMASample* dmaSample,
- int32_t timeoutMs,
+ double timeoutSeconds,
int32_t* remainingOut,
int32_t* status) {
DMA* dma = static_cast<DMA*>(dmaPointer);
@@ -633,12 +722,13 @@
size_t remainingBytes = 0;
if (!dma->manager) {
- *status = INCOMPATIBLE_STATE;
+ *status = HAL_INVALID_DMA_STATE;
return HAL_DMA_ERROR;
}
dma->manager->read(dmaSample->readBuffer, dma->captureStore.captureSize,
- timeoutMs, &remainingBytes, status);
+ static_cast<uint32_t>(timeoutSeconds * 1000),
+ &remainingBytes, status);
*remainingOut = remainingBytes / dma->captureStore.captureSize;
@@ -663,15 +753,16 @@
}
enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
- HAL_DMASample* dmaSample, int32_t timeoutMs,
- int32_t* remainingOut, int32_t* status) {
+ HAL_DMASample* dmaSample,
+ double timeoutSeconds, int32_t* remainingOut,
+ int32_t* status) {
auto dma = dmaHandles->Get(handle);
if (!dma) {
*status = HAL_HANDLE_ERROR;
return HAL_DMA_ERROR;
}
- return HAL_ReadDMADirect(dma.get(), dmaSample, timeoutMs, remainingOut,
+ return HAL_ReadDMADirect(dma.get(), dmaSample, timeoutSeconds, remainingOut,
status);
}
diff --git a/hal/src/main/native/athena/DigitalInternal.cpp b/hal/src/main/native/athena/DigitalInternal.cpp
index 205ce3e..63ea0aa 100644
--- a/hal/src/main/native/athena/DigitalInternal.cpp
+++ b/hal/src/main/native/athena/DigitalInternal.cpp
@@ -1,13 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "DigitalInternal.h"
#include <atomic>
+#include <cmath>
#include <thread>
#include <FRC_NetworkCommunication/LoadOut.h>
@@ -46,8 +44,12 @@
} // namespace init
namespace detail {
-wpi::mutex& UnsafeGetDIOMutex() { return digitalDIOMutex; }
-tDIO* UnsafeGetDigialSystem() { return digitalSystem.get(); }
+wpi::mutex& UnsafeGetDIOMutex() {
+ return digitalDIOMutex;
+}
+tDIO* UnsafeGetDigialSystem() {
+ return digitalSystem.get();
+}
int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status) {
auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -72,11 +74,15 @@
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
// Initial check, as if it's true initialization has finished
- if (initialized) return;
+ if (initialized) {
+ return;
+ }
std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
- if (initialized) return;
+ if (initialized) {
+ return;
+ }
digitalSystem.reset(tDIO::create(status));
@@ -92,7 +98,8 @@
// Make sure that the 9403 IONode has had a chance to initialize before
// continuing.
- while (pwmSystem->readLoopTiming(status) == 0) std::this_thread::yield();
+ while (pwmSystem->readLoopTiming(status) == 0)
+ std::this_thread::yield();
if (pwmSystem->readLoopTiming(status) != kExpectedLoopTiming) {
*status = LOOP_TIMING_ERROR; // NOTE: Doesn't display the error
@@ -102,10 +109,10 @@
double loopTime = pwmSystem->readLoopTiming(status) /
(kSystemClockTicksPerMicrosecond * 1e3);
- pwmSystem->writeConfig_Period(
- static_cast<uint16_t>(kDefaultPwmPeriod / loopTime + 0.5), status);
- uint16_t minHigh = static_cast<uint16_t>(
- (kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime + 0.5);
+ pwmSystem->writeConfig_Period(std::lround(kDefaultPwmPeriod / loopTime),
+ status);
+ uint16_t minHigh = std::lround(
+ (kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime);
pwmSystem->writeConfig_MinHigh(minHigh, status);
// Ensure that PWM output values are set to OFF
for (uint8_t pwmIndex = 0; pwmIndex < kNumPWMChannels; pwmIndex++) {
@@ -158,12 +165,22 @@
}
analogTrigger = false;
return true;
- } else {
- return false;
+ } else if (isHandleType(digitalSourceHandle, HAL_HandleEnum::PWM)) {
+ // PWM's on MXP port are supported as a digital source
+ int32_t index = getHandleIndex(digitalSourceHandle);
+ if (index >= kNumPWMHeaders) {
+ channel = remapMXPPWMChannel(index);
+ module = 1;
+ analogTrigger = false;
+ return true;
+ }
}
+ return false;
}
-int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
+int32_t remapMXPChannel(int32_t channel) {
+ return channel - 10;
+}
int32_t remapMXPPWMChannel(int32_t channel) {
if (channel < 14) {
@@ -173,7 +190,9 @@
}
}
-int32_t remapSPIChannel(int32_t channel) { return channel - 26; }
+int32_t remapSPIChannel(int32_t channel) {
+ return channel - 26;
+}
} // namespace hal
diff --git a/hal/src/main/native/athena/DigitalInternal.h b/hal/src/main/native/athena/DigitalInternal.h
index 2cb9b3c..6b1e909 100644
--- a/hal/src/main/native/athena/DigitalInternal.h
+++ b/hal/src/main/native/athena/DigitalInternal.h
@@ -1,15 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <memory>
+#include <string>
#include <wpi/mutex.h>
@@ -73,6 +71,7 @@
int32_t centerPwm = 0;
int32_t deadbandMinPwm = 0;
int32_t minPwm = 0;
+ std::string previousAllocation;
};
extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
@@ -101,13 +100,15 @@
*/
constexpr int32_t remapDigitalChannelToBitfieldChannel(int32_t channel) {
// First 10 are headers
- if (channel < kNumDigitalHeaders) return channel;
- // 2nd group of 16 are mxp. So if mxp port, add 6, since they start at 10
- else if (channel < kNumDigitalMXPChannels)
+ if (channel < kNumDigitalHeaders) {
+ return channel;
+ // 2nd group of 16 are mxp. So if mxp port, add 6, since they start at 10
+ } else if (channel < kNumDigitalMXPChannels) {
return channel + 6;
- // Assume SPI, so remove MXP channels
- else
+ // Assume SPI, so remove MXP channels
+ } else {
return channel - kNumDigitalMXPChannels;
+ }
}
/**
diff --git a/hal/src/main/native/athena/DutyCycle.cpp b/hal/src/main/native/athena/DutyCycle.cpp
index 3749a2b..6d70570 100644
--- a/hal/src/main/native/athena/DutyCycle.cpp
+++ b/hal/src/main/native/athena/DutyCycle.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/DutyCycle.h"
diff --git a/hal/src/main/native/athena/DutyCycleInternal.h b/hal/src/main/native/athena/DutyCycleInternal.h
index 33a8ff2..ef49e25 100644
--- a/hal/src/main/native/athena/DutyCycleInternal.h
+++ b/hal/src/main/native/athena/DutyCycleInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/athena/Encoder.cpp b/hal/src/main/native/athena/Encoder.cpp
index be8c203..6edfea3 100644
--- a/hal/src/main/native/athena/Encoder.cpp
+++ b/hal/src/main/native/athena/Encoder.cpp
@@ -1,15 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Encoder.h"
+#include <fmt/format.h>
+
#include "EncoderInternal.h"
#include "FPGAEncoder.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/ChipObject.h"
#include "hal/Counter.h"
@@ -49,6 +49,8 @@
}
default:
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Encoding type {} invalid.",
+ static_cast<int>(encodingType)));
return;
}
}
@@ -63,15 +65,23 @@
m_encodingScale = encodingType == HAL_Encoder_k1X ? 1 : 2;
m_counter =
HAL_InitializeCounter(HAL_Counter_kExternalDirection, &m_index, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
HAL_SetCounterMaxPeriod(m_counter, 0.5, status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
HAL_SetCounterUpSource(m_counter, digitalSourceHandleA, analogTriggerTypeA,
status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
HAL_SetCounterDownSource(m_counter, digitalSourceHandleB, analogTriggerTypeB,
status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
if (encodingType == HAL_Encoder_k1X) {
HAL_SetCounterUpSourceEdge(m_counter, true, false, status);
HAL_SetCounterAverageSize(m_counter, 1, status);
@@ -176,6 +186,9 @@
void Encoder::SetSamplesToAverage(int32_t samplesToAverage, int32_t* status) {
if (samplesToAverage < 1 || samplesToAverage > 127) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Samples to average must be between "
+ "1 and 127 inclusive. Requested {}",
+ samplesToAverage));
return;
}
if (m_counter) {
@@ -226,8 +239,7 @@
kNumEncoders + kNumCounters,
HAL_HandleEnum::Encoder>* encoderHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeEncoder() {
static LimitedClassedHandleResource<HAL_EncoderHandle, Encoder,
kNumEncoders + kNumCounters,
@@ -235,15 +247,16 @@
eH;
encoderHandles = &eH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
namespace hal {
bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
HAL_FPGAEncoderHandle* fpgaHandle,
HAL_CounterHandle* counterHandle) {
auto encoder = encoderHandles->Get(handle);
- if (!handle) return false;
+ if (!encoder) {
+ return false;
+ }
*fpgaHandle = encoder->m_encoder;
*counterHandle = encoder->m_counter;
@@ -261,7 +274,9 @@
auto encoder = std::make_shared<Encoder>(
digitalSourceHandleA, analogTriggerTypeA, digitalSourceHandleB,
analogTriggerTypeB, reverseDirection, encodingType, status);
- if (*status != 0) return HAL_kInvalidHandle; // return in creation error
+ if (*status != 0) {
+ return HAL_kInvalidHandle; // return in creation error
+ }
auto handle = encoderHandles->Allocate(encoder);
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;
diff --git a/hal/src/main/native/athena/EncoderInternal.h b/hal/src/main/native/athena/EncoderInternal.h
index bed4ee3..5591a6f 100644
--- a/hal/src/main/native/athena/EncoderInternal.h
+++ b/hal/src/main/native/athena/EncoderInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/athena/FPGAEncoder.cpp b/hal/src/main/native/athena/FPGAEncoder.cpp
index 7f2e107..9965d43 100644
--- a/hal/src/main/native/athena/FPGAEncoder.cpp
+++ b/hal/src/main/native/athena/FPGAEncoder.cpp
@@ -1,16 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "FPGAEncoder.h"
#include <memory>
+#include <fmt/format.h>
+
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/handles/LimitedHandleResource.h"
@@ -30,16 +30,14 @@
static LimitedHandleResource<HAL_FPGAEncoderHandle, Encoder, kNumEncoders,
HAL_HandleEnum::FPGAEncoder>* fpgaEncoderHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeFPGAEncoder() {
static LimitedHandleResource<HAL_FPGAEncoderHandle, Encoder, kNumEncoders,
HAL_HandleEnum::FPGAEncoder>
feH;
fpgaEncoderHandles = &feH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -198,6 +196,10 @@
}
if (samplesToAverage < 1 || samplesToAverage > 127) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Samples to average must be between "
+ "1 and 127 inclusive. Requested {}",
+ samplesToAverage));
+ return;
}
encoder->encoder->writeTimerConfig_AverageSize(samplesToAverage, status);
}
diff --git a/hal/src/main/native/athena/FPGAEncoder.h b/hal/src/main/native/athena/FPGAEncoder.h
index f29aeae..b401ccd 100644
--- a/hal/src/main/native/athena/FPGAEncoder.h
+++ b/hal/src/main/native/athena/FPGAEncoder.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/athena/FRCDriverStation.cpp b/hal/src/main/native/athena/FRCDriverStation.cpp
index 51fe327..0f4b69b 100644
--- a/hal/src/main/native/athena/FRCDriverStation.cpp
+++ b/hal/src/main/native/athena/FRCDriverStation.cpp
@@ -1,22 +1,21 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <atomic>
#include <chrono>
#include <cstdlib>
#include <cstring>
#include <limits>
+#include <string>
+#include <string_view>
#include <FRC_NetworkCommunication/FRCComm.h>
#include <FRC_NetworkCommunication/NetCommRPCProxy_Occur.h>
+#include <fmt/format.h>
#include <wpi/SafeThread.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
-#include <wpi/raw_ostream.h>
#include "hal/DriverStation.h"
@@ -70,15 +69,15 @@
joystickNum, &buttons->buttons, &buttons->count);
}
/**
- * Retrieve the Joystick Descriptor for particular slot
- * @param desc [out] descriptor (data transfer object) to fill in. desc is
- * filled in regardless of success. In other words, if descriptor is not
- * available, desc is filled in with default values matching the init-values in
- * Java and C++ Driverstation for when caller requests a too-large joystick
- * index.
+ * Retrieve the Joystick Descriptor for particular slot.
*
+ * @param[out] desc descriptor (data transfer object) to fill in. desc is filled
+ * in regardless of success. In other words, if descriptor is
+ * not available, desc is filled in with default values
+ * matching the init-values in Java and C++ Driverstation for
+ * when caller requests a too-large joystick index.
* @return error code reported from Network Comm back-end. Zero is good,
- * nonzero is bad.
+ * nonzero is bad.
*/
static int32_t HAL_GetJoystickDescriptorInternal(int32_t joystickNum,
HAL_JoystickDescriptor* desc) {
@@ -126,16 +125,14 @@
static wpi::condition_variable* newDSDataAvailableCond;
static int newDSDataAvailableCounter{0};
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeFRCDriverStation() {
static wpi::mutex newMutex;
newDSDataAvailableMutex = &newMutex;
static wpi::condition_variable newCond;
newDSDataAvailableCond = &newCond;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -161,13 +158,15 @@
auto curTime = std::chrono::steady_clock::now();
int i;
for (i = 0; i < KEEP_MSGS; ++i) {
- if (prevMsg[i] == details) break;
+ if (prevMsg[i] == details) {
+ break;
+ }
}
int retval = 0;
if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= std::chrono::seconds(1)) {
- wpi::StringRef detailsRef{details};
- wpi::StringRef locationRef{location};
- wpi::StringRef callStackRef{callStack};
+ std::string_view detailsRef{details};
+ std::string_view locationRef{location};
+ std::string_view callStackRef{callStack};
// 1 tag, 4 timestamp, 2 seqnum
// 2 numOccur, 4 error code, 1 flags, 6 strlen
@@ -203,14 +202,16 @@
newCallStack.c_str());
}
if (printMsg) {
+ fmt::memory_buffer buf;
if (location && location[0] != '\0') {
- wpi::errs() << (isError ? "Error" : "Warning") << " at " << location
- << ": ";
+ fmt::format_to(fmt::appender{buf},
+ "{} at {}: ", isError ? "Error" : "Warning", location);
}
- wpi::errs() << details << "\n";
+ fmt::format_to(fmt::appender{buf}, "{}\n", details);
if (callStack && callStack[0] != '\0') {
- wpi::errs() << callStack << "\n";
+ fmt::format_to(fmt::appender{buf}, "{}\n", callStack);
}
+ std::fwrite(buf.data(), buf.size(), 1, stderr);
}
if (i == KEEP_MSGS) {
// replace the oldest one
@@ -230,7 +231,7 @@
}
int32_t HAL_SendConsoleLine(const char* line) {
- wpi::StringRef lineRef{line};
+ std::string_view lineRef{line};
if (lineRef.size() <= 65535) {
// Send directly
return FRC_NetworkCommunication_sendConsoleLine(line);
@@ -299,15 +300,16 @@
name[0] = '\0';
return name;
} else {
- size_t len = std::strlen(joystickDesc.name);
- char* name = static_cast<char*>(std::malloc(len + 1));
- std::strncpy(name, joystickDesc.name, len);
- name[len] = '\0';
+ const size_t len = std::strlen(joystickDesc.name) + 1;
+ char* name = static_cast<char*>(std::malloc(len));
+ std::memcpy(name, joystickDesc.name, len);
return name;
}
}
-void HAL_FreeJoystickName(char* name) { std::free(name); }
+void HAL_FreeJoystickName(char* name) {
+ std::free(name);
+}
int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis) {
HAL_JoystickDescriptor joystickDesc;
@@ -363,21 +365,17 @@
std::scoped_lock lock{*newDSDataAvailableMutex};
int& lastCount = GetThreadLocalLastCount();
int currentCount = newDSDataAvailableCounter;
- if (lastCount == currentCount) return false;
+ if (lastCount == currentCount) {
+ return false;
+ }
lastCount = currentCount;
return true;
}
-/**
- * Waits for the newest DS packet to arrive. Note that this is a blocking call.
- */
-void HAL_WaitForDSData(void) { HAL_WaitForDSDataTimeout(0); }
+void HAL_WaitForDSData(void) {
+ HAL_WaitForDSDataTimeout(0);
+}
-/**
- * Waits for the newest DS packet to arrive. If timeout is <= 0, this will wait
- * forever. Otherwise, it will wait until either a new packet, or the timeout
- * time has passed. Returns true on new data, false on timeout.
- */
HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
std::unique_lock lock{*newDSDataAvailableMutex};
int& lastCount = GetThreadLocalLastCount();
@@ -409,7 +407,9 @@
static void newDataOccur(uint32_t refNum) {
// Since we could get other values, require our specific handle
// to signal our threads
- if (refNum != refNumber) return;
+ if (refNum != refNumber) {
+ return;
+ }
std::scoped_lock lock{*newDSDataAvailableMutex};
// Notify all threads
++newDSDataAvailableCounter;
@@ -425,11 +425,15 @@
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
// Initial check, as if it's true initialization has finished
- if (initialized) return;
+ if (initialized) {
+ return;
+ }
std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
- if (initialized) return;
+ if (initialized) {
+ return;
+ }
// Set up the occur function internally with NetComm
NetCommRPCProxy_SetOccurFuncPointer(newDataOccur);
@@ -443,6 +447,8 @@
* Releases the DS Mutex to allow proper shutdown of any threads that are
* waiting on it.
*/
-void HAL_ReleaseDSMutex(void) { newDataOccur(refNumber); }
+void HAL_ReleaseDSMutex(void) {
+ newDataOccur(refNumber);
+}
} // extern "C"
diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp
index 17ef0b9..0b6d05e 100644
--- a/hal/src/main/native/athena/HAL.cpp
+++ b/hal/src/main/native/athena/HAL.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/HAL.h"
@@ -12,6 +9,7 @@
#include <unistd.h>
#include <atomic>
+#include <cstdio>
#include <cstdlib>
#include <fstream>
#include <thread>
@@ -19,13 +17,12 @@
#include <FRC_NetworkCommunication/FRCComm.h>
#include <FRC_NetworkCommunication/LoadOut.h>
#include <FRC_NetworkCommunication/UsageReporting.h>
+#include <fmt/format.h>
#include <wpi/mutex.h>
-#include <wpi/raw_ostream.h>
#include <wpi/timestamp.h>
#include "HALInitializer.h"
#include "HALInternal.h"
-#include "ctre/ctre.h"
#include "hal/ChipObject.h"
#include "hal/DriverStation.h"
#include "hal/Errors.h"
@@ -43,6 +40,8 @@
namespace hal {
namespace init {
void InitializeHAL() {
+ InitializeCTREPCM();
+ InitializeREVPH();
InitializeAddressableLED();
InitializeAccelerometer();
InitializeAnalogAccumulator();
@@ -53,7 +52,6 @@
InitializeAnalogTrigger();
InitializeCAN();
InitializeCANAPI();
- InitializeCompressor();
InitializeConstants();
InitializeCounter();
InitializeDigitalInternal();
@@ -67,14 +65,13 @@
InitializeInterrupts();
InitializeMain();
InitializeNotifier();
- InitializePCMInternal();
- InitializePDP();
+ InitializeCTREPDP();
+ InitializeREVPDH();
InitializePorts();
InitializePower();
InitializePWM();
InitializeRelay();
InitializeSerialPort();
- InitializeSolenoid();
InitializeSPI();
InitializeThreads();
}
@@ -95,14 +92,20 @@
HAL_PortHandle HAL_GetPort(int32_t channel) {
// Dont allow a number that wouldn't fit in a uint8_t
- if (channel < 0 || channel >= 255) return HAL_kInvalidHandle;
+ if (channel < 0 || channel >= 255) {
+ return HAL_kInvalidHandle;
+ }
return createPortHandle(channel, 1);
}
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) {
// Dont allow a number that wouldn't fit in a uint8_t
- if (channel < 0 || channel >= 255) return HAL_kInvalidHandle;
- if (module < 0 || module >= 255) return HAL_kInvalidHandle;
+ if (channel < 0 || channel >= 255) {
+ return HAL_kInvalidHandle;
+ }
+ if (module < 0 || module >= 255) {
+ return HAL_kInvalidHandle;
+ }
return createPortHandle(channel, module);
}
@@ -110,18 +113,6 @@
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:
@@ -230,12 +221,26 @@
return HAL_CAN_BUFFER_OVERRUN_MESSAGE;
case HAL_LED_CHANNEL_ERROR:
return HAL_LED_CHANNEL_ERROR_MESSAGE;
+ case HAL_INVALID_DMA_STATE:
+ return HAL_INVALID_DMA_STATE_MESSAGE;
+ case HAL_INVALID_DMA_ADDITION:
+ return HAL_INVALID_DMA_ADDITION_MESSAGE;
+ case HAL_USE_LAST_ERROR:
+ return HAL_USE_LAST_ERROR_MESSAGE;
+ case HAL_CONSOLE_OUT_ENABLED_ERROR:
+ return HAL_CONSOLE_OUT_ENABLED_ERROR_MESSAGE;
default:
return "Unknown error status";
}
}
-HAL_RuntimeType HAL_GetRuntimeType(void) { return HAL_Athena; }
+HAL_RuntimeType HAL_GetRuntimeType(void) {
+ nLoadOut::tTargetClass targetClass = nLoadOut::getTargetClass();
+ if (targetClass == nLoadOut::kTargetClass_RoboRIO2) {
+ return HAL_Runtime_RoboRIO2;
+ }
+ return HAL_Runtime_RoboRIO;
+}
int32_t HAL_GetFPGAVersion(int32_t* status) {
if (!global) {
@@ -262,35 +267,41 @@
uint64_t upper1 = global->readLocalTimeUpper(status);
uint32_t lower = global->readLocalTime(status);
uint64_t upper2 = global->readLocalTimeUpper(status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
if (upper1 != upper2) {
// Rolled over between the lower call, reread lower
lower = global->readLocalTime(status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
}
return (upper2 << 32) + lower;
}
-uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status) {
+uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status) {
// Capture the current FPGA time. This will give us the upper half of the
// clock.
- uint64_t fpga_time = HAL_GetFPGATime(status);
- if (*status != 0) return 0;
+ uint64_t fpgaTime = HAL_GetFPGATime(status);
+ if (*status != 0) {
+ return 0;
+ }
// Now, we need to detect the case where the lower bits rolled over after we
// sampled. In that case, the upper bits will be 1 bigger than they should
// be.
// Break it into lower and upper portions.
- uint32_t lower = fpga_time & 0xffffffffull;
- uint64_t upper = (fpga_time >> 32) & 0xffffffff;
+ uint32_t lower = fpgaTime & 0xffffffffull;
+ uint64_t upper = (fpgaTime >> 32) & 0xffffffff;
// The time was sampled *before* the current time, so roll it back.
- if (lower < unexpanded_lower) {
+ if (lower < unexpandedLower) {
--upper;
}
- return (upper << 32) + static_cast<uint64_t>(unexpanded_lower);
+ return (upper << 32) + static_cast<uint64_t>(unexpandedLower);
}
HAL_Bool HAL_GetFPGAButton(int32_t* status) {
@@ -322,7 +333,9 @@
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 false;
+ if (fs.bad()) {
+ return false;
+ }
pid_t pid = 0;
if (!fs.eof() && !fs.fail()) {
@@ -330,18 +343,19 @@
// 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()) {
- wpi::outs() << "Killing previously running FRC program...\n";
+ std::puts("Killing previously running FRC program...");
kill(pid, SIGTERM); // try to kill it
std::this_thread::sleep_for(std::chrono::milliseconds(timeout));
if (kill(pid, 0) == 0) {
// still not successful
- wpi::outs() << "FRC pid " << pid << " did not die within " << timeout
- << "ms. Force killing with kill -9\n";
+ fmt::print(
+ "FRC pid {} did not die within {} ms. Force killing with kill -9\n",
+ pid, timeout);
// Force kill -9
auto forceKill = kill(pid, SIGKILL);
if (forceKill != 0) {
auto errorMsg = std::strerror(forceKill);
- wpi::outs() << "Kill -9 error: " << errorMsg << "\n";
+ fmt::print("Kill -9 error: {}\n", errorMsg);
}
// Give a bit of time for the kill to take place
std::this_thread::sleep_for(std::chrono::milliseconds(250));
@@ -362,11 +376,15 @@
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
// Initial check, as if it's true initialization has finished
- if (initialized) return true;
+ if (initialized) {
+ return true;
+ }
std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
- if (initialized) return true;
+ if (initialized) {
+ return true;
+ }
hal::init::InitializeHAL();
@@ -374,7 +392,6 @@
setlinebuf(stdin);
setlinebuf(stdout);
- wpi::outs().SetUnbuffered();
prctl(PR_SET_PDEATHSIG, SIGTERM);
@@ -397,7 +414,9 @@
global.reset(tGlobal::create(&status));
watchdog.reset(tSysWatchdog::create(&status));
- if (status != 0) return false;
+ if (status != 0) {
+ return false;
+ }
HAL_InitializeDriverStation();
@@ -406,11 +425,11 @@
int32_t status = 0;
uint64_t rv = HAL_GetFPGATime(&status);
if (status != 0) {
- wpi::errs()
- << "Call to HAL_GetFPGATime failed in wpi::Now() with status "
- << status
- << ". Initialization might have failed. Time will not be correct\n";
- wpi::errs().flush();
+ fmt::print(stderr,
+ "Call to HAL_GetFPGATime failed in wpi::Now() with status {}. "
+ "Initialization might have failed. Time will not be correct\n",
+ status);
+ std::fflush(stderr);
return 0u;
}
return rv;
@@ -422,6 +441,10 @@
void HAL_Shutdown(void) {}
+void HAL_SimPeriodicBefore(void) {}
+
+void HAL_SimPeriodicAfter(void) {}
+
int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
const char* feature) {
if (feature == nullptr) {
@@ -432,10 +455,4 @@
resource, instanceNumber, context, feature);
}
-// TODO: HACKS
-// No need for header definitions, as we should not run from user code.
-void NumericArrayResize(void) {}
-void RTSetCleanupProc(void) {}
-void EDVR_CreateReference(void) {}
-
} // extern "C"
diff --git a/hal/src/main/native/athena/HALInitializer.cpp b/hal/src/main/native/athena/HALInitializer.cpp
index 5c2242b..50cc9ab 100644
--- a/hal/src/main/native/athena/HALInitializer.cpp
+++ b/hal/src/main/native/athena/HALInitializer.cpp
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "HALInitializer.h"
#include "hal/HALBase.h"
-namespace hal {
-namespace init {
+namespace hal::init {
std::atomic_bool HAL_IsInitialized{false};
-void RunInitialize() { HAL_Initialize(500, 0); }
-} // namespace init
-} // namespace hal
+void RunInitialize() {
+ HAL_Initialize(500, 0);
+}
+} // namespace hal::init
diff --git a/hal/src/main/native/athena/HALInitializer.h b/hal/src/main/native/athena/HALInitializer.h
index c54660f..182ab5b 100644
--- a/hal/src/main/native/athena/HALInitializer.h
+++ b/hal/src/main/native/athena/HALInitializer.h
@@ -1,23 +1,23 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <atomic>
-namespace hal {
-namespace init {
+namespace hal::init {
extern std::atomic_bool HAL_IsInitialized;
extern void RunInitialize();
-static inline void CheckInit() {
- if (HAL_IsInitialized.load(std::memory_order_relaxed)) return;
+inline void CheckInit() {
+ if (HAL_IsInitialized.load(std::memory_order_relaxed)) {
+ return;
+ }
RunInitialize();
}
+extern void InitializeCTREPCM();
+extern void InitializeREVPH();
extern void InitializeAccelerometer();
extern void InitializeAddressableLED();
extern void InitializeAnalogAccumulator();
@@ -28,7 +28,6 @@
extern void InitializeAnalogTrigger();
extern void InitializeCAN();
extern void InitializeCANAPI();
-extern void InitializeCompressor();
extern void InitializeConstants();
extern void InitializeCounter();
extern void InitializeDigitalInternal();
@@ -43,15 +42,13 @@
extern void InitializeInterrupts();
extern void InitializeMain();
extern void InitializeNotifier();
-extern void InitializePCMInternal();
-extern void InitializePDP();
+extern void InitializeCTREPDP();
+extern void InitializeREVPDH();
extern void InitializePorts();
extern void InitializePower();
extern void InitializePWM();
extern void InitializeRelay();
extern void InitializeSerialPort();
-extern void InitializeSolenoid();
extern void InitializeSPI();
extern void InitializeThreads();
-} // namespace init
-} // namespace hal
+} // namespace hal::init
diff --git a/hal/src/main/native/athena/HALInternal.h b/hal/src/main/native/athena/HALInternal.h
index e3033bf..64a0dca 100644
--- a/hal/src/main/native/athena/HALInternal.h
+++ b/hal/src/main/native/athena/HALInternal.h
@@ -1,15 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <string_view>
+
namespace hal {
void ReleaseFPGAInterrupt(int32_t interruptNumber);
-
+void SetLastError(int32_t* status, std::string_view value);
+void SetLastErrorIndexOutOfRange(int32_t* status, std::string_view message,
+ int32_t minimum, int32_t maximum,
+ int32_t channel);
+void SetLastErrorPreviouslyAllocated(int32_t* status, std::string_view message,
+ int32_t channel,
+ std::string_view previousAllocation);
} // namespace hal
diff --git a/hal/src/main/native/athena/I2C.cpp b/hal/src/main/native/athena/I2C.cpp
index b72e25e..93e280e 100644
--- a/hal/src/main/native/athena/I2C.cpp
+++ b/hal/src/main/native/athena/I2C.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/I2C.h"
@@ -15,8 +12,11 @@
#include <cstring>
+#include <fmt/format.h>
+
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "hal/DIO.h"
#include "hal/HAL.h"
@@ -33,44 +33,50 @@
static HAL_DigitalHandle i2CMXPDigitalHandle1{HAL_kInvalidHandle};
static HAL_DigitalHandle i2CMXPDigitalHandle2{HAL_kInvalidHandle};
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeI2C() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
hal::init::CheckInit();
initializeDigital(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
if (port < 0 || port > 1) {
- // Set port out of range error here
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for I2C", 0, 1,
+ port);
return;
}
if (port == HAL_I2C_kOnboard) {
std::scoped_lock lock(digitalI2COnBoardMutex);
i2COnboardObjCount++;
- if (i2COnboardObjCount > 1) return;
+ if (i2COnboardObjCount > 1) {
+ return;
+ }
int handle = open("/dev/i2c-2", O_RDWR);
if (handle < 0) {
- std::printf("Failed to open onboard i2c bus: %s\n", std::strerror(errno));
+ fmt::print("Failed to open onboard i2c bus: {}\n", std::strerror(errno));
return;
}
i2COnBoardHandle = handle;
} else {
std::scoped_lock lock(digitalI2CMXPMutex);
i2CMXPObjCount++;
- if (i2CMXPObjCount > 1) return;
+ if (i2CMXPObjCount > 1) {
+ return;
+ }
if ((i2CMXPDigitalHandle1 = HAL_InitializeDIOPort(
- HAL_GetPort(24), false, status)) == HAL_kInvalidHandle) {
+ HAL_GetPort(24), false, nullptr, status)) == HAL_kInvalidHandle) {
return;
}
if ((i2CMXPDigitalHandle2 = HAL_InitializeDIOPort(
- HAL_GetPort(25), false, status)) == HAL_kInvalidHandle) {
+ HAL_GetPort(25), false, nullptr, status)) == HAL_kInvalidHandle) {
HAL_FreeDIOPort(i2CMXPDigitalHandle1); // free the first port allocated
return;
}
@@ -78,7 +84,7 @@
digitalSystem->readEnableMXPSpecialFunction(status) | 0xC000, status);
int handle = open("/dev/i2c-1", O_RDWR);
if (handle < 0) {
- std::printf("Failed to open MXP i2c bus: %s\n", std::strerror(errno));
+ fmt::print("Failed to open MXP i2c bus: {}\n", std::strerror(errno));
return;
}
i2CMXPHandle = handle;
@@ -89,7 +95,9 @@
const uint8_t* dataToSend, int32_t sendSize,
uint8_t* dataReceived, int32_t receiveSize) {
if (port < 0 || port > 1) {
- // Set port out of range error here
+ int32_t status = 0;
+ hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+ port);
return -1;
}
@@ -119,7 +127,9 @@
int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize) {
if (port < 0 || port > 1) {
- // Set port out of range error here
+ int32_t status = 0;
+ hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+ port);
return -1;
}
@@ -145,7 +155,9 @@
int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
int32_t count) {
if (port < 0 || port > 1) {
- // Set port out of range error here
+ int32_t status = 0;
+ hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+ port);
return -1;
}
@@ -170,7 +182,9 @@
void HAL_CloseI2C(HAL_I2CPort port) {
if (port < 0 || port > 1) {
- // Set port out of range error here
+ int32_t status = 0;
+ hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+ port);
return;
}
diff --git a/hal/src/main/native/athena/Interrupts.cpp b/hal/src/main/native/athena/Interrupts.cpp
index a330e3c..943a1aa 100644
--- a/hal/src/main/native/athena/Interrupts.cpp
+++ b/hal/src/main/native/athena/Interrupts.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Interrupts.h"
@@ -24,79 +21,29 @@
using namespace hal;
namespace {
-// Safe thread to allow callbacks to run on their own thread
-class InterruptThread : public wpi::SafeThread {
- public:
- void Main() {
- std::unique_lock lock(m_mutex);
- while (m_active) {
- m_cond.wait(lock, [&] { return !m_active || m_notify; });
- if (!m_active) break;
- m_notify = false;
- HAL_InterruptHandlerFunction handler = m_handler;
- uint32_t mask = m_mask;
- void* param = m_param;
- lock.unlock(); // don't hold mutex during callback execution
- handler(mask, param);
- lock.lock();
- }
- }
-
- bool m_notify = false;
- HAL_InterruptHandlerFunction m_handler;
- void* m_param;
- uint32_t m_mask;
-};
-
-class InterruptThreadOwner : public wpi::SafeThreadOwner<InterruptThread> {
- public:
- void SetFunc(HAL_InterruptHandlerFunction handler, void* param) {
- auto thr = GetThread();
- if (!thr) return;
- thr->m_handler = handler;
- thr->m_param = param;
- }
-
- void Notify(uint32_t mask) {
- auto thr = GetThread();
- if (!thr) return;
- thr->m_mask = mask;
- thr->m_notify = true;
- thr->m_cond.notify_one();
- }
-};
struct Interrupt {
std::unique_ptr<tInterrupt> anInterrupt;
std::unique_ptr<tInterruptManager> manager;
- std::unique_ptr<InterruptThreadOwner> threadOwner = nullptr;
- void* param = nullptr;
};
} // namespace
-static void threadedInterruptHandler(uint32_t mask, void* param) {
- static_cast<InterruptThreadOwner*>(param)->Notify(mask);
-}
-
static LimitedHandleResource<HAL_InterruptHandle, Interrupt, kNumInterrupts,
HAL_HandleEnum::Interrupt>* interruptHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeInterrupts() {
static LimitedHandleResource<HAL_InterruptHandle, Interrupt, kNumInterrupts,
HAL_HandleEnum::Interrupt>
iH;
interruptHandles = &iH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
-HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher,
- int32_t* status) {
+HAL_InterruptHandle HAL_InitializeInterrupts(int32_t* status) {
hal::init::CheckInit();
HAL_InterruptHandle handle = interruptHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
@@ -109,24 +56,16 @@
anInterrupt->anInterrupt.reset(tInterrupt::create(interruptIndex, status));
anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
anInterrupt->manager = std::make_unique<tInterruptManager>(
- (1u << interruptIndex) | (1u << (interruptIndex + 8u)), watcher, status);
+ (1u << interruptIndex) | (1u << (interruptIndex + 8u)), true, status);
return handle;
}
-void* HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle,
- int32_t* status) {
+void HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle) {
auto anInterrupt = interruptHandles->Get(interruptHandle);
interruptHandles->Free(interruptHandle);
if (anInterrupt == nullptr) {
- return nullptr;
+ return;
}
-
- if (anInterrupt->manager->isEnabled(status)) {
- anInterrupt->manager->disable(status);
- }
-
- void* param = anInterrupt->param;
- return param;
}
int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle,
@@ -151,31 +90,6 @@
return result;
}
-void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle,
- int32_t* status) {
- auto anInterrupt = interruptHandles->Get(interruptHandle);
- if (anInterrupt == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- if (!anInterrupt->manager->isEnabled(status)) {
- anInterrupt->manager->enable(status);
- }
-}
-
-void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
- int32_t* status) {
- auto anInterrupt = interruptHandles->Get(interruptHandle);
- if (anInterrupt == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
- if (anInterrupt->manager->isEnabled(status)) {
- anInterrupt->manager->disable(status);
- }
-}
-
int64_t HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status) {
auto anInterrupt = interruptHandles->Get(interruptHandle);
@@ -224,40 +138,6 @@
anInterrupt->anInterrupt->writeConfig_Source_Module(routingModule, status);
}
-void HAL_AttachInterruptHandler(HAL_InterruptHandle interruptHandle,
- HAL_InterruptHandlerFunction handler,
- void* param, int32_t* status) {
- auto anInterrupt = interruptHandles->Get(interruptHandle);
- if (anInterrupt == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
- anInterrupt->manager->registerHandler(handler, param, status);
- anInterrupt->param = param;
-}
-
-void HAL_AttachInterruptHandlerThreaded(HAL_InterruptHandle interrupt_handle,
- HAL_InterruptHandlerFunction handler,
- void* param, int32_t* status) {
- auto anInterrupt = interruptHandles->Get(interrupt_handle);
- if (anInterrupt == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- anInterrupt->threadOwner = std::make_unique<InterruptThreadOwner>();
- anInterrupt->threadOwner->Start();
- anInterrupt->threadOwner->SetFunc(handler, param);
-
- HAL_AttachInterruptHandler(interrupt_handle, threadedInterruptHandler,
- anInterrupt->threadOwner.get(), status);
-
- if (*status != 0) {
- anInterrupt->threadOwner = nullptr;
- }
- anInterrupt->param = param;
-}
-
void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status) {
diff --git a/hal/src/main/native/athena/Notifier.cpp b/hal/src/main/native/athena/Notifier.cpp
index 905c440..d684031 100644
--- a/hal/src/main/native/athena/Notifier.cpp
+++ b/hal/src/main/native/athena/Notifier.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Notifier.h"
@@ -12,6 +9,7 @@
#include <memory>
#include <thread>
+#include <fmt/core.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
@@ -20,6 +18,7 @@
#include "hal/ChipObject.h"
#include "hal/Errors.h"
#include "hal/HAL.h"
+#include "hal/Threads.h"
#include "hal/handles/UnlimitedHandleResource.h"
using namespace hal;
@@ -29,6 +28,8 @@
static wpi::mutex notifierMutex;
static std::unique_ptr<tAlarm> notifierAlarm;
static std::thread notifierThread;
+static HAL_Bool notifierThreadRealTime = false;
+static int32_t notifierThreadPriority = 0;
static uint64_t closestTrigger{UINT64_MAX};
namespace {
@@ -78,8 +79,12 @@
// process all notifiers
notifierHandles->ForEach([&](HAL_NotifierHandle handle, Notifier* notifier) {
- if (notifier->triggerTime == UINT64_MAX) return;
- if (currentTime == 0) currentTime = HAL_GetFPGATime(&status);
+ if (notifier->triggerTime == UINT64_MAX) {
+ return;
+ }
+ if (currentTime == 0) {
+ currentTime = HAL_GetFPGATime(&status);
+ }
std::unique_lock lock(notifier->mutex);
if (notifier->triggerTime < currentTime) {
notifier->triggerTime = UINT64_MAX;
@@ -105,41 +110,61 @@
tInterruptManager manager{1 << kTimerInterruptNumber, true, &status};
while (notifierRunning) {
auto triggeredMask = manager.watch(10000, false, &status);
- if (!notifierRunning) break;
- if (triggeredMask == 0) continue;
+ if (!notifierRunning) {
+ break;
+ }
+ if (triggeredMask == 0)
+ continue;
alarmCallback();
}
}
static void cleanupNotifierAtExit() {
int32_t status = 0;
- if (notifierAlarm) notifierAlarm->writeEnable(false, &status);
+ if (notifierAlarm)
+ notifierAlarm->writeEnable(false, &status);
notifierAlarm = nullptr;
notifierRunning = false;
hal::ReleaseFPGAInterrupt(kTimerInterruptNumber);
- if (notifierThread.joinable()) notifierThread.join();
+ if (notifierThread.joinable()) {
+ notifierThread.join();
+ }
}
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeNotifier() {
static NotifierHandleContainer nH;
notifierHandles = &nH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
hal::init::CheckInit();
- if (!notifierAtexitRegistered.test_and_set())
+ if (!notifierAtexitRegistered.test_and_set()) {
std::atexit(cleanupNotifierAtExit);
+ }
if (notifierRefCount.fetch_add(1) == 0) {
std::scoped_lock lock(notifierMutex);
notifierRunning = true;
notifierThread = std::thread(notifierThreadMain);
+
+ auto native = notifierThread.native_handle();
+ HAL_SetThreadPriority(&native, notifierThreadRealTime,
+ notifierThreadPriority, status);
+ if (*status == HAL_THREAD_PRIORITY_ERROR) {
+ *status = 0;
+ fmt::print("{}: HAL Notifier thread\n",
+ HAL_THREAD_PRIORITY_ERROR_MESSAGE);
+ }
+ if (*status == HAL_THREAD_PRIORITY_RANGE_ERROR) {
+ *status = 0;
+ fmt::print("{}: HAL Notifier thread\n",
+ HAL_THREAD_PRIORITY_RANGE_ERROR_MESSAGE);
+ }
+
notifierAlarm.reset(tAlarm::create(status));
}
@@ -152,12 +177,26 @@
return handle;
}
+HAL_Bool HAL_SetNotifierThreadPriority(HAL_Bool realTime, int32_t priority,
+ int32_t* status) {
+ std::scoped_lock lock(notifierMutex);
+ notifierThreadRealTime = realTime;
+ notifierThreadPriority = priority;
+ if (notifierThread.joinable()) {
+ auto native = notifierThread.native_handle();
+ return HAL_SetThreadPriority(&native, realTime, priority, status);
+ } else {
+ return true;
+ }
+}
+
void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
int32_t* status) {}
void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
- if (!notifier) return;
+ if (!notifier)
+ return;
{
std::scoped_lock lock(notifier->mutex);
@@ -170,7 +209,8 @@
void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
auto notifier = notifierHandles->Free(notifierHandle);
- if (!notifier) return;
+ if (!notifier)
+ return;
// Just in case HAL_StopNotifier() wasn't called...
{
@@ -187,10 +227,13 @@
// here (the atomic fetch_sub will prevent multiple parallel entries
// into this function)
- if (notifierAlarm) notifierAlarm->writeEnable(false, status);
+ if (notifierAlarm)
+ notifierAlarm->writeEnable(false, status);
notifierRunning = false;
hal::ReleaseFPGAInterrupt(kTimerInterruptNumber);
- if (notifierThread.joinable()) notifierThread.join();
+ if (notifierThread.joinable()) {
+ notifierThread.join();
+ }
std::scoped_lock lock(notifierMutex);
notifierAlarm = nullptr;
@@ -201,7 +244,8 @@
void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle,
uint64_t triggerTime, int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
- if (!notifier) return;
+ if (!notifier)
+ return;
{
std::scoped_lock lock(notifier->mutex);
@@ -218,14 +262,16 @@
notifierAlarm->writeTriggerTime(static_cast<uint32_t>(closestTrigger),
status);
// Enable the alarm.
- if (!wasActive) notifierAlarm->writeEnable(true, status);
+ if (!wasActive)
+ notifierAlarm->writeEnable(true, status);
}
}
void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
- if (!notifier) return;
+ if (!notifier)
+ return;
{
std::scoped_lock lock(notifier->mutex);
@@ -236,7 +282,8 @@
uint64_t HAL_WaitForNotifierAlarm(HAL_NotifierHandle notifierHandle,
int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
- if (!notifier) return 0;
+ if (!notifier)
+ return 0;
std::unique_lock lock(notifier->mutex);
notifier->cond.wait(lock, [&] {
return !notifier->active || notifier->triggeredTime != UINT64_MAX;
diff --git a/hal/src/main/native/athena/PCMInternal.cpp b/hal/src/main/native/athena/PCMInternal.cpp
deleted file mode 100644
index c81dc1a..0000000
--- a/hal/src/main/native/athena/PCMInternal.cpp
+++ /dev/null
@@ -1,37 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "PCMInternal.h"
-
-#include "HALInitializer.h"
-#include "hal/Errors.h"
-#include "hal/Solenoid.h"
-
-namespace hal {
-
-std::unique_ptr<PCM> PCM_modules[kNumPCMModules];
-
-namespace init {
-void InitializePCMInternal() {
- for (int i = 0; i < kNumPCMModules; i++) {
- PCM_modules[i] = nullptr;
- }
-}
-} // namespace init
-
-void initializePCM(int32_t module, int32_t* status) {
- hal::init::CheckInit();
- if (!HAL_CheckSolenoidModule(module)) {
- *status = RESOURCE_OUT_OF_RANGE;
- return;
- }
- if (!PCM_modules[module]) {
- PCM_modules[module] = std::make_unique<PCM>(module);
- }
-}
-
-} // namespace hal
diff --git a/hal/src/main/native/athena/PCMInternal.h b/hal/src/main/native/athena/PCMInternal.h
deleted file mode 100644
index a9d076c..0000000
--- a/hal/src/main/native/athena/PCMInternal.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <stdint.h>
-
-#include <memory>
-
-#include "PortsInternal.h"
-#include "ctre/PCM.h"
-#include "hal/Errors.h"
-#include "hal/Solenoid.h"
-
-namespace hal {
-
-extern std::unique_ptr<PCM> PCM_modules[kNumPCMModules];
-
-static inline bool checkPCMInit(int32_t module, int32_t* status) {
- if (!HAL_CheckSolenoidModule(module)) {
- *status = RESOURCE_OUT_OF_RANGE;
- return false;
- }
- if (!PCM_modules[module]) {
- *status = INCOMPATIBLE_STATE;
- return false;
- }
- return true;
-}
-
-void initializePCM(int32_t module, int32_t* status);
-
-} // namespace hal
diff --git a/hal/src/main/native/athena/PWM.cpp b/hal/src/main/native/athena/PWM.cpp
index a3b141c..19a3b83 100644
--- a/hal/src/main/native/athena/PWM.cpp
+++ b/hal/src/main/native/athena/PWM.cpp
@@ -1,20 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/PWM.h"
+#include <algorithm>
#include <cmath>
+#include <cstdio>
#include <thread>
-#include <wpi/raw_ostream.h>
-
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/cpp/fpga_clock.h"
#include "hal/handles/HandlesInternal.h"
@@ -61,24 +59,27 @@
return GetMaxPositivePwm(port) - GetMinNegativePwm(port);
} ///< The scale for positions.
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializePWM() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
+ const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
initializeDigital(status);
- if (*status != 0) return HAL_kInvalidHandle;
+ if (*status != 0) {
+ return HAL_kInvalidHandle;
+ }
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex || channel >= kNumPWMChannels) {
- *status = PARAMETER_OUT_OF_RANGE;
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
+ kNumPWMChannels, channel);
return HAL_kInvalidHandle;
}
@@ -90,16 +91,20 @@
channel = remapMXPPWMChannel(channel) + 10; // remap MXP to proper channel
}
- auto handle =
- digitalChannelHandles->Allocate(channel, HAL_HandleEnum::PWM, status);
+ HAL_DigitalHandle handle;
- if (*status != 0)
+ auto port = digitalChannelHandles->Allocate(channel, HAL_HandleEnum::PWM,
+ &handle, status);
+
+ if (*status != 0) {
+ if (port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", origChannel,
+ port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
+ kNumPWMChannels, origChannel);
+ }
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::PWM);
- if (port == nullptr) { // would only occur on thread issue.
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
}
port->channel = origChannel;
@@ -115,6 +120,8 @@
// Defaults to allow an always valid config.
HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
+ port->previousAllocation = allocationLocation ? allocationLocation : "";
+
return handle;
}
void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
@@ -131,8 +138,8 @@
while (port.use_count() != 1) {
auto current = hal::fpga_clock::now();
if (start + std::chrono::seconds(1) < current) {
- wpi::outs() << "PWM handle free timeout\n";
- wpi::outs().flush();
+ std::puts("PWM handle free timeout");
+ std::fflush(stdout);
break;
}
std::this_thread::yield();
@@ -163,7 +170,9 @@
// calculate the loop time in milliseconds
double loopTime =
HAL_GetPWMLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
int32_t maxPwm = static_cast<int32_t>((max - kDefaultPwmCenter) / loopTime +
kDefaultPwmStepsDown - 1);
@@ -277,13 +286,13 @@
if (speed == 0.0) {
rawValue = GetCenterPwm(dPort);
} else if (speed > 0.0) {
- rawValue = static_cast<int32_t>(
- speed * static_cast<double>(GetPositiveScaleFactor(dPort)) +
- static_cast<double>(GetMinPositivePwm(dPort)) + 0.5);
+ rawValue =
+ std::lround(speed * static_cast<double>(GetPositiveScaleFactor(dPort)) +
+ static_cast<double>(GetMinPositivePwm(dPort)));
} else {
- rawValue = static_cast<int32_t>(
- speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
- static_cast<double>(GetMaxNegativePwm(dPort)) + 0.5);
+ rawValue =
+ std::lround(speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
+ static_cast<double>(GetMaxNegativePwm(dPort)));
}
if (!((rawValue >= GetMinNegativePwm(dPort)) &&
@@ -359,7 +368,9 @@
}
int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
DigitalPort* dPort = port.get();
if (value == kPwmDisabled) {
@@ -391,7 +402,9 @@
}
int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
DigitalPort* dPort = port.get();
if (value < GetMinNegativePwm(dPort)) {
@@ -433,22 +446,30 @@
int32_t HAL_GetPWMLoopTiming(int32_t* status) {
initializeDigital(status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
return pwmSystem->readLoopTiming(status);
}
uint64_t HAL_GetPWMCycleStartTime(int32_t* status) {
initializeDigital(status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
uint64_t upper1 = pwmSystem->readCycleStartTimeUpper(status);
uint32_t lower = pwmSystem->readCycleStartTime(status);
uint64_t upper2 = pwmSystem->readCycleStartTimeUpper(status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
if (upper1 != upper2) {
// Rolled over between the lower call, reread lower
lower = pwmSystem->readCycleStartTime(status);
- if (*status != 0) return 0;
+ if (*status != 0) {
+ return 0;
+ }
}
return (upper2 << 32) + lower;
}
diff --git a/hal/src/main/native/athena/Ports.cpp b/hal/src/main/native/athena/Ports.cpp
index 47bd400..d27ecbd 100644
--- a/hal/src/main/native/athena/Ports.cpp
+++ b/hal/src/main/native/athena/Ports.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Ports.h"
@@ -11,33 +8,83 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializePorts() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
-int32_t HAL_GetNumAccumulators(void) { return kNumAccumulators; }
-int32_t HAL_GetNumAnalogTriggers(void) { return kNumAnalogTriggers; }
-int32_t HAL_GetNumAnalogInputs(void) { return kNumAnalogInputs; }
-int32_t HAL_GetNumAnalogOutputs(void) { return kNumAnalogOutputs; }
-int32_t HAL_GetNumCounters(void) { return kNumCounters; }
-int32_t HAL_GetNumDigitalHeaders(void) { return kNumDigitalHeaders; }
-int32_t HAL_GetNumPWMHeaders(void) { return kNumPWMHeaders; }
-int32_t HAL_GetNumDigitalChannels(void) { return kNumDigitalChannels; }
-int32_t HAL_GetNumPWMChannels(void) { return kNumPWMChannels; }
-int32_t HAL_GetNumDigitalPWMOutputs(void) { return kNumDigitalPWMOutputs; }
-int32_t HAL_GetNumEncoders(void) { return kNumEncoders; }
-int32_t HAL_GetNumInterrupts(void) { return kNumInterrupts; }
-int32_t HAL_GetNumRelayChannels(void) { return kNumRelayChannels; }
-int32_t HAL_GetNumRelayHeaders(void) { return kNumRelayHeaders; }
-int32_t HAL_GetNumPCMModules(void) { return kNumPCMModules; }
-int32_t HAL_GetNumSolenoidChannels(void) { return kNumSolenoidChannels; }
-int32_t HAL_GetNumPDPModules(void) { return kNumPDPModules; }
-int32_t HAL_GetNumPDPChannels(void) { return kNumPDPChannels; }
-int32_t HAL_GetNumDutyCycles(void) { return kNumDutyCycles; }
-int32_t HAL_GetNumAddressableLEDs(void) { return kNumAddressableLEDs; }
+int32_t HAL_GetNumAccumulators(void) {
+ return kNumAccumulators;
+}
+int32_t HAL_GetNumAnalogTriggers(void) {
+ return kNumAnalogTriggers;
+}
+int32_t HAL_GetNumAnalogInputs(void) {
+ return kNumAnalogInputs;
+}
+int32_t HAL_GetNumAnalogOutputs(void) {
+ return kNumAnalogOutputs;
+}
+int32_t HAL_GetNumCounters(void) {
+ return kNumCounters;
+}
+int32_t HAL_GetNumDigitalHeaders(void) {
+ return kNumDigitalHeaders;
+}
+int32_t HAL_GetNumPWMHeaders(void) {
+ return kNumPWMHeaders;
+}
+int32_t HAL_GetNumDigitalChannels(void) {
+ return kNumDigitalChannels;
+}
+int32_t HAL_GetNumPWMChannels(void) {
+ return kNumPWMChannels;
+}
+int32_t HAL_GetNumDigitalPWMOutputs(void) {
+ return kNumDigitalPWMOutputs;
+}
+int32_t HAL_GetNumEncoders(void) {
+ return kNumEncoders;
+}
+int32_t HAL_GetNumInterrupts(void) {
+ return kNumInterrupts;
+}
+int32_t HAL_GetNumRelayChannels(void) {
+ return kNumRelayChannels;
+}
+int32_t HAL_GetNumRelayHeaders(void) {
+ return kNumRelayHeaders;
+}
+int32_t HAL_GetNumCTREPCMModules(void) {
+ return kNumCTREPCMModules;
+}
+int32_t HAL_GetNumCTRESolenoidChannels(void) {
+ return kNumCTRESolenoidChannels;
+}
+int32_t HAL_GetNumCTREPDPModules(void) {
+ return kNumCTREPDPModules;
+}
+int32_t HAL_GetNumCTREPDPChannels(void) {
+ return kNumCTREPDPChannels;
+}
+int32_t HAL_GetNumREVPDHModules(void) {
+ return kNumREVPDHModules;
+}
+int32_t HAL_GetNumREVPDHChannels(void) {
+ return kNumREVPDHChannels;
+}
+int32_t HAL_GetNumREVPHModules(void) {
+ return kNumREVPHModules;
+}
+int32_t HAL_GetNumREVPHChannels(void) {
+ return kNumREVPHChannels;
+}
+int32_t HAL_GetNumDutyCycles(void) {
+ return kNumDutyCycles;
+}
+int32_t HAL_GetNumAddressableLEDs(void) {
+ return kNumAddressableLEDs;
+}
} // extern "C"
diff --git a/hal/src/main/native/athena/PortsInternal.h b/hal/src/main/native/athena/PortsInternal.h
index 98fc690..18ce569 100644
--- a/hal/src/main/native/athena/PortsInternal.h
+++ b/hal/src/main/native/athena/PortsInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -31,11 +28,15 @@
constexpr int32_t kNumInterrupts = tInterrupt::kNumSystems;
constexpr int32_t kNumRelayChannels = 8;
constexpr int32_t kNumRelayHeaders = kNumRelayChannels / 2;
-constexpr int32_t kNumPCMModules = 63;
-constexpr int32_t kNumSolenoidChannels = 8;
-constexpr int32_t kNumPDPModules = 63;
-constexpr int32_t kNumPDPChannels = 16;
+constexpr int32_t kNumCTREPCMModules = 63;
+constexpr int32_t kNumCTRESolenoidChannels = 8;
+constexpr int32_t kNumCTREPDPModules = 63;
+constexpr int32_t kNumCTREPDPChannels = 16;
+constexpr int32_t kNumREVPDHModules = 63;
+constexpr int32_t kNumREVPDHChannels = 24;
constexpr int32_t kNumDutyCycles = tDutyCycle::kNumSystems;
constexpr int32_t kNumAddressableLEDs = tLED::kNumSystems;
+constexpr int32_t kNumREVPHModules = 63;
+constexpr int32_t kNumREVPHChannels = 16;
} // namespace hal
diff --git a/hal/src/main/native/athena/Power.cpp b/hal/src/main/native/athena/Power.cpp
index 2cf4d33..e911d5d 100644
--- a/hal/src/main/native/athena/Power.cpp
+++ b/hal/src/main/native/athena/Power.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Power.h"
@@ -27,11 +24,9 @@
} // namespace hal
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializePower() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -108,4 +103,22 @@
power->readFaultCounts_OverCurrentFaultCount3V3(status));
}
+void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
+ initializePower(status);
+ if (voltage < 0) {
+ voltage = 0;
+ }
+ if (voltage > 50) {
+ voltage = 50;
+ }
+ power->writeBrownoutVoltage250mV(static_cast<unsigned char>(voltage * 4),
+ status);
+}
+
+double HAL_GetBrownoutVoltage(int32_t* status) {
+ initializePower(status);
+ auto brownout = power->readBrownoutVoltage250mV(status);
+ return brownout / 4.0;
+}
+
} // extern "C"
diff --git a/hal/src/main/native/athena/PowerDistribution.cpp b/hal/src/main/native/athena/PowerDistribution.cpp
new file mode 100644
index 0000000..f7fe88f
--- /dev/null
+++ b/hal/src/main/native/athena/PowerDistribution.cpp
@@ -0,0 +1,208 @@
+// 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.
+
+#include "hal/PowerDistribution.h"
+
+#include "CTREPDP.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "REVPDH.h"
+#include "hal/Errors.h"
+#include "hal/handles/HandlesInternal.h"
+
+using namespace hal;
+
+extern "C" {
+
+HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
+ int32_t moduleNumber, HAL_PowerDistributionType type,
+ const char* allocationLocation, int32_t* status) {
+ if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic) {
+ type = HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE;
+ }
+
+ if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
+ if (moduleNumber == HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
+ moduleNumber = 0;
+ }
+ return static_cast<HAL_PowerDistributionHandle>(
+ HAL_InitializePDP(moduleNumber, allocationLocation, status)); // TODO
+ } else {
+ if (moduleNumber == HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
+ moduleNumber = 1;
+ }
+ return static_cast<HAL_PowerDistributionHandle>(
+ HAL_REV_InitializePDH(moduleNumber, allocationLocation, status));
+ }
+}
+
+#define IsCtre(handle) ::hal::isHandleType(handle, HAL_HandleEnum::CTREPDP)
+
+void HAL_CleanPowerDistribution(HAL_PowerDistributionHandle handle) {
+ if (IsCtre(handle)) {
+ HAL_CleanPDP(handle);
+ } else {
+ HAL_REV_FreePDH(handle);
+ }
+}
+
+int32_t HAL_GetPowerDistributionModuleNumber(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ return HAL_GetPDPModuleNumber(handle, status);
+ } else {
+ return HAL_REV_GetPDHModuleNumber(handle, status);
+ }
+}
+
+HAL_Bool HAL_CheckPowerDistributionChannel(HAL_PowerDistributionHandle handle,
+ int32_t channel) {
+ if (IsCtre(handle)) {
+ return HAL_CheckPDPChannel(channel);
+ } else {
+ return HAL_REV_CheckPDHChannelNumber(channel);
+ }
+}
+
+HAL_Bool HAL_CheckPowerDistributionModule(int32_t module,
+ HAL_PowerDistributionType type) {
+ if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
+ return HAL_CheckPDPModule(module);
+ } else {
+ return HAL_REV_CheckPDHModuleNumber(module);
+ }
+}
+
+HAL_PowerDistributionType HAL_GetPowerDistributionType(
+ HAL_PowerDistributionHandle handle, int32_t* status) {
+ return IsCtre(handle)
+ ? HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE
+ : HAL_PowerDistributionType::HAL_PowerDistributionType_kRev;
+}
+
+int32_t HAL_GetPowerDistributionNumChannels(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ return kNumCTREPDPChannels;
+ } else {
+ return kNumREVPDHChannels;
+ }
+}
+
+double HAL_GetPowerDistributionTemperature(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ return HAL_GetPDPTemperature(handle, status);
+ } else {
+ // Not supported
+ return 0;
+ }
+}
+
+double HAL_GetPowerDistributionVoltage(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ return HAL_GetPDPVoltage(handle, status);
+ } else {
+ return HAL_REV_GetPDHSupplyVoltage(handle, status);
+ }
+}
+
+double HAL_GetPowerDistributionChannelCurrent(
+ HAL_PowerDistributionHandle handle, int32_t channel, int32_t* status) {
+ if (IsCtre(handle)) {
+ return HAL_GetPDPChannelCurrent(handle, channel, status);
+ } else {
+ return HAL_REV_GetPDHChannelCurrent(handle, channel, status);
+ }
+}
+
+void HAL_GetPowerDistributionAllChannelCurrents(
+ HAL_PowerDistributionHandle handle, double* currents,
+ int32_t currentsLength, int32_t* status) {
+ if (IsCtre(handle)) {
+ if (currentsLength < kNumCTREPDPChannels) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ SetLastError(status, "Output array not large enough");
+ return;
+ }
+ return HAL_GetPDPAllChannelCurrents(handle, currents, status);
+ } else {
+ if (currentsLength < kNumREVPDHChannels) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ SetLastError(status, "Output array not large enough");
+ return;
+ }
+ return HAL_REV_GetPDHAllChannelCurrents(handle, currents, status);
+ }
+}
+
+double HAL_GetPowerDistributionTotalCurrent(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ return HAL_GetPDPTotalCurrent(handle, status);
+ } else {
+ return HAL_REV_GetPDHTotalCurrent(handle, status);
+ }
+}
+
+double HAL_GetPowerDistributionTotalPower(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ return HAL_GetPDPTotalPower(handle, status);
+ } else {
+ // Not currently supported
+ return 0;
+ }
+}
+
+double HAL_GetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ return HAL_GetPDPTotalEnergy(handle, status);
+ } else {
+ // Not currently supported
+ return 0;
+ }
+}
+
+void HAL_ResetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ HAL_ResetPDPTotalEnergy(handle, status);
+ } else {
+ // Not supported
+ }
+}
+
+void HAL_ClearPowerDistributionStickyFaults(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ HAL_ClearPDPStickyFaults(handle, status);
+ } else {
+ HAL_REV_ClearPDHFaults(handle, status);
+ }
+}
+
+void HAL_SetPowerDistributionSwitchableChannel(
+ HAL_PowerDistributionHandle handle, HAL_Bool enabled, int32_t* status) {
+ if (IsCtre(handle)) {
+ // No-op on CTRE
+ return;
+ } else {
+ HAL_REV_SetPDHSwitchableChannel(handle, enabled, status);
+ }
+}
+
+HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
+ HAL_PowerDistributionHandle handle, int32_t* status) {
+ if (IsCtre(handle)) {
+ // No-op on CTRE
+ return false;
+ } else {
+ return HAL_REV_GetPDHSwitchableChannelState(handle, status);
+ }
+}
+
+} // extern "C"
diff --git a/hal/src/main/native/athena/REVPDH.cpp b/hal/src/main/native/athena/REVPDH.cpp
new file mode 100644
index 0000000..9ad45b5
--- /dev/null
+++ b/hal/src/main/native/athena/REVPDH.cpp
@@ -0,0 +1,798 @@
+// 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.
+
+#include "REVPDH.h"
+
+#include <hal/CANAPI.h>
+#include <hal/CANAPITypes.h>
+#include <hal/Errors.h>
+#include <hal/handles/HandlesInternal.h>
+#include <hal/handles/IndexedHandleResource.h>
+
+#include <cstring>
+
+#include <fmt/format.h>
+
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "rev/PDHFrames.h"
+
+using namespace hal;
+
+static constexpr HAL_CANManufacturer manufacturer =
+ HAL_CANManufacturer::HAL_CAN_Man_kREV;
+
+static constexpr HAL_CANDeviceType deviceType =
+ HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution;
+
+static constexpr int32_t kDefaultControlPeriod = 50;
+
+namespace {
+
+struct REV_PDHObj {
+ int32_t controlPeriod;
+ HAL_CANHandle hcan;
+ std::string previousAllocation;
+};
+
+} // namespace
+
+static constexpr uint32_t APIFromExtId(uint32_t extId) {
+ return (extId >> 6) & 0x3FF;
+}
+
+static constexpr uint32_t PDH_SWITCH_CHANNEL_SET_FRAME_API =
+ APIFromExtId(PDH_SWITCH_CHANNEL_SET_FRAME_ID);
+
+static constexpr uint32_t PDH_STATUS0_FRAME_API =
+ APIFromExtId(PDH_STATUS0_FRAME_ID);
+static constexpr uint32_t PDH_STATUS1_FRAME_API =
+ APIFromExtId(PDH_STATUS1_FRAME_ID);
+static constexpr uint32_t PDH_STATUS2_FRAME_API =
+ APIFromExtId(PDH_STATUS2_FRAME_ID);
+static constexpr uint32_t PDH_STATUS3_FRAME_API =
+ APIFromExtId(PDH_STATUS3_FRAME_ID);
+static constexpr uint32_t PDH_STATUS4_FRAME_API =
+ APIFromExtId(PDH_STATUS4_FRAME_ID);
+
+static constexpr uint32_t PDH_CLEAR_FAULTS_FRAME_API =
+ APIFromExtId(PDH_CLEAR_FAULTS_FRAME_ID);
+
+static constexpr uint32_t PDH_IDENTIFY_FRAME_API =
+ APIFromExtId(PDH_IDENTIFY_FRAME_ID);
+
+static constexpr uint32_t PDH_VERSION_FRAME_API =
+ APIFromExtId(PDH_VERSION_FRAME_ID);
+
+static constexpr uint32_t PDH_CONFIGURE_HR_CHANNEL_FRAME_API =
+ APIFromExtId(PDH_CONFIGURE_HR_CHANNEL_FRAME_ID);
+
+static constexpr int32_t kPDHFrameStatus0Timeout = 20;
+static constexpr int32_t kPDHFrameStatus1Timeout = 20;
+static constexpr int32_t kPDHFrameStatus2Timeout = 20;
+static constexpr int32_t kPDHFrameStatus3Timeout = 20;
+static constexpr int32_t kPDHFrameStatus4Timeout = 20;
+
+static IndexedHandleResource<HAL_REVPDHHandle, REV_PDHObj, kNumREVPDHModules,
+ HAL_HandleEnum::REVPDH>* REVPDHHandles;
+
+namespace hal::init {
+void InitializeREVPDH() {
+ static IndexedHandleResource<HAL_REVPDHHandle, REV_PDHObj, kNumREVPDHModules,
+ HAL_HandleEnum::REVPDH>
+ rH;
+ REVPDHHandles = &rH;
+}
+} // namespace hal::init
+
+extern "C" {
+
+static PDH_status0_t HAL_REV_ReadPDHStatus0(HAL_CANHandle hcan,
+ int32_t* status) {
+ uint8_t packedData[8] = {0};
+ int32_t length = 0;
+ uint64_t timestamp = 0;
+ PDH_status0_t result = {};
+
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS0_FRAME_API, packedData, &length,
+ ×tamp, kPDHFrameStatus0Timeout * 2, status);
+
+ if (*status != 0) {
+ return result;
+ }
+
+ PDH_status0_unpack(&result, packedData, PDH_STATUS0_LENGTH);
+
+ return result;
+}
+
+static PDH_status1_t HAL_REV_ReadPDHStatus1(HAL_CANHandle hcan,
+ int32_t* status) {
+ uint8_t packedData[8] = {0};
+ int32_t length = 0;
+ uint64_t timestamp = 0;
+ PDH_status1_t result = {};
+
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS1_FRAME_API, packedData, &length,
+ ×tamp, kPDHFrameStatus1Timeout * 2, status);
+
+ if (*status != 0) {
+ return result;
+ }
+
+ PDH_status1_unpack(&result, packedData, PDH_STATUS1_LENGTH);
+
+ return result;
+}
+
+static PDH_status2_t HAL_REV_ReadPDHStatus2(HAL_CANHandle hcan,
+ int32_t* status) {
+ uint8_t packedData[8] = {0};
+ int32_t length = 0;
+ uint64_t timestamp = 0;
+ PDH_status2_t result = {};
+
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS2_FRAME_API, packedData, &length,
+ ×tamp, kPDHFrameStatus2Timeout * 2, status);
+
+ if (*status != 0) {
+ return result;
+ }
+
+ PDH_status2_unpack(&result, packedData, PDH_STATUS2_LENGTH);
+
+ return result;
+}
+
+static PDH_status3_t HAL_REV_ReadPDHStatus3(HAL_CANHandle hcan,
+ int32_t* status) {
+ uint8_t packedData[8] = {0};
+ int32_t length = 0;
+ uint64_t timestamp = 0;
+ PDH_status3_t result = {};
+
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS3_FRAME_API, packedData, &length,
+ ×tamp, kPDHFrameStatus3Timeout * 2, status);
+
+ if (*status != 0) {
+ return result;
+ }
+
+ PDH_status3_unpack(&result, packedData, PDH_STATUS3_LENGTH);
+
+ return result;
+}
+
+static PDH_status4_t HAL_REV_ReadPDHStatus4(HAL_CANHandle hcan,
+ int32_t* status) {
+ uint8_t packedData[8] = {0};
+ int32_t length = 0;
+ uint64_t timestamp = 0;
+ PDH_status4_t result = {};
+
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS4_FRAME_API, packedData, &length,
+ ×tamp, kPDHFrameStatus4Timeout * 2, status);
+
+ if (*status != 0) {
+ return result;
+ }
+
+ PDH_status4_unpack(&result, packedData, PDH_STATUS4_LENGTH);
+
+ return result;
+}
+
+/**
+ * Helper function for the individual getter functions for status 4
+ */
+PDH_status4_t HAL_REV_GetPDHStatus4(HAL_REVPDHHandle handle, int32_t* status) {
+ PDH_status4_t statusFrame = {};
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return statusFrame;
+ }
+
+ statusFrame = HAL_REV_ReadPDHStatus4(hpdh->hcan, status);
+ return statusFrame;
+}
+
+HAL_REVPDHHandle HAL_REV_InitializePDH(int32_t module,
+ const char* allocationLocation,
+ int32_t* status) {
+ hal::init::CheckInit();
+ if (!HAL_REV_CheckPDHModuleNumber(module)) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ return HAL_kInvalidHandle;
+ }
+
+ HAL_REVPDHHandle handle;
+ auto hpdh = REVPDHHandles->Allocate(module, &handle, status);
+ if (*status != 0) {
+ if (hpdh) {
+ hal::SetLastErrorPreviouslyAllocated(status, "REV PDH", module,
+ hpdh->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 0,
+ kNumREVPDHModules, module);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
+ HAL_CANHandle hcan =
+ HAL_InitializeCAN(manufacturer, module, deviceType, status);
+
+ if (*status != 0) {
+ REVPDHHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
+
+ hpdh->previousAllocation = allocationLocation ? allocationLocation : "";
+ hpdh->hcan = hcan;
+ hpdh->controlPeriod = kDefaultControlPeriod;
+
+ return handle;
+}
+
+void HAL_REV_FreePDH(HAL_REVPDHHandle handle) {
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ return;
+ }
+
+ HAL_CleanCAN(hpdh->hcan);
+
+ REVPDHHandles->Free(handle);
+}
+
+int32_t HAL_REV_GetPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status) {
+ return hal::getHandleIndex(handle);
+}
+
+HAL_Bool HAL_REV_CheckPDHModuleNumber(int32_t module) {
+ return ((module >= 1) && (module < kNumREVPDHModules)) ? 1 : 0;
+}
+
+HAL_Bool HAL_REV_CheckPDHChannelNumber(int32_t channel) {
+ return ((channel >= 0) && (channel < kNumREVPDHChannels)) ? 1 : 0;
+}
+
+double HAL_REV_GetPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
+ int32_t* status) {
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ if (!HAL_REV_CheckPDHChannelNumber(channel)) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ return 0;
+ }
+
+ // Determine what periodic status the channel is in
+ if (channel < 6) {
+ // Periodic status 0
+ PDH_status0_t statusFrame = HAL_REV_ReadPDHStatus0(hpdh->hcan, status);
+ switch (channel) {
+ case 0:
+ return PDH_status0_channel_0_current_decode(
+ statusFrame.channel_0_current);
+ case 1:
+ return PDH_status0_channel_1_current_decode(
+ statusFrame.channel_1_current);
+ case 2:
+ return PDH_status0_channel_2_current_decode(
+ statusFrame.channel_2_current);
+ case 3:
+ return PDH_status0_channel_3_current_decode(
+ statusFrame.channel_3_current);
+ case 4:
+ return PDH_status0_channel_4_current_decode(
+ statusFrame.channel_4_current);
+ case 5:
+ return PDH_status0_channel_5_current_decode(
+ statusFrame.channel_5_current);
+ }
+ } else if (channel < 12) {
+ // Periodic status 1
+ PDH_status1_t statusFrame = HAL_REV_ReadPDHStatus1(hpdh->hcan, status);
+ switch (channel) {
+ case 6:
+ return PDH_status1_channel_6_current_decode(
+ statusFrame.channel_6_current);
+ case 7:
+ return PDH_status1_channel_7_current_decode(
+ statusFrame.channel_7_current);
+ case 8:
+ return PDH_status1_channel_8_current_decode(
+ statusFrame.channel_8_current);
+ case 9:
+ return PDH_status1_channel_9_current_decode(
+ statusFrame.channel_9_current);
+ case 10:
+ return PDH_status1_channel_10_current_decode(
+ statusFrame.channel_10_current);
+ case 11:
+ return PDH_status1_channel_11_current_decode(
+ statusFrame.channel_11_current);
+ }
+ } else if (channel < 18) {
+ // Periodic status 2
+ PDH_status2_t statusFrame = HAL_REV_ReadPDHStatus2(hpdh->hcan, status);
+ switch (channel) {
+ case 12:
+ return PDH_status2_channel_12_current_decode(
+ statusFrame.channel_12_current);
+ case 13:
+ return PDH_status2_channel_13_current_decode(
+ statusFrame.channel_13_current);
+ case 14:
+ return PDH_status2_channel_14_current_decode(
+ statusFrame.channel_14_current);
+ case 15:
+ return PDH_status2_channel_15_current_decode(
+ statusFrame.channel_15_current);
+ case 16:
+ return PDH_status2_channel_16_current_decode(
+ statusFrame.channel_16_current);
+ case 17:
+ return PDH_status2_channel_17_current_decode(
+ statusFrame.channel_17_current);
+ }
+ } else if (channel < 24) {
+ // Periodic status 3
+ PDH_status3_t statusFrame = HAL_REV_ReadPDHStatus3(hpdh->hcan, status);
+ switch (channel) {
+ case 18:
+ return PDH_status3_channel_18_current_decode(
+ statusFrame.channel_18_current);
+ case 19:
+ return PDH_status3_channel_19_current_decode(
+ statusFrame.channel_19_current);
+ case 20:
+ return PDH_status3_channel_20_current_decode(
+ statusFrame.channel_20_current);
+ case 21:
+ return PDH_status3_channel_21_current_decode(
+ statusFrame.channel_21_current);
+ case 22:
+ return PDH_status3_channel_22_current_decode(
+ statusFrame.channel_22_current);
+ case 23:
+ return PDH_status3_channel_23_current_decode(
+ statusFrame.channel_23_current);
+ }
+ }
+ return 0;
+}
+
+void HAL_REV_GetPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
+ int32_t* status) {
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ PDH_status0_t statusFrame0 = HAL_REV_ReadPDHStatus0(hpdh->hcan, status);
+ PDH_status1_t statusFrame1 = HAL_REV_ReadPDHStatus1(hpdh->hcan, status);
+ PDH_status2_t statusFrame2 = HAL_REV_ReadPDHStatus2(hpdh->hcan, status);
+ PDH_status3_t statusFrame3 = HAL_REV_ReadPDHStatus3(hpdh->hcan, status);
+
+ currents[0] =
+ PDH_status0_channel_0_current_decode(statusFrame0.channel_0_current);
+ currents[1] =
+ PDH_status0_channel_1_current_decode(statusFrame0.channel_1_current);
+ currents[2] =
+ PDH_status0_channel_2_current_decode(statusFrame0.channel_2_current);
+ currents[3] =
+ PDH_status0_channel_3_current_decode(statusFrame0.channel_3_current);
+ currents[4] =
+ PDH_status0_channel_4_current_decode(statusFrame0.channel_4_current);
+ currents[5] =
+ PDH_status0_channel_5_current_decode(statusFrame0.channel_5_current);
+ currents[6] =
+ PDH_status1_channel_6_current_decode(statusFrame1.channel_6_current);
+ currents[7] =
+ PDH_status1_channel_7_current_decode(statusFrame1.channel_7_current);
+ currents[8] =
+ PDH_status1_channel_8_current_decode(statusFrame1.channel_8_current);
+ currents[9] =
+ PDH_status1_channel_9_current_decode(statusFrame1.channel_9_current);
+ currents[10] =
+ PDH_status1_channel_10_current_decode(statusFrame1.channel_10_current);
+ currents[11] =
+ PDH_status1_channel_11_current_decode(statusFrame1.channel_11_current);
+ currents[12] =
+ PDH_status2_channel_12_current_decode(statusFrame2.channel_12_current);
+ currents[13] =
+ PDH_status2_channel_13_current_decode(statusFrame2.channel_13_current);
+ currents[14] =
+ PDH_status2_channel_14_current_decode(statusFrame2.channel_14_current);
+ currents[15] =
+ PDH_status2_channel_15_current_decode(statusFrame2.channel_15_current);
+ currents[16] =
+ PDH_status2_channel_16_current_decode(statusFrame2.channel_16_current);
+ currents[17] =
+ PDH_status2_channel_17_current_decode(statusFrame2.channel_17_current);
+ currents[18] =
+ PDH_status3_channel_18_current_decode(statusFrame3.channel_18_current);
+ currents[19] =
+ PDH_status3_channel_19_current_decode(statusFrame3.channel_19_current);
+ currents[20] =
+ PDH_status3_channel_20_current_decode(statusFrame3.channel_20_current);
+ currents[21] =
+ PDH_status3_channel_21_current_decode(statusFrame3.channel_21_current);
+ currents[22] =
+ PDH_status3_channel_22_current_decode(statusFrame3.channel_22_current);
+ currents[23] =
+ PDH_status3_channel_23_current_decode(statusFrame3.channel_23_current);
+}
+
+uint16_t HAL_REV_GetPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0;
+ }
+
+ return PDH_status4_total_current_decode(statusFrame.total_current);
+}
+
+void HAL_REV_SetPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
+ int32_t* status) {
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ uint8_t packedData[8] = {0};
+ PDH_switch_channel_set_t frame;
+ frame.output_set_value = enabled;
+ frame.use_system_enable = false;
+ PDH_switch_channel_set_pack(packedData, &frame, 1);
+
+ HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_SWITCH_CHANNEL_SET_LENGTH,
+ PDH_SWITCH_CHANNEL_SET_FRAME_API, status);
+}
+
+HAL_Bool HAL_REV_GetPDHSwitchableChannelState(HAL_REVPDHHandle handle,
+ int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_sw_state_decode(statusFrame.sw_state);
+}
+
+HAL_Bool HAL_REV_CheckPDHChannelBrownout(HAL_REVPDHHandle handle,
+ int32_t channel, int32_t* status) {
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ if (!HAL_REV_CheckPDHChannelNumber(channel)) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ return 0;
+ }
+
+ // Determine what periodic status the channel is in
+ if (channel < 4) {
+ // Periodic status 0
+ PDH_status0_t statusFrame = HAL_REV_ReadPDHStatus0(hpdh->hcan, status);
+ switch (channel) {
+ case 0:
+ return PDH_status0_channel_0_brownout_decode(
+ statusFrame.channel_0_brownout);
+ case 1:
+ return PDH_status0_channel_1_brownout_decode(
+ statusFrame.channel_1_brownout);
+ case 2:
+ return PDH_status0_channel_2_brownout_decode(
+ statusFrame.channel_2_brownout);
+ case 3:
+ return PDH_status0_channel_3_brownout_decode(
+ statusFrame.channel_3_brownout);
+ }
+ } else if (channel < 8) {
+ // Periodic status 1
+ PDH_status1_t statusFrame = HAL_REV_ReadPDHStatus1(hpdh->hcan, status);
+ switch (channel) {
+ case 4:
+ return PDH_status1_channel_4_brownout_decode(
+ statusFrame.channel_4_brownout);
+ case 5:
+ return PDH_status1_channel_5_brownout_decode(
+ statusFrame.channel_5_brownout);
+ case 6:
+ return PDH_status1_channel_6_brownout_decode(
+ statusFrame.channel_6_brownout);
+ case 7:
+ return PDH_status1_channel_7_brownout_decode(
+ statusFrame.channel_7_brownout);
+ }
+ } else if (channel < 12) {
+ // Periodic status 2
+ PDH_status2_t statusFrame = HAL_REV_ReadPDHStatus2(hpdh->hcan, status);
+ switch (channel) {
+ case 8:
+ return PDH_status2_channel_8_brownout_decode(
+ statusFrame.channel_8_brownout);
+ case 9:
+ return PDH_status2_channel_9_brownout_decode(
+ statusFrame.channel_9_brownout);
+ case 10:
+ return PDH_status2_channel_10_brownout_decode(
+ statusFrame.channel_10_brownout);
+ case 11:
+ return PDH_status2_channel_11_brownout_decode(
+ statusFrame.channel_11_brownout);
+ }
+ } else if (channel < 24) {
+ // Periodic status 3
+ PDH_status3_t statusFrame = HAL_REV_ReadPDHStatus3(hpdh->hcan, status);
+ switch (channel) {
+ case 12:
+ return PDH_status3_channel_12_brownout_decode(
+ statusFrame.channel_12_brownout);
+ case 13:
+ return PDH_status3_channel_13_brownout_decode(
+ statusFrame.channel_13_brownout);
+ case 14:
+ return PDH_status3_channel_14_brownout_decode(
+ statusFrame.channel_14_brownout);
+ case 15:
+ return PDH_status3_channel_15_brownout_decode(
+ statusFrame.channel_15_brownout);
+ case 16:
+ return PDH_status3_channel_16_brownout_decode(
+ statusFrame.channel_16_brownout);
+ case 17:
+ return PDH_status3_channel_17_brownout_decode(
+ statusFrame.channel_17_brownout);
+ case 18:
+ return PDH_status3_channel_18_brownout_decode(
+ statusFrame.channel_18_brownout);
+ case 19:
+ return PDH_status3_channel_19_brownout_decode(
+ statusFrame.channel_19_brownout);
+ case 20:
+ return PDH_status3_channel_20_brownout_decode(
+ statusFrame.channel_20_brownout);
+ case 21:
+ return PDH_status3_channel_21_brownout_decode(
+ statusFrame.channel_21_brownout);
+ case 22:
+ return PDH_status3_channel_22_brownout_decode(
+ statusFrame.channel_22_brownout);
+ case 23:
+ return PDH_status3_channel_23_brownout_decode(
+ statusFrame.channel_23_brownout);
+ }
+ }
+ return 0;
+}
+
+double HAL_REV_GetPDHSupplyVoltage(HAL_REVPDHHandle handle, int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_v_bus_decode(statusFrame.v_bus);
+}
+
+HAL_Bool HAL_REV_IsPDHEnabled(HAL_REVPDHHandle handle, int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return false;
+ }
+
+ return PDH_status4_system_enable_decode(statusFrame.system_enable);
+}
+
+HAL_Bool HAL_REV_CheckPDHBrownout(HAL_REVPDHHandle handle, int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return false;
+ }
+
+ return PDH_status4_brownout_decode(statusFrame.brownout);
+}
+
+HAL_Bool HAL_REV_CheckPDHCANWarning(HAL_REVPDHHandle handle, int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_can_warning_decode(statusFrame.can_warning);
+}
+
+HAL_Bool HAL_REV_CheckPDHHardwareFault(HAL_REVPDHHandle handle,
+ int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_hardware_fault_decode(statusFrame.hardware_fault);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyBrownout(HAL_REVPDHHandle handle,
+ int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_sticky_brownout_decode(statusFrame.sticky_brownout);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyCANWarning(HAL_REVPDHHandle handle,
+ int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_sticky_can_warning_decode(statusFrame.sticky_can_warning);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyCANBusOff(HAL_REVPDHHandle handle,
+ int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_sticky_can_bus_off_decode(statusFrame.sticky_can_bus_off);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyHardwareFault(HAL_REVPDHHandle handle,
+ int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_sticky_hardware_fault_decode(
+ statusFrame.sticky_hardware_fault);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyFirmwareFault(HAL_REVPDHHandle handle,
+ int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_sticky_firmware_fault_decode(
+ statusFrame.sticky_firmware_fault);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyChannelBrownout(HAL_REVPDHHandle handle,
+ int32_t channel,
+ int32_t* status) {
+ if (channel < 20 || channel > 23) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ return 0.0;
+ }
+
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ switch (channel) {
+ case 20:
+ return PDH_status4_sticky_ch20_brownout_decode(
+ statusFrame.sticky_ch20_brownout);
+ case 21:
+ return PDH_status4_sticky_ch21_brownout_decode(
+ statusFrame.sticky_ch21_brownout);
+ case 22:
+ return PDH_status4_sticky_ch22_brownout_decode(
+ statusFrame.sticky_ch22_brownout);
+ case 23:
+ return PDH_status4_sticky_ch23_brownout_decode(
+ statusFrame.sticky_ch23_brownout);
+ }
+ return 0;
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyHasReset(HAL_REVPDHHandle handle,
+ int32_t* status) {
+ PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+ if (*status != 0) {
+ return 0.0;
+ }
+
+ return PDH_status4_sticky_has_reset_decode(statusFrame.sticky_has_reset);
+}
+
+REV_PDH_Version HAL_REV_GetPDHVersion(HAL_REVPDHHandle handle,
+ int32_t* status) {
+ REV_PDH_Version version;
+ std::memset(&version, 0, sizeof(version));
+ uint8_t packedData[8] = {0};
+ int32_t length = 0;
+ uint64_t timestamp = 0;
+ PDH_version_t result = {};
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return version;
+ }
+
+ HAL_WriteCANRTRFrame(hpdh->hcan, PDH_VERSION_LENGTH, PDH_VERSION_FRAME_API,
+ status);
+
+ if (*status != 0) {
+ return version;
+ }
+
+ HAL_ReadCANPacketTimeout(hpdh->hcan, PDH_VERSION_FRAME_API, packedData,
+ &length, ×tamp, kDefaultControlPeriod * 2,
+ status);
+
+ if (*status != 0) {
+ return version;
+ }
+
+ PDH_version_unpack(&result, packedData, PDH_VERSION_LENGTH);
+
+ version.firmwareMajor = result.firmware_year;
+ version.firmwareMinor = result.firmware_minor;
+ version.firmwareFix = result.firmware_fix;
+ version.hardwareRev = result.hardware_code;
+ version.uniqueId = result.unique_id;
+
+ return version;
+}
+
+void HAL_REV_ClearPDHFaults(HAL_REVPDHHandle handle, int32_t* status) {
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ uint8_t packedData[8] = {0};
+ HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_CLEAR_FAULTS_LENGTH,
+ PDH_CLEAR_FAULTS_FRAME_API, status);
+}
+
+void HAL_REV_IdentifyPDH(HAL_REVPDHHandle handle, int32_t* status) {
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ uint8_t packedData[8] = {0};
+ HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_IDENTIFY_LENGTH,
+ PDH_IDENTIFY_FRAME_API, status);
+}
+
+} // extern "C"
diff --git a/hal/src/main/native/athena/REVPDH.h b/hal/src/main/native/athena/REVPDH.h
new file mode 100644
index 0000000..228d05c
--- /dev/null
+++ b/hal/src/main/native/athena/REVPDH.h
@@ -0,0 +1,314 @@
+// 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_rev_pdh REV Power Distribution Hub API Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+struct REV_PDH_Version {
+ uint32_t firmwareMajor;
+ uint32_t firmwareMinor;
+ uint32_t firmwareFix;
+ uint32_t hardwareRev;
+ uint32_t uniqueId;
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Initializes a REV Power Distribution Hub (PDH) device.
+ *
+ * @param module the device CAN ID (1 .. 63)
+ * @return the created PDH handle
+ */
+HAL_REVPDHHandle HAL_REV_InitializePDH(int32_t module,
+ const char* allocationLocation,
+ int32_t* status);
+
+/**
+ * Frees a PDH device handle.
+ *
+ * @param handle the previously created PDH handle
+ */
+void HAL_REV_FreePDH(HAL_REVPDHHandle handle);
+
+/**
+ * Gets the module number for a pdh.
+ */
+int32_t HAL_REV_GetPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if a PDH module number is valid.
+ *
+ * Does not check if a PDH device with this module has been initialized.
+ *
+ * @param module module number (1 .. 63)
+ * @return 1 if the module number is valid; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHModuleNumber(int32_t module);
+
+/**
+ * Checks if a PDH channel number is valid.
+ *
+ * @param module channel number (0 .. HAL_REV_PDH_NUM_CHANNELS)
+ * @return 1 if the channel number is valid; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHChannelNumber(int32_t channel);
+
+/**
+ * Gets the current of a PDH channel in Amps.
+ *
+ * @param handle PDH handle
+ * @param channel the channel to retrieve the current of (0 ..
+ * HAL_REV_PDH_NUM_CHANNELS)
+ *
+ * @return the current of the PDH channel in Amps
+ */
+double HAL_REV_GetPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
+ int32_t* status);
+
+/**
+ * @param handle PDH handle
+ * @param currents array of currents
+ */
+void HAL_REV_GetPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
+ int32_t* status);
+
+/**
+ * Gets the total current of the PDH in Amps, measured to the nearest even
+ * integer.
+ *
+ * @param handle PDH handle
+ *
+ * @return the total current of the PDH in Amps
+ */
+uint16_t HAL_REV_GetPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Sets the state of the switchable channel on a PDH device.
+ *
+ * @param handle PDH handle
+ * @param enabled 1 if the switchable channel should be enabled; 0
+ * otherwise
+ */
+void HAL_REV_SetPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
+ int32_t* status);
+
+/**
+ * Gets the current state of the switchable channel on a PDH device.
+ *
+ * This call relies on a periodic status sent by the PDH device and will be as
+ * fresh as the last packet received.
+ *
+ * @param handle PDH handle
+ * @return 1 if the switchable channel is enabled; 0 otherwise
+ */
+HAL_Bool HAL_REV_GetPDHSwitchableChannelState(HAL_REVPDHHandle handle,
+ int32_t* status);
+
+/**
+ * Checks if a PDH channel is currently experiencing a brownout condition.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ * @param channel the channel to retrieve the brownout status of
+ *
+ * @return 1 if the channel is experiencing a brownout; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHChannelBrownout(HAL_REVPDHHandle handle,
+ int32_t channel, int32_t* status);
+
+/**
+ * Gets the voltage being supplied to a PDH device.
+ *
+ * @param handle PDH handle
+ *
+ * @return the voltage at the input of the PDH in Volts
+ */
+double HAL_REV_GetPDHSupplyVoltage(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if a PDH device is currently enabled.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the PDH is enabled; 0 otherwise
+ */
+HAL_Bool HAL_REV_IsPDHEnabled(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if the input voltage on a PDH device is currently below the minimum
+ * voltage.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the PDH is experiencing a brownout; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHBrownout(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if the CAN RX or TX error levels on a PDH device have exceeded the
+ * warning threshold.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the device has exceeded the warning threshold; 0
+ * otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHCANWarning(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if a PDH device is currently malfunctioning.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the device is in a hardware fault state; 0
+ * otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHHardwareFault(HAL_REVPDHHandle handle,
+ int32_t* status);
+
+/**
+ * Checks if the input voltage on a PDH device has gone below the specified
+ * minimum voltage.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the device has had a brownout; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyBrownout(HAL_REVPDHHandle handle,
+ int32_t* status);
+
+/**
+ * Checks if the CAN RX or TX error levels on a PDH device have exceeded the
+ * warning threshold.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the device has exceeded the CAN warning threshold;
+ * 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyCANWarning(HAL_REVPDHHandle handle,
+ int32_t* status);
+
+/**
+ * Checks if the CAN bus on a PDH device has previously experienced a 'Bus Off'
+ * event.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the device has experienced a 'Bus Off' event; 0
+ * otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyCANBusOff(HAL_REVPDHHandle handle,
+ int32_t* status);
+
+/**
+ * Checks if a PDH device has malfunctioned.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the device has had a malfunction; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyHardwareFault(HAL_REVPDHHandle handle,
+ int32_t* status);
+
+/**
+ * Checks if the firmware on a PDH device has malfunctioned and reset during
+ * operation.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the device has had a malfunction and reset; 0
+ * otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyFirmwareFault(HAL_REVPDHHandle handle,
+ int32_t* status);
+
+/**
+ * Checks if a brownout has happened on channels 20-23 of a PDH device while it
+ * was enabled.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ * @param channel PDH channel to retrieve sticky brownout status (20 ..
+ * 23)
+ *
+ *
+ * @return 1 if the channel has had a brownout; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyChannelBrownout(HAL_REVPDHHandle handle,
+ int32_t channel,
+ int32_t* status);
+
+/**
+ * Checks if a PDH device has reset.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ *
+ * @return 1 if the device has reset; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyHasReset(HAL_REVPDHHandle handle,
+ int32_t* status);
+
+/**
+ * Gets the firmware and hardware versions of a PDH device.
+ *
+ * @param handle PDH handle
+ *
+ * @return version information
+ */
+REV_PDH_Version HAL_REV_GetPDHVersion(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Clears the sticky faults on a PDH device.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ */
+void HAL_REV_ClearPDHFaults(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Identifies a PDH device by blinking its LED.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle PDH handle
+ */
+void HAL_REV_IdentifyPDH(HAL_REVPDHHandle handle, int32_t* status);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
diff --git a/hal/src/main/native/athena/REVPH.cpp b/hal/src/main/native/athena/REVPH.cpp
new file mode 100644
index 0000000..155f92c
--- /dev/null
+++ b/hal/src/main/native/athena/REVPH.cpp
@@ -0,0 +1,480 @@
+// 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.
+
+#include "hal/REVPH.h"
+
+#include <fmt/format.h>
+
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
+#include "rev/PHFrames.h"
+
+using namespace hal;
+
+static constexpr HAL_CANManufacturer manufacturer =
+ HAL_CANManufacturer::HAL_CAN_Man_kREV;
+
+static constexpr HAL_CANDeviceType deviceType =
+ HAL_CANDeviceType::HAL_CAN_Dev_kPneumatics;
+
+static constexpr int32_t kDefaultControlPeriod = 20;
+// static constexpr uint8_t kDefaultSensorMask = (1 <<
+// HAL_REV_PHSENSOR_DIGITAL);
+static constexpr uint8_t kDefaultCompressorDuty = 255;
+static constexpr uint8_t kDefaultPressureTarget = 120;
+static constexpr uint8_t kDefaultPressureHysteresis = 60;
+
+#define HAL_REV_MAX_PULSE_TIME 65534
+#define HAL_REV_MAX_PRESSURE_TARGET 120
+#define HAL_REV_MAX_PRESSURE_HYSTERESIS HAL_REV_MAX_PRESSURE_TARGET
+
+static constexpr uint32_t APIFromExtId(uint32_t extId) {
+ return (extId >> 6) & 0x3FF;
+}
+
+static constexpr uint32_t PH_SET_ALL_FRAME_API =
+ APIFromExtId(PH_SET_ALL_FRAME_ID);
+static constexpr uint32_t PH_PULSE_ONCE_FRAME_API =
+ APIFromExtId(PH_PULSE_ONCE_FRAME_ID);
+static constexpr uint32_t PH_STATUS0_FRAME_API =
+ APIFromExtId(PH_STATUS0_FRAME_ID);
+static constexpr uint32_t PH_STATUS1_FRAME_API =
+ APIFromExtId(PH_STATUS1_FRAME_ID);
+
+static constexpr int32_t kPHFrameStatus0Timeout = 50;
+static constexpr int32_t kPHFrameStatus1Timeout = 50;
+
+namespace {
+
+struct REV_PHObj {
+ int32_t controlPeriod;
+ PH_set_all_t desiredSolenoidsState;
+ wpi::mutex solenoidLock;
+ HAL_CANHandle hcan;
+ std::string previousAllocation;
+};
+
+} // namespace
+
+static IndexedHandleResource<HAL_REVPHHandle, REV_PHObj, 63,
+ HAL_HandleEnum::REVPH>* REVPHHandles;
+
+namespace hal::init {
+void InitializeREVPH() {
+ static IndexedHandleResource<HAL_REVPHHandle, REV_PHObj, kNumREVPHModules,
+ HAL_HandleEnum::REVPH>
+ rH;
+ REVPHHandles = &rH;
+}
+} // namespace hal::init
+
+static PH_status0_t HAL_REV_ReadPHStatus0(HAL_CANHandle hcan, int32_t* status) {
+ uint8_t packedData[8] = {0};
+ int32_t length = 0;
+ uint64_t timestamp = 0;
+ PH_status0_t result = {};
+
+ HAL_ReadCANPacketTimeout(hcan, PH_STATUS0_FRAME_API, packedData, &length,
+ ×tamp, kPHFrameStatus0Timeout * 2, status);
+
+ if (*status != 0) {
+ return result;
+ }
+
+ PH_status0_unpack(&result, packedData, PH_STATUS0_LENGTH);
+
+ return result;
+}
+
+static PH_status1_t HAL_REV_ReadPHStatus1(HAL_CANHandle hcan, int32_t* status) {
+ uint8_t packedData[8] = {0};
+ int32_t length = 0;
+ uint64_t timestamp = 0;
+ PH_status1_t result = {};
+
+ HAL_ReadCANPacketTimeout(hcan, PH_STATUS1_FRAME_API, packedData, &length,
+ ×tamp, kPHFrameStatus1Timeout * 2, status);
+
+ if (*status != 0) {
+ return result;
+ }
+
+ PH_status1_unpack(&result, packedData, PH_STATUS1_LENGTH);
+
+ return result;
+}
+
+enum REV_SolenoidState {
+ kSolenoidDisabled = 0,
+ kSolenoidEnabled,
+ kSolenoidControlledViaPulse
+};
+
+static void HAL_REV_UpdateDesiredPHSolenoidState(REV_PHObj* hph,
+ int32_t solenoid,
+ REV_SolenoidState state) {
+ switch (solenoid) {
+ case 0:
+ hph->desiredSolenoidsState.channel_0 = state;
+ break;
+ case 1:
+ hph->desiredSolenoidsState.channel_1 = state;
+ break;
+ case 2:
+ hph->desiredSolenoidsState.channel_2 = state;
+ break;
+ case 3:
+ hph->desiredSolenoidsState.channel_3 = state;
+ break;
+ case 4:
+ hph->desiredSolenoidsState.channel_4 = state;
+ break;
+ case 5:
+ hph->desiredSolenoidsState.channel_5 = state;
+ break;
+ case 6:
+ hph->desiredSolenoidsState.channel_6 = state;
+ break;
+ case 7:
+ hph->desiredSolenoidsState.channel_7 = state;
+ break;
+ case 8:
+ hph->desiredSolenoidsState.channel_8 = state;
+ break;
+ case 9:
+ hph->desiredSolenoidsState.channel_9 = state;
+ break;
+ case 10:
+ hph->desiredSolenoidsState.channel_10 = state;
+ break;
+ case 11:
+ hph->desiredSolenoidsState.channel_11 = state;
+ break;
+ case 12:
+ hph->desiredSolenoidsState.channel_12 = state;
+ break;
+ case 13:
+ hph->desiredSolenoidsState.channel_13 = state;
+ break;
+ case 14:
+ hph->desiredSolenoidsState.channel_14 = state;
+ break;
+ case 15:
+ hph->desiredSolenoidsState.channel_15 = state;
+ break;
+ }
+}
+
+static void HAL_REV_SendSolenoidsState(REV_PHObj* hph, int32_t* status) {
+ uint8_t packedData[PH_SET_ALL_LENGTH] = {0};
+ PH_set_all_pack(packedData, &(hph->desiredSolenoidsState), PH_SET_ALL_LENGTH);
+ HAL_WriteCANPacketRepeating(hph->hcan, packedData, PH_SET_ALL_LENGTH,
+ PH_SET_ALL_FRAME_API, hph->controlPeriod, status);
+}
+
+static HAL_Bool HAL_REV_CheckPHPulseTime(int32_t time) {
+ return ((time > 0) && (time <= HAL_REV_MAX_PULSE_TIME)) ? 1 : 0;
+}
+
+HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
+ const char* allocationLocation,
+ int32_t* status) {
+ hal::init::CheckInit();
+ if (!HAL_CheckREVPHModuleNumber(module)) {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+ kNumREVPHModules, module);
+ return HAL_kInvalidHandle;
+ }
+
+ HAL_REVPHHandle handle;
+ auto hph = REVPHHandles->Allocate(module, &handle, status);
+ if (*status != 0) {
+ if (hph) {
+ hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
+ hph->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+ kNumREVPHModules, module);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
+ HAL_CANHandle hcan =
+ HAL_InitializeCAN(manufacturer, module, deviceType, status);
+
+ if (*status != 0) {
+ REVPHHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
+
+ hph->previousAllocation = allocationLocation ? allocationLocation : "";
+ hph->hcan = hcan;
+ hph->controlPeriod = kDefaultControlPeriod;
+
+ // Start closed-loop compressor control by starting solenoid state updates
+ HAL_REV_SendSolenoidsState(hph.get(), status);
+
+ return handle;
+}
+
+void HAL_FreeREVPH(HAL_REVPHHandle handle) {
+ auto hph = REVPHHandles->Get(handle);
+ if (hph == nullptr)
+ return;
+
+ HAL_CleanCAN(hph->hcan);
+
+ REVPHHandles->Free(handle);
+}
+
+HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
+ return module >= 1 && module < kNumREVPDHModules;
+}
+
+HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {
+ return channel >= 0 && channel < kNumREVPHChannels;
+}
+
+HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+ if (*status != 0) {
+ return false;
+ }
+
+ return status0.compressor_on;
+}
+
+void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
+ int32_t* status) {
+ // TODO
+}
+
+HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
+ int32_t* status) {
+ return false; // TODO
+}
+
+HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+ if (*status != 0) {
+ return false;
+ }
+
+ return status0.digital_sensor;
+}
+
+double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ PH_status1_t status1 = HAL_REV_ReadPHStatus1(ph->hcan, status);
+
+ if (*status != 0) {
+ return 0;
+ }
+
+ return PH_status1_compressor_current_decode(status1.compressor_current);
+}
+
+double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
+ int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ if (channel < 0 || channel > 1) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid REV Analog Index", 0, 2,
+ channel);
+ return 0;
+ }
+
+ PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+ if (*status != 0) {
+ return 0;
+ }
+
+ if (channel == 1) {
+ return PH_status0_analog_0_decode(status0.analog_0);
+ }
+ return PH_status0_analog_1_decode(status0.analog_1);
+}
+
+int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+ if (*status != 0) {
+ return 0;
+ }
+
+ uint32_t result = status0.channel_0;
+ result |= status0.channel_1 << 1;
+ result |= status0.channel_2 << 2;
+ result |= status0.channel_3 << 3;
+ result |= status0.channel_4 << 4;
+ result |= status0.channel_5 << 5;
+ result |= status0.channel_6 << 6;
+ result |= status0.channel_7 << 7;
+ result |= status0.channel_8 << 8;
+ result |= status0.channel_9 << 9;
+ result |= status0.channel_10 << 10;
+ result |= status0.channel_11 << 11;
+ result |= status0.channel_12 << 12;
+ result |= status0.channel_13 << 13;
+ result |= status0.channel_14 << 14;
+ result |= status0.channel_15 << 15;
+
+ return result;
+}
+
+void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
+ int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ std::scoped_lock lock{ph->solenoidLock};
+ for (int solenoid = 0; solenoid < kNumREVPHChannels; solenoid++) {
+ if (mask & (1 << solenoid)) {
+ // The mask bit for the solenoid is set, so we update the solenoid state
+ REV_SolenoidState desiredSolenoidState =
+ values & (1 << solenoid) ? kSolenoidEnabled : kSolenoidDisabled;
+ HAL_REV_UpdateDesiredPHSolenoidState(ph.get(), solenoid,
+ desiredSolenoidState);
+ }
+ }
+ HAL_REV_SendSolenoidsState(ph.get(), status);
+}
+
+void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
+ int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ if (index >= kNumREVPHChannels || index < 0) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Only [0-15] are valid index values. Requested {}", index));
+ return;
+ }
+
+ if (!HAL_REV_CheckPHPulseTime(durMs)) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Time not within expected range [0-65534]. Requested {}",
+ durMs));
+ return;
+ }
+
+ {
+ std::scoped_lock lock{ph->solenoidLock};
+ HAL_REV_UpdateDesiredPHSolenoidState(ph.get(), index,
+ kSolenoidControlledViaPulse);
+ HAL_REV_SendSolenoidsState(ph.get(), status);
+ }
+
+ if (*status != 0) {
+ return;
+ }
+
+ PH_pulse_once_t pulse = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+ pulse.pulse_length_ms = durMs;
+
+ // Specify which solenoid should be pulsed
+ // The protocol supports specifying any number of solenoids to be pulsed at
+ // the same time, should that functionality be exposed to users in the future.
+ switch (index) {
+ case 0:
+ pulse.channel_0 = true;
+ break;
+ case 1:
+ pulse.channel_1 = true;
+ break;
+ case 2:
+ pulse.channel_2 = true;
+ break;
+ case 3:
+ pulse.channel_3 = true;
+ break;
+ case 4:
+ pulse.channel_4 = true;
+ break;
+ case 5:
+ pulse.channel_5 = true;
+ break;
+ case 6:
+ pulse.channel_6 = true;
+ break;
+ case 7:
+ pulse.channel_7 = true;
+ break;
+ case 8:
+ pulse.channel_8 = true;
+ break;
+ case 9:
+ pulse.channel_9 = true;
+ break;
+ case 10:
+ pulse.channel_10 = true;
+ break;
+ case 11:
+ pulse.channel_11 = true;
+ break;
+ case 12:
+ pulse.channel_12 = true;
+ break;
+ case 13:
+ pulse.channel_13 = true;
+ break;
+ case 14:
+ pulse.channel_14 = true;
+ break;
+ case 15:
+ pulse.channel_15 = true;
+ break;
+ }
+
+ // Send pulse command
+ uint8_t packedData[PH_PULSE_ONCE_LENGTH] = {0};
+ PH_pulse_once_pack(packedData, &pulse, PH_PULSE_ONCE_LENGTH);
+ HAL_WriteCANPacket(ph->hcan, packedData, PH_PULSE_ONCE_LENGTH,
+ PH_PULSE_ONCE_FRAME_API, status);
+}
diff --git a/hal/src/main/native/athena/Relay.cpp b/hal/src/main/native/athena/Relay.cpp
index 4dffa36..a01dd9d 100644
--- a/hal/src/main/native/athena/Relay.cpp
+++ b/hal/src/main/native/athena/Relay.cpp
@@ -1,14 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Relay.h"
+#include <string>
+
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/handles/IndexedHandleResource.h"
@@ -19,6 +19,7 @@
struct Relay {
uint8_t channel;
bool fwd;
+ std::string previousAllocation;
};
} // namespace
@@ -29,46 +30,54 @@
// Create a mutex to protect changes to the relay values
static wpi::mutex digitalRelayMutex;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeRelay() {
static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
HAL_HandleEnum::Relay>
rH;
relayHandles = &rH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
+ const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
initializeDigital(status);
- if (*status != 0) return HAL_kInvalidHandle;
-
- int16_t channel = getPortHandleChannel(portHandle);
- if (channel == InvalidHandleIndex) {
- *status = PARAMETER_OUT_OF_RANGE;
+ if (*status != 0) {
return HAL_kInvalidHandle;
}
- if (!fwd) channel += kNumRelayHeaders; // add 4 to reverse channels
-
- auto handle = relayHandles->Allocate(channel, status);
-
- if (*status != 0)
- return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- auto port = relayHandles->Get(handle);
- if (port == nullptr) { // would only occur on thread issue.
- *status = HAL_HANDLE_ERROR;
+ int16_t channel = getPortHandleChannel(portHandle);
+ if (channel == InvalidHandleIndex || channel >= kNumRelayChannels) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Relay", 0,
+ kNumRelayChannels, channel);
return HAL_kInvalidHandle;
}
if (!fwd) {
+ channel += kNumRelayHeaders; // add 4 to reverse channels
+ }
+
+ HAL_RelayHandle handle;
+ auto port = relayHandles->Allocate(channel, &handle, status);
+
+ if (*status != 0) {
+ if (port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "Relay", channel,
+ port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Relay", 0,
+ kNumRelayChannels, channel);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
+ if (!fwd) {
// Subtract number of headers to put channel in range
channel -= kNumRelayHeaders;
@@ -78,6 +87,7 @@
}
port->channel = static_cast<uint8_t>(channel);
+ port->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
@@ -108,7 +118,9 @@
relays = relaySystem->readValue_Reverse(status);
}
- if (*status != 0) return; // bad status read
+ if (*status != 0) {
+ return; // bad status read
+ }
if (on) {
relays |= 1 << port->channel;
diff --git a/hal/src/main/native/athena/SPI.cpp b/hal/src/main/native/athena/SPI.cpp
index 37c5f0e..1121fd8 100644
--- a/hal/src/main/native/athena/SPI.cpp
+++ b/hal/src/main/native/athena/SPI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/SPI.h"
@@ -14,13 +11,15 @@
#include <array>
#include <atomic>
+#include <cstdio>
#include <cstring>
+#include <fmt/format.h>
#include <wpi/mutex.h>
-#include <wpi/raw_ostream.h>
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "hal/DIO.h"
#include "hal/HAL.h"
#include "hal/handles/HandlesInternal.h"
@@ -54,17 +53,17 @@
// SPI engine conflicts with any other chip selects on the same SPI device.
// There are two SPI devices: one for ports 0-3 (onboard), the other for port
// 4 (MXP).
- if (!spiAutoRunning) return false;
+ if (!spiAutoRunning) {
+ return false;
+ }
std::scoped_lock lock(spiAutoMutex);
return (spiAutoPort >= 0 && spiAutoPort <= 3 && port >= 0 && port <= 3) ||
(spiAutoPort == 4 && port == 4);
}
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeSPI() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -73,19 +72,21 @@
if (spiPortCount.fetch_add(1) == 0) {
// Have not been initialized yet
initializeDigital(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
// MISO
if ((digitalHandles[3] = HAL_InitializeDIOPort(createPortHandleForSPI(29),
- false, status)) ==
+ false, nullptr, status)) ==
HAL_kInvalidHandle) {
- std::printf("Failed to allocate DIO 29 (MISO)\n");
+ std::puts("Failed to allocate DIO 29 (MISO)");
return;
}
// MOSI
if ((digitalHandles[4] = HAL_InitializeDIOPort(createPortHandleForSPI(30),
- false, status)) ==
+ false, nullptr, status)) ==
HAL_kInvalidHandle) {
- std::printf("Failed to allocate DIO 30 (MOSI)\n");
+ std::puts("Failed to allocate DIO 30 (MOSI)");
HAL_FreeDIOPort(digitalHandles[3]); // free the first port allocated
return;
}
@@ -104,20 +105,28 @@
hal::init::CheckInit();
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Serial port must be between 0 and {}. Requested {}",
+ kSpiMaxHandles, static_cast<int>(port)));
return;
}
int handle;
- if (HAL_GetSPIHandle(port) != 0) return;
+ if (HAL_GetSPIHandle(port) != 0) {
+ return;
+ }
switch (port) {
case HAL_SPI_kOnboardCS0:
CommonSPIPortInit(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
// CS0 is not a DIO port, so nothing to allocate
handle = open("/dev/spidev0.0", O_RDWR);
if (handle < 0) {
- std::printf("Failed to open SPI port %d: %s\n", port,
- std::strerror(errno));
+ fmt::print("Failed to open SPI port {}: {}\n", port,
+ std::strerror(errno));
CommonSPIPortFree();
return;
}
@@ -125,19 +134,21 @@
break;
case HAL_SPI_kOnboardCS1:
CommonSPIPortInit(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
// CS1, Allocate
if ((digitalHandles[0] = HAL_InitializeDIOPort(createPortHandleForSPI(26),
- false, status)) ==
+ false, nullptr, status)) ==
HAL_kInvalidHandle) {
- std::printf("Failed to allocate DIO 26 (CS1)\n");
+ std::puts("Failed to allocate DIO 26 (CS1)");
CommonSPIPortFree();
return;
}
handle = open("/dev/spidev0.1", O_RDWR);
if (handle < 0) {
- std::printf("Failed to open SPI port %d: %s\n", port,
- std::strerror(errno));
+ fmt::print("Failed to open SPI port {}: {}\n", port,
+ std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[0]);
return;
@@ -146,19 +157,21 @@
break;
case HAL_SPI_kOnboardCS2:
CommonSPIPortInit(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
// CS2, Allocate
if ((digitalHandles[1] = HAL_InitializeDIOPort(createPortHandleForSPI(27),
- false, status)) ==
+ false, nullptr, status)) ==
HAL_kInvalidHandle) {
- std::printf("Failed to allocate DIO 27 (CS2)\n");
+ std::puts("Failed to allocate DIO 27 (CS2)");
CommonSPIPortFree();
return;
}
handle = open("/dev/spidev0.2", O_RDWR);
if (handle < 0) {
- std::printf("Failed to open SPI port %d: %s\n", port,
- std::strerror(errno));
+ fmt::print("Failed to open SPI port {}: {}\n", port,
+ std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[1]);
return;
@@ -167,19 +180,21 @@
break;
case HAL_SPI_kOnboardCS3:
CommonSPIPortInit(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
// CS3, Allocate
if ((digitalHandles[2] = HAL_InitializeDIOPort(createPortHandleForSPI(28),
- false, status)) ==
+ false, nullptr, status)) ==
HAL_kInvalidHandle) {
- std::printf("Failed to allocate DIO 28 (CS3)\n");
+ std::puts("Failed to allocate DIO 28 (CS3)");
CommonSPIPortFree();
return;
}
handle = open("/dev/spidev0.3", O_RDWR);
if (handle < 0) {
- std::printf("Failed to open SPI port %d: %s\n", port,
- std::strerror(errno));
+ fmt::print("Failed to open SPI port {}: {}\n", port,
+ std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[2]);
return;
@@ -188,32 +203,34 @@
break;
case HAL_SPI_kMXP:
initializeDigital(status);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
if ((digitalHandles[5] = HAL_InitializeDIOPort(createPortHandleForSPI(14),
- false, status)) ==
+ false, nullptr, status)) ==
HAL_kInvalidHandle) {
- wpi::outs() << "Failed to allocate DIO 14\n";
+ std::puts("Failed to allocate DIO 14");
return;
}
if ((digitalHandles[6] = HAL_InitializeDIOPort(createPortHandleForSPI(15),
- false, status)) ==
+ false, nullptr, status)) ==
HAL_kInvalidHandle) {
- wpi::outs() << "Failed to allocate DIO 15\n";
+ std::puts("Failed to allocate DIO 15");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
return;
}
if ((digitalHandles[7] = HAL_InitializeDIOPort(createPortHandleForSPI(16),
- false, status)) ==
+ false, nullptr, status)) ==
HAL_kInvalidHandle) {
- wpi::outs() << "Failed to allocate DIO 16\n";
+ std::puts("Failed to allocate DIO 16");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
return;
}
if ((digitalHandles[8] = HAL_InitializeDIOPort(createPortHandleForSPI(17),
- false, status)) ==
+ false, nullptr, status)) ==
HAL_kInvalidHandle) {
- wpi::outs() << "Failed to allocate DIO 17\n";
+ std::puts("Failed to allocate DIO 17");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
HAL_FreeDIOPort(digitalHandles[7]); // free the third port allocated
@@ -223,8 +240,8 @@
digitalSystem->readEnableMXPSpecialFunction(status) | 0x00F0, status);
handle = open("/dev/spidev1.0", O_RDWR);
if (handle < 0) {
- std::printf("Failed to open SPI port %d: %s\n", port,
- std::strerror(errno));
+ fmt::print("Failed to open SPI port {}: {}\n", port,
+ std::strerror(errno));
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
HAL_FreeDIOPort(digitalHandles[7]); // free the third port allocated
@@ -235,6 +252,8 @@
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status, fmt::format("Invalid SPI port {}", static_cast<int>(port)));
break;
}
}
@@ -245,7 +264,9 @@
return -1;
}
- if (SPIInUseByAuto(port)) return -1;
+ if (SPIInUseByAuto(port)) {
+ return -1;
+ }
struct spi_ioc_transfer xfer;
std::memset(&xfer, 0, sizeof(xfer));
@@ -263,7 +284,9 @@
return -1;
}
- if (SPIInUseByAuto(port)) return -1;
+ if (SPIInUseByAuto(port)) {
+ return -1;
+ }
struct spi_ioc_transfer xfer;
std::memset(&xfer, 0, sizeof(xfer));
@@ -279,7 +302,9 @@
return -1;
}
- if (SPIInUseByAuto(port)) return -1;
+ if (SPIInUseByAuto(port)) {
+ return -1;
+ }
struct spi_ioc_transfer xfer;
std::memset(&xfer, 0, sizeof(xfer));
@@ -357,6 +382,10 @@
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Serial port must be between 0 and {}. Requested {}",
+ kSpiMaxHandles, static_cast<int>(port)));
return;
}
@@ -372,6 +401,10 @@
void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Serial port must be between 0 and {}. Requested {}",
+ kSpiMaxHandles, static_cast<int>(port)));
return;
}
@@ -436,6 +469,10 @@
void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Serial port must be between 0 and {}. Requested {}",
+ kSpiMaxHandles, static_cast<int>(port)));
return;
}
@@ -467,11 +504,17 @@
void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Serial port must be between 0 and {}. Requested {}",
+ kSpiMaxHandles, static_cast<int>(port)));
return;
}
std::scoped_lock lock(spiAutoMutex);
- if (spiAutoPort != port) return;
+ if (spiAutoPort != port) {
+ return;
+ }
spiAutoPort = kSpiMaxHandles;
// disable by setting to internal clock and setting rate=0
@@ -567,11 +610,21 @@
int32_t* status) {
if (dataSize < 0 || dataSize > 32) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format(
+ "Data size must be between 0 and 32 inclusive. Requested {}",
+ dataSize));
return;
}
if (zeroSize < 0 || zeroSize > 127) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format(
+ "Zero size must be between 0 and 127 inclusive. Requested {}",
+ zeroSize));
return;
}
diff --git a/hal/src/main/native/athena/SerialPort.cpp b/hal/src/main/native/athena/SerialPort.cpp
index 7ef9b70..374986b 100644
--- a/hal/src/main/native/athena/SerialPort.cpp
+++ b/hal/src/main/native/athena/SerialPort.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/SerialPort.h"
@@ -22,6 +19,9 @@
#include <string>
#include <thread>
+#include <fmt/format.h>
+
+#include "HALInternal.h"
#include "hal/cpp/SerialHelper.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/handles/IndexedHandleResource.h"
@@ -44,16 +44,14 @@
HAL_HandleEnum::SerialPort>* serialPortHandles;
} // namespace hal
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeSerialPort() {
static IndexedHandleResource<HAL_SerialPortHandle, SerialPort, 4,
HAL_HandleEnum::SerialPort>
spH;
serialPortHandles = &spH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
using namespace hal;
@@ -75,22 +73,20 @@
HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
const char* portName,
int32_t* status) {
- auto handle = serialPortHandles->Allocate(static_cast<int16_t>(port), status);
+ HAL_SerialPortHandle handle;
+ auto serialPort =
+ serialPortHandles->Allocate(static_cast<int16_t>(port), &handle, status);
if (*status != 0) {
return HAL_kInvalidHandle;
}
- auto serialPort = serialPortHandles->Get(handle);
-
- if (serialPort == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
- }
-
serialPort->portId = open(portName, O_RDWR | O_NOCTTY);
if (serialPort->portId < 0) {
*status = errno;
+ if (*status == EACCES) {
+ *status = HAL_CONSOLE_OUT_ENABLED_ERROR;
+ }
serialPortHandles->Free(handle);
return HAL_kInvalidHandle;
}
@@ -193,6 +189,7 @@
BAUDCASE(4000000)
default:
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Invalid BaudRate: {}", baud));
return;
}
int err = cfsetospeed(&port->tty, static_cast<speed_t>(port->baudRate));
@@ -235,6 +232,7 @@
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Invalid data bits: {}", bits));
return;
}
@@ -282,6 +280,7 @@
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Invalid parity bits: {}", parity));
return;
}
@@ -309,6 +308,7 @@
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Invalid stop bits: {}", stopBits));
return;
}
@@ -344,6 +344,7 @@
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Invalid fc bits: {}", flow));
return;
}
@@ -417,7 +418,9 @@
int32_t HAL_ReadSerial(HAL_SerialPortHandle handle, char* buffer, int32_t count,
int32_t* status) {
// Don't do anything if 0 bytes were requested
- if (count == 0) return 0;
+ if (count == 0) {
+ return 0;
+ }
auto port = serialPortHandles->Get(handle);
if (!port) {
diff --git a/hal/src/main/native/athena/SimDevice.cpp b/hal/src/main/native/athena/SimDevice.cpp
index 94a65d4..3a15f46 100644
--- a/hal/src/main/native/athena/SimDevice.cpp
+++ b/hal/src/main/native/athena/SimDevice.cpp
@@ -1,32 +1,38 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/SimDevice.h"
extern "C" {
-HAL_SimDeviceHandle HAL_CreateSimDevice(const char* name) { return 0; }
+HAL_SimDeviceHandle HAL_CreateSimDevice(const char* name) {
+ return 0;
+}
void HAL_FreeSimDevice(HAL_SimDeviceHandle handle) {}
HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
- const char* name, HAL_Bool readonly,
+ const char* name, int32_t direction,
const struct HAL_Value* initialValue) {
return 0;
}
HAL_SimValueHandle HAL_CreateSimValueEnum(HAL_SimDeviceHandle device,
- const char* name, HAL_Bool readonly,
+ const char* name, int32_t direction,
int32_t numOptions,
const char** options,
int32_t initialValue) {
return 0;
}
+HAL_SimValueHandle HAL_CreateSimValueEnumDouble(
+ HAL_SimDeviceHandle device, const char* name, int32_t direction,
+ int32_t numOptions, const char** options, const double* optionValues,
+ int32_t initialValue) {
+ return 0;
+}
+
void HAL_GetSimValue(HAL_SimValueHandle handle, struct HAL_Value* value) {
value->type = HAL_UNASSIGNED;
}
@@ -34,6 +40,8 @@
void HAL_SetSimValue(HAL_SimValueHandle handle, const struct HAL_Value* value) {
}
+void HAL_ResetSimValue(HAL_SimValueHandle handle) {}
+
hal::SimDevice::SimDevice(const char* name, int index) {}
hal::SimDevice::SimDevice(const char* name, int index, int channel) {}
diff --git a/hal/src/main/native/athena/Solenoid.cpp b/hal/src/main/native/athena/Solenoid.cpp
deleted file mode 100644
index ab563b3..0000000
--- a/hal/src/main/native/athena/Solenoid.cpp
+++ /dev/null
@@ -1,187 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "hal/Solenoid.h"
-
-#include "HALInitializer.h"
-#include "PCMInternal.h"
-#include "PortsInternal.h"
-#include "ctre/PCM.h"
-#include "hal/Errors.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/IndexedHandleResource.h"
-
-namespace {
-
-struct Solenoid {
- uint8_t module;
- uint8_t channel;
-};
-
-} // namespace
-
-using namespace hal;
-
-static IndexedHandleResource<HAL_SolenoidHandle, Solenoid,
- kNumPCMModules * kNumSolenoidChannels,
- HAL_HandleEnum::Solenoid>* solenoidHandles;
-
-namespace hal {
-namespace init {
-void InitializeSolenoid() {
- static IndexedHandleResource<HAL_SolenoidHandle, Solenoid,
- kNumPCMModules * kNumSolenoidChannels,
- HAL_HandleEnum::Solenoid>
- sH;
- solenoidHandles = &sH;
-}
-} // namespace init
-} // namespace hal
-
-extern "C" {
-
-HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
- int32_t* status) {
- hal::init::CheckInit();
- int16_t channel = getPortHandleChannel(portHandle);
- int16_t module = getPortHandleModule(portHandle);
- if (channel == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
- }
-
- // initializePCM will check the module
- if (!HAL_CheckSolenoidChannel(channel)) {
- *status = RESOURCE_OUT_OF_RANGE;
- return HAL_kInvalidHandle;
- }
-
- initializePCM(module, status);
- if (*status != 0) {
- return HAL_kInvalidHandle;
- }
-
- auto handle = solenoidHandles->Allocate(
- module * kNumSolenoidChannels + channel, status);
- if (*status != 0) {
- return HAL_kInvalidHandle;
- }
- auto solenoidPort = solenoidHandles->Get(handle);
- if (solenoidPort == nullptr) { // would only occur on thread issues
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
- }
- solenoidPort->module = static_cast<uint8_t>(module);
- solenoidPort->channel = static_cast<uint8_t>(channel);
-
- return handle;
-}
-
-void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoidPortHandle) {
- solenoidHandles->Free(solenoidPortHandle);
-}
-
-HAL_Bool HAL_CheckSolenoidModule(int32_t module) {
- return module < kNumPCMModules && module >= 0;
-}
-
-HAL_Bool HAL_CheckSolenoidChannel(int32_t channel) {
- return channel < kNumSolenoidChannels && channel >= 0;
-}
-
-HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoidPortHandle,
- int32_t* status) {
- auto port = solenoidHandles->Get(solenoidPortHandle);
- if (port == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
- bool value;
-
- *status = PCM_modules[port->module]->GetSolenoid(port->channel, value);
-
- return value;
-}
-
-int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status) {
- if (!checkPCMInit(module, status)) return 0;
- uint8_t value;
-
- *status = PCM_modules[module]->GetAllSolenoids(value);
-
- return value;
-}
-
-void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value,
- int32_t* status) {
- auto port = solenoidHandles->Get(solenoidPortHandle);
- if (port == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- *status = PCM_modules[port->module]->SetSolenoid(port->channel, value);
-}
-
-void HAL_SetAllSolenoids(int32_t module, int32_t state, int32_t* status) {
- if (!checkPCMInit(module, status)) return;
-
- *status = PCM_modules[module]->SetAllSolenoids(state);
-}
-
-int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status) {
- if (!checkPCMInit(module, status)) return 0;
- uint8_t value;
-
- *status = PCM_modules[module]->GetSolenoidBlackList(value);
-
- return value;
-}
-HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status) {
- if (!checkPCMInit(module, status)) return 0;
- bool value;
-
- *status = PCM_modules[module]->GetSolenoidStickyFault(value);
-
- return value;
-}
-HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status) {
- if (!checkPCMInit(module, status)) return false;
- bool value;
-
- *status = PCM_modules[module]->GetSolenoidFault(value);
-
- return value;
-}
-void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status) {
- if (!checkPCMInit(module, status)) return;
-
- *status = PCM_modules[module]->ClearStickyFaults();
-}
-
-void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
- int32_t durMS, int32_t* status) {
- auto port = solenoidHandles->Get(solenoidPortHandle);
- if (port == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- *status =
- PCM_modules[port->module]->SetOneShotDurationMs(port->channel, durMS);
-}
-
-void HAL_FireOneShot(HAL_SolenoidHandle solenoidPortHandle, int32_t* status) {
- auto port = solenoidHandles->Get(solenoidPortHandle);
- if (port == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- *status = PCM_modules[port->module]->FireOneShotSolenoid(port->channel);
-}
-} // extern "C"
diff --git a/hal/src/main/native/athena/Threads.cpp b/hal/src/main/native/athena/Threads.cpp
index 95d1f59..aa55b56 100644
--- a/hal/src/main/native/athena/Threads.cpp
+++ b/hal/src/main/native/athena/Threads.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Threads.h"
@@ -12,11 +9,9 @@
#include "hal/Errors.h"
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeThreads() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -37,8 +32,8 @@
return sch.sched_priority;
} else {
*isRealTime = false;
- // 0 is the only suppored priority for non-realtime, so scale to 1
- return 1;
+ // 0 is the only supported priority for non-real-time
+ return 0;
}
}
@@ -69,11 +64,13 @@
int policy;
pthread_getschedparam(*reinterpret_cast<const pthread_t*>(handle), &policy,
&sch);
- if (scheduler == SCHED_FIFO || scheduler == SCHED_RR)
+ if (scheduler == SCHED_FIFO || scheduler == SCHED_RR) {
sch.sched_priority = priority;
- else
+ } else {
// Only need to set 0 priority for non RT thread
sch.sched_priority = 0;
+ }
+
if (pthread_setschedparam(*reinterpret_cast<const pthread_t*>(handle),
scheduler, &sch)) {
*status = HAL_THREAD_PRIORITY_ERROR;
diff --git a/hal/src/main/native/athena/cpp/SerialHelper.cpp b/hal/src/main/native/athena/cpp/SerialHelper.cpp
index 2156147..3831769 100644
--- a/hal/src/main/native/athena/cpp/SerialHelper.cpp
+++ b/hal/src/main/native/athena/cpp/SerialHelper.cpp
@@ -1,18 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/cpp/SerialHelper.h"
#include <algorithm>
#include <cstdio>
#include <cstring>
+#include <string_view>
-#include <wpi/FileSystem.h>
-#include <wpi/StringRef.h>
+#include <wpi/StringExtras.h>
+#include <wpi/fs.h>
#include "hal/Errors.h"
#include "visa/visa.h"
@@ -56,7 +54,7 @@
return "";
// Error
} else {
- return m_visaResource[visaIndex].str();
+ return std::string{m_visaResource[visaIndex].str()};
}
}
@@ -83,7 +81,7 @@
return "";
// Error
} else {
- return m_osResource[osIndex].str();
+ return std::string{m_osResource[osIndex].str()};
}
}
@@ -139,8 +137,8 @@
std::sort(m_sortedHubPath.begin(), m_sortedHubPath.end(),
[](const wpi::SmallVectorImpl<char>& lhs,
const wpi::SmallVectorImpl<char>& rhs) -> int {
- wpi::StringRef lhsRef(lhs.begin(), lhs.size());
- wpi::StringRef rhsRef(rhs.begin(), rhs.size());
+ std::string_view lhsRef(lhs.begin(), lhs.size());
+ std::string_view rhsRef(rhs.begin(), rhs.size());
return lhsRef.compare(rhsRef);
});
}
@@ -150,15 +148,15 @@
wpi::SmallVector<wpi::SmallString<16>, 4> sortedVec;
for (auto& str : m_sortedHubPath) {
for (size_t i = 0; i < m_unsortedHubPath.size(); i++) {
- if (wpi::StringRef{m_unsortedHubPath[i].begin(),
- m_unsortedHubPath[i].size()}
- .equals(wpi::StringRef{str.begin(), str.size()})) {
+ if (wpi::equals(std::string_view{m_unsortedHubPath[i].begin(),
+ m_unsortedHubPath[i].size()},
+ std::string_view{str.begin(), str.size()})) {
sortedVec.push_back(vec[i]);
break;
}
}
}
- vec = sortedVec;
+ vec.swap(sortedVec);
}
void SerialHelper::QueryHubPaths(int32_t* status) {
@@ -194,73 +192,82 @@
// Open the resource, grab its interface name, and close it.
ViSession vSession;
*status = viOpen(m_resourceHandle, desc, VI_NULL, VI_NULL, &vSession);
- if (*status < 0) goto done;
+ if (*status < 0)
+ goto done;
*status = 0;
*status = viGetAttribute(vSession, VI_ATTR_INTF_INST_NAME, &osName);
// Ignore an error here, as we want to close the session on an error
// Use a separate close variable so we can check
ViStatus closeStatus = viClose(vSession);
- if (*status < 0) goto done;
- if (closeStatus < 0) goto done;
+ if (*status < 0)
+ goto done;
+ if (closeStatus < 0)
+ goto done;
*status = 0;
// split until (/dev/
- wpi::StringRef devNameRef = wpi::StringRef{osName}.split("(/dev/").second;
+ std::string_view devNameRef = wpi::split(osName, "(/dev/").second;
// String not found, continue
- if (devNameRef.equals("")) continue;
+ if (wpi::equals(devNameRef, ""))
+ continue;
// Split at )
- wpi::StringRef matchString = devNameRef.split(')').first;
- if (matchString.equals(devNameRef)) continue;
+ std::string_view matchString = wpi::split(devNameRef, ')').first;
+ if (wpi::equals(matchString, devNameRef))
+ continue;
// Search directories to get a list of system accessors
// The directories we need are not symbolic, so we can safely
// disable symbolic links.
std::error_code ec;
- for (auto p = wpi::sys::fs::recursive_directory_iterator(
- "/sys/devices/soc0", ec, false);
- p != wpi::sys::fs::recursive_directory_iterator(); p.increment(ec)) {
- if (ec) break;
- wpi::StringRef path{p->path()};
- if (path.find("amba") == wpi::StringRef::npos) continue;
- if (path.find("usb") == wpi::StringRef::npos) continue;
- if (path.find(matchString) == wpi::StringRef::npos) continue;
+ for (auto& p : fs::recursive_directory_iterator("/sys/devices/soc0", ec)) {
+ if (ec)
+ break;
+ std::string path = p.path();
+ if (path.find("amba") == std::string::npos)
+ continue;
+ if (path.find("usb") == std::string::npos)
+ continue;
+ if (path.find(matchString) == std::string::npos)
+ continue;
- wpi::SmallVector<wpi::StringRef, 16> pathSplitVec;
+ wpi::SmallVector<std::string_view, 16> pathSplitVec;
// Split path into individual directories
- path.split(pathSplitVec, '/', -1, false);
+ wpi::split(path, pathSplitVec, '/', -1, false);
// Find each individual item index
int findusb = -1;
int findtty = -1;
int findregex = -1;
for (size_t i = 0; i < pathSplitVec.size(); i++) {
- if (findusb == -1 && pathSplitVec[i].equals("usb1")) {
+ if (findusb == -1 && wpi::equals(pathSplitVec[i], "usb1")) {
findusb = i;
}
- if (findtty == -1 && pathSplitVec[i].equals("tty")) {
+ if (findtty == -1 && wpi::equals(pathSplitVec[i], "tty")) {
findtty = i;
}
- if (findregex == -1 && pathSplitVec[i].equals(matchString)) {
+ if (findregex == -1 && wpi::equals(pathSplitVec[i], matchString)) {
findregex = i;
}
}
// Get the index for our device
int hubIndex = findtty;
- if (findtty == -1) hubIndex = findregex;
+ if (findtty == -1)
+ hubIndex = findregex;
int devStart = findusb + 1;
- if (hubIndex < devStart) continue;
+ if (hubIndex < devStart)
+ continue;
// Add our devices to our list
m_unsortedHubPath.emplace_back(
- wpi::StringRef{pathSplitVec[hubIndex - 2]});
+ std::string_view{pathSplitVec[hubIndex - 2]});
m_visaResource.emplace_back(desc);
m_osResource.emplace_back(
- wpi::StringRef{osName}.split("(").second.split(")").first);
+ wpi::split(wpi::split(osName, "(").second, ")").first);
break;
}
}
@@ -285,8 +292,9 @@
if (portString.empty()) {
for (size_t i = 0; i < 2; i++) {
// Remove all used ports
- auto idx = std::find(m_sortedHubPath.begin(), m_sortedHubPath.end(),
- m_usbNames[i]);
+ auto idx = std::find_if(
+ m_sortedHubPath.begin(), m_sortedHubPath.end(),
+ [&](const auto& s) { return wpi::equals(s, m_usbNames[i]); });
if (idx != m_sortedHubPath.end()) {
// found
m_sortedHubPath.erase(idx);
@@ -321,7 +329,7 @@
int retIndex = -1;
for (size_t i = 0; i < m_sortedHubPath.size(); i++) {
- if (m_sortedHubPath[i].equals(portString)) {
+ if (wpi::equals(m_sortedHubPath[i], portString)) {
retIndex = i;
break;
}
diff --git a/hal/src/main/native/athena/ctre/CtreCanNode.cpp b/hal/src/main/native/athena/ctre/CtreCanNode.cpp
deleted file mode 100644
index 440bebd..0000000
--- a/hal/src/main/native/athena/ctre/CtreCanNode.cpp
+++ /dev/null
@@ -1,157 +0,0 @@
-#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
-
-#include "CtreCanNode.h"
-#include "FRC_NetworkCommunication/CANSessionMux.h"
-#include <string.h> // memset
-
-static const UINT32 kFullMessageIDMask = 0x1fffffff;
-
-CtreCanNode::CtreCanNode(UINT8 deviceNumber)
-{
- _deviceNumber = deviceNumber;
-}
-CtreCanNode::~CtreCanNode()
-{
-}
-void CtreCanNode::RegisterRx(uint32_t arbId)
-{
- /* no need to do anything, we just use new API to poll last received message */
-}
-/**
- * Schedule a CAN Frame for periodic transmit.
- * @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
- * @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
- * @param dlc Number of bytes to transmit (0 to 8).
- * @param initialFrame Ptr to the frame data to schedule for transmitting. Passing null will result
- * in defaulting to zero data value.
- */
-void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs, uint32_t dlc, const uint8_t * initialFrame)
-{
- int32_t status = 0;
- if(dlc > 8)
- dlc = 8;
- txJob_t job = {0};
- job.arbId = arbId;
- job.periodMs = periodMs;
- job.dlc = dlc;
- if(initialFrame){
- /* caller wants to specify original data */
- memcpy(job.toSend, initialFrame, dlc);
- }
- _txJobs[arbId] = job;
- FRC_NetworkCommunication_CANSessionMux_sendMessage( job.arbId,
- job.toSend,
- job.dlc,
- job.periodMs,
- &status);
-}
-/**
- * Schedule a CAN Frame for periodic transmit. Assume eight byte DLC and zero value for initial transmission.
- * @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
- * @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
- */
-void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
-{
- RegisterTx(arbId,periodMs, 8, 0);
-}
-/**
- * Remove a CAN frame Arbid to stop transmission.
- * @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
- */
-void CtreCanNode::UnregisterTx(uint32_t arbId)
-{
- /* set period to zero */
- ChangeTxPeriod(arbId, 0);
- /* look and remove */
- txJobs_t::iterator iter = _txJobs.find(arbId);
- if(iter != _txJobs.end()) {
- _txJobs.erase(iter);
- }
-}
-static int64_t GetTimeMs() {
- std::chrono::time_point < std::chrono::system_clock > now;
- now = std::chrono::system_clock::now();
- auto duration = now.time_since_epoch();
- auto millis = std::chrono::duration_cast < std::chrono::milliseconds
- > (duration).count();
- return (int64_t) millis;
-}
-CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
-{
- CTR_Code retval = CTR_OKAY;
- int32_t status = 0;
- uint8_t len = 0;
- uint32_t timeStamp;
- /* cap timeout at 999ms */
- if(timeoutMs > 999)
- timeoutMs = 999;
- FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
- std::scoped_lock lock(_lck);
- if(status == 0){
- /* fresh update */
- rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
- r.time = GetTimeMs();
- memcpy(r.bytes, dataBytes, 8); /* fill in databytes */
- }else{
- /* did not get the message */
- rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
- if(i == _rxRxEvents.end()){
- /* we've never gotten this mesage */
- retval = CTR_RxTimeout;
- /* fill caller's buffer with zeros */
- memset(dataBytes,0,8);
- }else{
- /* we've gotten this message before but not recently */
- memcpy(dataBytes,i->second.bytes,8);
- /* get the time now */
- int64_t now = GetTimeMs(); /* get now */
- /* how long has it been? */
- int64_t temp = now - i->second.time; /* temp = now - last */
- if (temp > ((int64_t) timeoutMs)) {
- retval = CTR_RxTimeout;
- } else {
- /* our last update was recent enough */
- }
- }
- }
-
- return retval;
-}
-void CtreCanNode::FlushTx(uint32_t arbId)
-{
- int32_t status = 0;
- txJobs_t::iterator iter = _txJobs.find(arbId);
- if(iter != _txJobs.end())
- FRC_NetworkCommunication_CANSessionMux_sendMessage( iter->second.arbId,
- iter->second.toSend,
- iter->second.dlc,
- iter->second.periodMs,
- &status);
-}
-/**
- * Change the transmit period of an already scheduled CAN frame.
- * This keeps the frame payload contents the same without caller having to perform
- * a read-modify-write.
- * @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
- * @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
- * @return true if scheduled job was found and updated, false if there was no preceding job for the specified arbID.
- */
-bool CtreCanNode::ChangeTxPeriod(uint32_t arbId, uint32_t periodMs)
-{
- int32_t status = 0;
- /* lookup the data bytes and period for this message */
- txJobs_t::iterator iter = _txJobs.find(arbId);
- if(iter != _txJobs.end()) {
- /* modify th periodMs */
- iter->second.periodMs = periodMs;
- /* reinsert into scheduler with the same data bytes, only the period changed. */
- FRC_NetworkCommunication_CANSessionMux_sendMessage( iter->second.arbId,
- iter->second.toSend,
- iter->second.dlc,
- iter->second.periodMs,
- &status);
- return true;
- }
- return false;
-}
-
diff --git a/hal/src/main/native/athena/ctre/CtreCanNode.h b/hal/src/main/native/athena/ctre/CtreCanNode.h
deleted file mode 100644
index ce2d6ac..0000000
--- a/hal/src/main/native/athena/ctre/CtreCanNode.h
+++ /dev/null
@@ -1,132 +0,0 @@
-#ifndef CtreCanNode_H_
-#define CtreCanNode_H_
-#include "ctre.h" //BIT Defines + Typedefs
-#include <map>
-#include <wpi/mutex.h>
-class CtreCanNode
-{
-public:
- CtreCanNode(UINT8 deviceNumber);
- ~CtreCanNode();
-
- UINT8 GetDeviceNumber()
- {
- return _deviceNumber;
- }
-protected:
-
-
- template <typename T> class txTask{
- public:
- uint32_t arbId;
- T * toSend;
- T * operator -> ()
- {
- return toSend;
- }
- T & operator*()
- {
- return *toSend;
- }
- bool IsEmpty()
- {
- if(toSend == 0)
- return true;
- return false;
- }
- };
- template <typename T> class recMsg{
- public:
- uint32_t arbId;
- uint8_t bytes[8];
- CTR_Code err;
- T * operator -> ()
- {
- return (T *)bytes;
- }
- T & operator*()
- {
- return *(T *)bytes;
- }
- };
- UINT8 _deviceNumber;
- void RegisterRx(uint32_t arbId);
- /**
- * Schedule a CAN Frame for periodic transmit. Assume eight byte DLC and zero value for initial transmission.
- * @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
- * @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
- */
- void RegisterTx(uint32_t arbId, uint32_t periodMs);
- /**
- * Schedule a CAN Frame for periodic transmit.
- * @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
- * @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
- * @param dlc Number of bytes to transmit (0 to 8).
- * @param initialFrame Ptr to the frame data to schedule for transmitting. Passing null will result
- * in defaulting to zero data value.
- */
- void RegisterTx(uint32_t arbId, uint32_t periodMs, uint32_t dlc, const uint8_t * initialFrame);
- void UnregisterTx(uint32_t arbId);
-
- CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
- void FlushTx(uint32_t arbId);
- bool ChangeTxPeriod(uint32_t arbId, uint32_t periodMs);
-
- template<typename T> txTask<T> GetTx(uint32_t arbId)
- {
- txTask<T> retval = {0, nullptr};
- txJobs_t::iterator i = _txJobs.find(arbId);
- if(i != _txJobs.end()){
- retval.arbId = i->second.arbId;
- retval.toSend = (T*)i->second.toSend;
- }
- return retval;
- }
- template<class T> void FlushTx(T & par)
- {
- FlushTx(par.arbId);
- }
-
- template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
- {
- recMsg<T> retval;
- retval.err = GetRx(arbId,retval.bytes, timeoutMs);
- return retval;
- }
-
-private:
-
- class txJob_t {
- public:
- uint32_t arbId;
- uint8_t toSend[8];
- uint32_t periodMs;
- uint8_t dlc;
- };
-
- class rxEvent_t{
- public:
- uint8_t bytes[8];
- int64_t time;
- rxEvent_t()
- {
- bytes[0] = 0;
- bytes[1] = 0;
- bytes[2] = 0;
- bytes[3] = 0;
- bytes[4] = 0;
- bytes[5] = 0;
- bytes[6] = 0;
- bytes[7] = 0;
- }
- };
-
- typedef std::map<uint32_t,txJob_t> txJobs_t;
- txJobs_t _txJobs;
-
- typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
- rxRxEvents_t _rxRxEvents;
-
- wpi::mutex _lck;
-};
-#endif
diff --git a/hal/src/main/native/athena/ctre/PCM.cpp b/hal/src/main/native/athena/ctre/PCM.cpp
deleted file mode 100644
index 4fd633f..0000000
--- a/hal/src/main/native/athena/ctre/PCM.cpp
+++ /dev/null
@@ -1,573 +0,0 @@
-#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
-
-#include "PCM.h"
-#include "FRC_NetworkCommunication/CANSessionMux.h"
-/* This can be a constant, as long as nobody needs to update solenoids within
- 1/50 of a second. */
-static const INT32 kCANPeriod = 20;
-
-#define STATUS_1 0x9041400
-#define STATUS_SOL_FAULTS 0x9041440
-#define STATUS_DEBUG 0x9041480
-
-#define EXPECTED_RESPONSE_TIMEOUT_MS (50)
-#define GET_PCM_STATUS() CtreCanNode::recMsg<PcmStatus_t> rx = GetRx<PcmStatus_t> (STATUS_1|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_PCM_SOL_FAULTS() CtreCanNode::recMsg<PcmStatusFault_t> rx = GetRx<PcmStatusFault_t> (STATUS_SOL_FAULTS|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_PCM_DEBUG() CtreCanNode::recMsg<PcmDebug_t> rx = GetRx<PcmDebug_t> (STATUS_DEBUG|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
-
-#define CONTROL_1 0x09041C00 /* PCM_Control */
-#define CONTROL_2 0x09041C40 /* PCM_SupplemControl */
-#define CONTROL_3 0x09041C80 /* PcmControlSetOneShotDur_t */
-
-/* encoder/decoders */
-typedef struct _PcmStatus_t{
- /* Byte 0 */
- unsigned SolenoidBits:8;
- /* Byte 1 */
- unsigned compressorOn:1;
- unsigned stickyFaultFuseTripped:1;
- unsigned stickyFaultCompCurrentTooHigh:1;
- unsigned faultFuseTripped:1;
- unsigned faultCompCurrentTooHigh:1;
- unsigned faultHardwareFailure:1;
- unsigned isCloseloopEnabled:1;
- unsigned pressureSwitchEn:1;
- /* Byte 2*/
- unsigned battVoltage:8;
- /* Byte 3 */
- unsigned solenoidVoltageTop8:8;
- /* Byte 4 */
- unsigned compressorCurrentTop6:6;
- unsigned solenoidVoltageBtm2:2;
- /* Byte 5 */
- unsigned StickyFault_dItooHigh :1;
- unsigned Fault_dItooHigh :1;
- unsigned moduleEnabled:1;
- unsigned closedLoopOutput:1;
- unsigned compressorCurrentBtm4:4;
- /* Byte 6 */
- unsigned tokenSeedTop8:8;
- /* Byte 7 */
- unsigned tokenSeedBtm8:8;
-}PcmStatus_t;
-
-typedef struct _PcmControl_t{
- /* Byte 0 */
- unsigned tokenTop8:8;
- /* Byte 1 */
- unsigned tokenBtm8:8;
- /* Byte 2 */
- unsigned solenoidBits:8;
- /* Byte 3*/
- unsigned reserved:4;
- unsigned closeLoopOutput:1;
- unsigned compressorOn:1;
- unsigned closedLoopEnable:1;
- unsigned clearStickyFaults:1;
- /* Byte 4 */
- unsigned OneShotField_h8:8;
- /* Byte 5 */
- unsigned OneShotField_l8:8;
-}PcmControl_t;
-
-typedef struct _PcmControlSetOneShotDur_t{
- uint8_t sol10MsPerUnit[8];
-}PcmControlSetOneShotDur_t;
-
-typedef struct _PcmStatusFault_t{
- /* Byte 0 */
- unsigned SolenoidBlacklist:8;
- /* Byte 1 */
- unsigned reserved_bit0 :1;
- unsigned reserved_bit1 :1;
- unsigned reserved_bit2 :1;
- unsigned reserved_bit3 :1;
- unsigned StickyFault_CompNoCurrent :1;
- unsigned Fault_CompNoCurrent :1;
- unsigned StickyFault_SolenoidJumper :1;
- unsigned Fault_SolenoidJumper :1;
-}PcmStatusFault_t;
-
-typedef struct _PcmDebug_t{
- unsigned tokFailsTop8:8;
- unsigned tokFailsBtm8:8;
- unsigned lastFailedTokTop8:8;
- unsigned lastFailedTokBtm8:8;
- unsigned tokSuccessTop8:8;
- unsigned tokSuccessBtm8:8;
-}PcmDebug_t;
-
-
-/* PCM Constructor - Clears all vars, establishes default settings, starts PCM background process
- *
- * @Return - void
- *
- * @Param - deviceNumber - Device ID of PCM to be controlled
- */
-PCM::PCM(UINT8 deviceNumber): CtreCanNode(deviceNumber)
-{
- RegisterRx(STATUS_1 | deviceNumber );
- RegisterRx(STATUS_SOL_FAULTS | deviceNumber );
- RegisterRx(STATUS_DEBUG | deviceNumber );
- RegisterTx(CONTROL_1 | deviceNumber, kCANPeriod);
- /* enable close loop */
- SetClosedLoopControl(1);
-}
-/* PCM D'tor
- */
-PCM::~PCM()
-{
-
-}
-
-/* Set PCM solenoid state
- *
- * @Return - CTR_Code - Error code (if any) for setting solenoid
- *
- * @Param - idx - ID of solenoid (0-7)
- * @Param - en - Enable / Disable identified solenoid
- */
-CTR_Code PCM::SetSolenoid(unsigned char idx, bool en)
-{
- CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
- if(toFill.IsEmpty())return CTR_UnexpectedArbId;
- if (en)
- toFill->solenoidBits |= (1ul << (idx));
- else
- toFill->solenoidBits &= ~(1ul << (idx));
- FlushTx(toFill);
- return CTR_OKAY;
-}
-
-/* Set all PCM solenoid states
- *
- * @Return - CTR_Code - Error code (if any) for setting solenoids
- * @Param - state Bitfield to set all solenoids to
- */
-CTR_Code PCM::SetAllSolenoids(UINT8 state) {
- CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
- if(toFill.IsEmpty())return CTR_UnexpectedArbId;
- toFill->solenoidBits = state;
- FlushTx(toFill);
- return CTR_OKAY;
-}
-
-/* Clears PCM sticky faults (indicators of past faults
- *
- * @Return - CTR_Code - Error code (if any) for setting solenoid
- *
- * @Param - clr - Clear / do not clear faults
- */
-CTR_Code PCM::ClearStickyFaults()
-{
- int32_t status = 0;
- uint8_t pcmSupplemControl[] = { 0, 0, 0, 0x80 }; /* only bit set is ClearStickyFaults */
- FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_2 | GetDeviceNumber(), pcmSupplemControl, sizeof(pcmSupplemControl), 0, &status);
- if(status)
- return CTR_TxFailed;
- return CTR_OKAY;
-}
-
-/* Enables PCM Closed Loop Control of Compressor via pressure switch
- *
- * @Return - CTR_Code - Error code (if any) for setting solenoid
- *
- * @Param - en - Enable / Disable Closed Loop Control
- */
-CTR_Code PCM::SetClosedLoopControl(bool en)
-{
- CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
- if(toFill.IsEmpty())return CTR_UnexpectedArbId;
- toFill->closedLoopEnable = en;
- FlushTx(toFill);
- return CTR_OKAY;
-}
-/* Get solenoid Blacklist status
- * @Return - CTR_Code - Error code (if any)
- * @Param - idx - ID of solenoid [0,7] to fire one shot pulse.
- */
-CTR_Code PCM::FireOneShotSolenoid(UINT8 idx)
-{
- CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
- if(toFill.IsEmpty())return CTR_UnexpectedArbId;
- /* grab field as it is now */
- uint16_t oneShotField;
- oneShotField = toFill->OneShotField_h8;
- oneShotField <<= 8;
- oneShotField |= toFill->OneShotField_l8;
- /* get the caller's channel */
- uint16_t shift = 2*idx;
- uint16_t mask = 3; /* two bits wide */
- uint8_t chBits = (oneShotField >> shift) & mask;
- /* flip it */
- chBits = (chBits)%3 + 1;
- /* clear out 2bits for this channel*/
- oneShotField &= ~(mask << shift);
- /* put new field in */
- oneShotField |= chBits << shift;
- /* apply field as it is now */
- toFill->OneShotField_h8 = oneShotField >> 8;
- toFill->OneShotField_l8 = oneShotField;
- FlushTx(toFill);
- return CTR_OKAY;
-}
-/* Configure the pulse width of a solenoid channel for one-shot pulse.
- * Preprogrammed pulsewidth is 10ms resolution and can be between 10ms and
- * 2.55s.
- *
- * @Return - CTR_Code - Error code (if any)
- * @Param - idx - ID of solenoid [0,7] to configure.
- * @Param - durMs - pulse width in ms.
- */
-CTR_Code PCM::SetOneShotDurationMs(UINT8 idx,uint32_t durMs)
-{
- /* sanity check caller's param */
- if(idx > 7)
- return CTR_InvalidParamValue;
- /* get latest tx frame */
- CtreCanNode::txTask<PcmControlSetOneShotDur_t> toFill = GetTx<PcmControlSetOneShotDur_t>(CONTROL_3 | GetDeviceNumber());
- if(toFill.IsEmpty()){
- /* only send this out if caller wants to do one-shots */
- RegisterTx(CONTROL_3 | _deviceNumber, kCANPeriod);
- /* grab it */
- toFill = GetTx<PcmControlSetOneShotDur_t>(CONTROL_3 | GetDeviceNumber());
- }
- toFill->sol10MsPerUnit[idx] = std::min(durMs/10,(uint32_t)0xFF);
- /* apply the new data bytes */
- FlushTx(toFill);
- return CTR_OKAY;
-}
-
-/* Get solenoid state
- *
- * @Return - True/False - True if solenoid enabled, false otherwise
- *
- * @Param - idx - ID of solenoid (0-7) to return status of
- */
-CTR_Code PCM::GetSolenoid(UINT8 idx, bool &status)
-{
- GET_PCM_STATUS();
- status = (rx->SolenoidBits & (1ul<<(idx)) ) ? 1 : 0;
- return rx.err;
-}
-
-/* Get solenoid state for all solenoids on the PCM
- *
- * @Return - Bitfield of solenoid states
- */
-CTR_Code PCM::GetAllSolenoids(UINT8 &status)
-{
- GET_PCM_STATUS();
- status = rx->SolenoidBits;
- return rx.err;
-}
-
-/* Get pressure switch state
- *
- * @Return - True/False - True if pressure adequate, false if low
- */
-CTR_Code PCM::GetPressure(bool &status)
-{
- GET_PCM_STATUS();
- status = (rx->pressureSwitchEn ) ? 1 : 0;
- return rx.err;
-}
-
-/* Get compressor state
- *
- * @Return - True/False - True if enabled, false if otherwise
- */
-CTR_Code PCM::GetCompressor(bool &status)
-{
- GET_PCM_STATUS();
- status = (rx->compressorOn);
- return rx.err;
-}
-
-/* Get closed loop control state
- *
- * @Return - True/False - True if closed loop enabled, false if otherwise
- */
-CTR_Code PCM::GetClosedLoopControl(bool &status)
-{
- GET_PCM_STATUS();
- status = (rx->isCloseloopEnabled);
- return rx.err;
-}
-
-/* Get compressor current draw
- *
- * @Return - Amperes - Compressor current
- */
-CTR_Code PCM::GetCompressorCurrent(float &status)
-{
- GET_PCM_STATUS();
- uint32_t temp =(rx->compressorCurrentTop6);
- temp <<= 4;
- temp |= rx->compressorCurrentBtm4;
- status = temp * 0.03125; /* 5.5 fixed pt value in Amps */
- return rx.err;
-}
-
-/* Get voltage across solenoid rail
- *
- * @Return - Volts - Voltage across solenoid rail
- */
-CTR_Code PCM::GetSolenoidVoltage(float &status)
-{
- GET_PCM_STATUS();
- uint32_t raw =(rx->solenoidVoltageTop8);
- raw <<= 2;
- raw |= rx->solenoidVoltageBtm2;
- status = (double) raw * 0.03125; /* 5.5 fixed pt value in Volts */
- return rx.err;
-}
-
-/* Get hardware fault value
- *
- * @Return - True/False - True if hardware failure detected, false if otherwise
- */
-CTR_Code PCM::GetHardwareFault(bool &status)
-{
- GET_PCM_STATUS();
- status = rx->faultHardwareFailure;
- return rx.err;
-}
-
-/* Get compressor fault value
- *
- * @Return - True/False - True if shorted compressor detected, false if otherwise
- */
-CTR_Code PCM::GetCompressorCurrentTooHighFault(bool &status)
-{
- GET_PCM_STATUS();
- status = rx->faultCompCurrentTooHigh;
- return rx.err;
-}
-CTR_Code PCM::GetCompressorShortedStickyFault(bool &status)
-{
- GET_PCM_STATUS();
- status = rx->StickyFault_dItooHigh;
- return rx.err;
-}
-CTR_Code PCM::GetCompressorShortedFault(bool &status)
-{
- GET_PCM_STATUS();
- status = rx->Fault_dItooHigh;
- return rx.err;
-}
-CTR_Code PCM::GetCompressorNotConnectedStickyFault(bool &status)
-{
- GET_PCM_SOL_FAULTS();
- status = rx->StickyFault_CompNoCurrent;
- return rx.err;
-}
-CTR_Code PCM::GetCompressorNotConnectedFault(bool &status)
-{
- GET_PCM_SOL_FAULTS();
- status = rx->Fault_CompNoCurrent;
- return rx.err;
-}
-
-/* Get solenoid fault value
- *
- * @Return - True/False - True if shorted solenoid detected, false if otherwise
- */
-CTR_Code PCM::GetSolenoidFault(bool &status)
-{
- GET_PCM_STATUS();
- status = rx->faultFuseTripped;
- return rx.err;
-}
-
-/* Get compressor sticky fault value
- *
- * @Return - True/False - True if solenoid had previously been shorted
- * (and sticky fault was not cleared), false if otherwise
- */
-CTR_Code PCM::GetCompressorCurrentTooHighStickyFault(bool &status)
-{
- GET_PCM_STATUS();
- status = rx->stickyFaultCompCurrentTooHigh;
- return rx.err;
-}
-
-/* Get solenoid sticky fault value
- *
- * @Return - True/False - True if compressor had previously been shorted
- * (and sticky fault was not cleared), false if otherwise
- */
-CTR_Code PCM::GetSolenoidStickyFault(bool &status)
-{
- GET_PCM_STATUS();
- status = rx->stickyFaultFuseTripped;
- return rx.err;
-}
-/* Get battery voltage
- *
- * @Return - Volts - Voltage across PCM power ports
- */
-CTR_Code PCM::GetBatteryVoltage(float &status)
-{
- GET_PCM_STATUS();
- status = (float)rx->battVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
- return rx.err;
-}
-/* Return status of module enable/disable
- *
- * @Return - bool - Returns TRUE if PCM is enabled, FALSE if disabled
- */
-CTR_Code PCM::isModuleEnabled(bool &status)
-{
- GET_PCM_STATUS();
- status = rx->moduleEnabled;
- return rx.err;
-}
-/* Get number of total failed PCM Control Frame
- *
- * @Return - Failed Control Frames - Number of failed control frames (tokenization fails)
- *
- * @WARNING - Return only valid if [SeekDebugFrames] is enabled
- * See function SeekDebugFrames
- * See function EnableSeekDebugFrames
- */
-CTR_Code PCM::GetNumberOfFailedControlFrames(UINT16 &status)
-{
- GET_PCM_DEBUG();
- status = rx->tokFailsTop8;
- status <<= 8;
- status |= rx->tokFailsBtm8;
- return rx.err;
-}
-/* Get raw Solenoid Blacklist
- *
- * @Return - BINARY - Raw binary breakdown of Solenoid Blacklist
- * BIT7 = Solenoid 1, BIT6 = Solenoid 2, etc.
- *
- * @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
- * See function SeekStatusFaultFrames
- * See function EnableSeekStatusFaultFrames
- */
-CTR_Code PCM::GetSolenoidBlackList(UINT8 &status)
-{
- GET_PCM_SOL_FAULTS();
- status = rx->SolenoidBlacklist;
- return rx.err;
-}
-/* Get solenoid Blacklist status
- * - Blacklisted solenoids cannot be enabled until PCM is power cycled
- *
- * @Return - True/False - True if Solenoid is blacklisted, false if otherwise
- *
- * @Param - idx - ID of solenoid [0,7]
- *
- * @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
- * See function SeekStatusFaultFrames
- * See function EnableSeekStatusFaultFrames
- */
-CTR_Code PCM::IsSolenoidBlacklisted(UINT8 idx, bool &status)
-{
- GET_PCM_SOL_FAULTS();
- status = (rx->SolenoidBlacklist & (1ul<<(idx)) )? 1 : 0;
- return rx.err;
-}
-//------------------ C interface --------------------------------------------//
-extern "C" {
- void * c_PCM_Init(void) {
- return new PCM();
- }
- CTR_Code c_SetSolenoid(void * handle, unsigned char idx, INT8 param) {
- return ((PCM*) handle)->SetSolenoid(idx, param);
- }
- CTR_Code c_SetAllSolenoids(void * handle, UINT8 state) {
- return ((PCM*) handle)->SetAllSolenoids(state);
- }
- CTR_Code c_SetClosedLoopControl(void * handle, INT8 param) {
- return ((PCM*) handle)->SetClosedLoopControl(param);
- }
- CTR_Code c_ClearStickyFaults(void * handle, INT8 param) {
- return ((PCM*) handle)->ClearStickyFaults();
- }
- CTR_Code c_GetSolenoid(void * handle, UINT8 idx, INT8 * status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->GetSolenoid(idx, bstatus);
- *status = bstatus;
- return retval;
- }
- CTR_Code c_GetAllSolenoids(void * handle, UINT8 * status) {
- return ((PCM*) handle)->GetAllSolenoids(*status);
- }
- CTR_Code c_GetPressure(void * handle, INT8 * status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->GetPressure(bstatus);
- *status = bstatus;
- return retval;
- }
- CTR_Code c_GetCompressor(void * handle, INT8 * status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->GetCompressor(bstatus);
- *status = bstatus;
- return retval;
- }
- CTR_Code c_GetClosedLoopControl(void * handle, INT8 * status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->GetClosedLoopControl(bstatus);
- *status = bstatus;
- return retval;
- }
- CTR_Code c_GetCompressorCurrent(void * handle, float * status) {
- CTR_Code retval = ((PCM*) handle)->GetCompressorCurrent(*status);
- return retval;
- }
- CTR_Code c_GetSolenoidVoltage(void * handle, float*status) {
- return ((PCM*) handle)->GetSolenoidVoltage(*status);
- }
- CTR_Code c_GetHardwareFault(void * handle, INT8*status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->GetHardwareFault(bstatus);
- *status = bstatus;
- return retval;
- }
- CTR_Code c_GetCompressorFault(void * handle, INT8*status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->GetCompressorCurrentTooHighFault(bstatus);
- *status = bstatus;
- return retval;
- }
- CTR_Code c_GetSolenoidFault(void * handle, INT8*status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->GetSolenoidFault(bstatus);
- *status = bstatus;
- return retval;
- }
- CTR_Code c_GetCompressorStickyFault(void * handle, INT8*status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->GetCompressorCurrentTooHighStickyFault(bstatus);
- *status = bstatus;
- return retval;
- }
- CTR_Code c_GetSolenoidStickyFault(void * handle, INT8*status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->GetSolenoidStickyFault(bstatus);
- *status = bstatus;
- return retval;
- }
- CTR_Code c_GetBatteryVoltage(void * handle, float*status) {
- CTR_Code retval = ((PCM*) handle)->GetBatteryVoltage(*status);
- return retval;
- }
- void c_SetDeviceNumber_PCM(void * handle, UINT8 deviceNumber) {
- }
- CTR_Code c_GetNumberOfFailedControlFrames(void * handle, UINT16*status) {
- return ((PCM*) handle)->GetNumberOfFailedControlFrames(*status);
- }
- CTR_Code c_GetSolenoidBlackList(void * handle, UINT8 *status) {
- return ((PCM*) handle)->GetSolenoidBlackList(*status);
- }
- CTR_Code c_IsSolenoidBlacklisted(void * handle, UINT8 idx, INT8*status) {
- bool bstatus;
- CTR_Code retval = ((PCM*) handle)->IsSolenoidBlacklisted(idx, bstatus);
- *status = bstatus;
- return retval;
- }
-}
diff --git a/hal/src/main/native/athena/ctre/PCM.h b/hal/src/main/native/athena/ctre/PCM.h
deleted file mode 100644
index 4923202..0000000
--- a/hal/src/main/native/athena/ctre/PCM.h
+++ /dev/null
@@ -1,226 +0,0 @@
-#ifndef PCM_H_
-#define PCM_H_
-#include "ctre.h" //BIT Defines + Typedefs
-#include "CtreCanNode.h"
-class PCM : public CtreCanNode
-{
-public:
- PCM(UINT8 deviceNumber=0);
- ~PCM();
-
- /* Set PCM solenoid state
- *
- * @Return - CTR_Code - Error code (if any) for setting solenoid
- * @Param - idx - ID of solenoid (0-7)
- * @Param - en - Enable / Disable identified solenoid
- */
- CTR_Code SetSolenoid(unsigned char idx, bool en);
-
- /* Set all PCM solenoid states
- *
- * @Return - CTR_Code - Error code (if any) for setting solenoids
- * @Param - state Bitfield to set all solenoids to
- */
- CTR_Code SetAllSolenoids(UINT8 state);
-
- /* Enables PCM Closed Loop Control of Compressor via pressure switch
- * @Return - CTR_Code - Error code (if any) for setting solenoid
- * @Param - en - Enable / Disable Closed Loop Control
- */
- CTR_Code SetClosedLoopControl(bool en);
-
- /* Clears PCM sticky faults (indicators of past faults
- * @Return - CTR_Code - Error code (if any) for setting solenoid
- */
- CTR_Code ClearStickyFaults();
-
- /* Get solenoid state
- *
- * @Return - CTR_Code - Error code (if any)
- * @Param - idx - ID of solenoid (0-7) to return if solenoid is on.
- * @Param - status - true if solenoid enabled, false otherwise
- */
- CTR_Code GetSolenoid(UINT8 idx, bool &status);
-
- /* Get state of all solenoids
- *
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - bitfield of solenoid states
- */
- CTR_Code GetAllSolenoids(UINT8 &status);
-
- /* Get pressure switch state
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if pressure adequate, false if low
- */
- CTR_Code GetPressure(bool &status);
-
- /* Get compressor state
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if compress output is on, false if otherwise
- */
- CTR_Code GetCompressor(bool &status);
-
- /* Get closed loop control state
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if closed loop enabled, false if otherwise
- */
- CTR_Code GetClosedLoopControl(bool &status);
-
- /* Get compressor current draw
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - Compressor current returned in Amperes (A)
- */
- CTR_Code GetCompressorCurrent(float &status);
-
- /* Get voltage across solenoid rail
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - Voltage across solenoid rail in Volts (V)
- */
- CTR_Code GetSolenoidVoltage(float &status);
-
- /* Get hardware fault value
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if hardware failure detected, false if otherwise
- */
- CTR_Code GetHardwareFault(bool &status);
-
- /* Get compressor fault value
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if abnormally high compressor current detected, false if otherwise
- */
- CTR_Code GetCompressorCurrentTooHighFault(bool &status);
-
- /* Get solenoid fault value
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if shorted solenoid detected, false if otherwise
- */
- CTR_Code GetSolenoidFault(bool &status);
-
- /* Get compressor sticky fault value
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if solenoid had previously been shorted
- * (and sticky fault was not cleared), false if otherwise
- */
- CTR_Code GetCompressorCurrentTooHighStickyFault(bool &status);
- /* Get compressor shorted sticky fault value
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if compressor output is shorted, false if otherwise
- */
- CTR_Code GetCompressorShortedStickyFault(bool &status);
- /* Get compressor shorted fault value
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if compressor output is shorted, false if otherwise
- */
- CTR_Code GetCompressorShortedFault(bool &status);
- /* Get compressor is not connected sticky fault value
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if compressor current is too low,
- * indicating compressor is not connected, false if otherwise
- */
- CTR_Code GetCompressorNotConnectedStickyFault(bool &status);
- /* Get compressor is not connected fault value
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if compressor current is too low,
- * indicating compressor is not connected, false if otherwise
- */
- CTR_Code GetCompressorNotConnectedFault(bool &status);
-
- /* Get solenoid sticky fault value
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - True if compressor had previously been shorted
- * (and sticky fault was not cleared), false if otherwise
- */
- CTR_Code GetSolenoidStickyFault(bool &status);
-
- /* Get battery voltage
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - Voltage across PCM power ports in Volts (V)
- */
- CTR_Code GetBatteryVoltage(float &status);
-
- /* Set PCM Device Number and according CAN frame IDs
- * @Return - void
- * @Param - deviceNumber - Device number of PCM to control
- */
- void SetDeviceNumber(UINT8 deviceNumber);
- /* Get number of total failed PCM Control Frame
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - Number of failed control frames (tokenization fails)
- * @WARNING - Return only valid if [SeekDebugFrames] is enabled
- * See function SeekDebugFrames
- * See function EnableSeekDebugFrames
- */
- CTR_Code GetNumberOfFailedControlFrames(UINT16 &status);
-
- /* Get raw Solenoid Blacklist
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - Raw binary breakdown of Solenoid Blacklist
- * BIT7 = Solenoid 1, BIT6 = Solenoid 2, etc.
- * @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
- * See function SeekStatusFaultFrames
- * See function EnableSeekStatusFaultFrames
- */
- CTR_Code GetSolenoidBlackList(UINT8 &status);
-
- /* Get solenoid Blacklist status
- * - Blacklisted solenoids cannot be enabled until PCM is power cycled
- * @Return - CTR_Code - Error code (if any)
- * @Param - idx - ID of solenoid [0,7]
- * @Param - status - True if Solenoid is blacklisted, false if otherwise
- * @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
- * See function SeekStatusFaultFrames
- * See function EnableSeekStatusFaultFrames
- */
- CTR_Code IsSolenoidBlacklisted(UINT8 idx, bool &status);
-
- /* Return status of module enable/disable
- * @Return - CTR_Code - Error code (if any)
- * @Param - status - Returns TRUE if PCM is enabled, FALSE if disabled
- */
- CTR_Code isModuleEnabled(bool &status);
-
- /* Get solenoid Blacklist status
- * @Return - CTR_Code - Error code (if any)
- * @Param - idx - ID of solenoid [0,7] to fire one shot pulse.
- */
- CTR_Code FireOneShotSolenoid(UINT8 idx);
-
- /* Configure the pulse width of a solenoid channel for one-shot pulse.
- * Preprogrammed pulsewidth is 10ms resolute and can be between 20ms and 5.1s.
- * @Return - CTR_Code - Error code (if any)
- * @Param - idx - ID of solenoid [0,7] to configure.
- * @Param - durMs - pulse width in ms.
- */
- CTR_Code SetOneShotDurationMs(UINT8 idx,uint32_t durMs);
-
-};
-//------------------ C interface --------------------------------------------//
-extern "C" {
- void * c_PCM_Init(void);
- CTR_Code c_SetSolenoid(void * handle,unsigned char idx,INT8 param);
- CTR_Code c_SetAllSolenoids(void * handle,UINT8 state);
- CTR_Code c_SetClosedLoopControl(void * handle,INT8 param);
- CTR_Code c_ClearStickyFaults(void * handle,INT8 param);
- CTR_Code c_GetSolenoid(void * handle,UINT8 idx,INT8 * status);
- CTR_Code c_GetAllSolenoids(void * handle,UINT8 * status);
- CTR_Code c_GetPressure(void * handle,INT8 * status);
- CTR_Code c_GetCompressor(void * handle,INT8 * status);
- CTR_Code c_GetClosedLoopControl(void * handle,INT8 * status);
- CTR_Code c_GetCompressorCurrent(void * handle,float * status);
- CTR_Code c_GetSolenoidVoltage(void * handle,float*status);
- CTR_Code c_GetHardwareFault(void * handle,INT8*status);
- CTR_Code c_GetCompressorFault(void * handle,INT8*status);
- CTR_Code c_GetSolenoidFault(void * handle,INT8*status);
- CTR_Code c_GetCompressorStickyFault(void * handle,INT8*status);
- CTR_Code c_GetSolenoidStickyFault(void * handle,INT8*status);
- CTR_Code c_GetBatteryVoltage(void * handle,float*status);
- void c_SetDeviceNumber_PCM(void * handle,UINT8 deviceNumber);
- void c_EnableSeekStatusFrames(void * handle,INT8 enable);
- void c_EnableSeekStatusFaultFrames(void * handle,INT8 enable);
- void c_EnableSeekDebugFrames(void * handle,INT8 enable);
- CTR_Code c_GetNumberOfFailedControlFrames(void * handle,UINT16*status);
- CTR_Code c_GetSolenoidBlackList(void * handle,UINT8 *status);
- CTR_Code c_IsSolenoidBlacklisted(void * handle,UINT8 idx,INT8*status);
-}
-#endif
diff --git a/hal/src/main/native/athena/ctre/ctre.h b/hal/src/main/native/athena/ctre/ctre.h
deleted file mode 100644
index 90d33c1..0000000
--- a/hal/src/main/native/athena/ctre/ctre.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/**
- * @file ctre.h
- * Common header for all CTRE HAL modules.
- */
-#ifndef CTRE_H
-#define CTRE_H
-
-//Bit Defines
-#define BIT0 0x01
-#define BIT1 0x02
-#define BIT2 0x04
-#define BIT3 0x08
-#define BIT4 0x10
-#define BIT5 0x20
-#define BIT6 0x40
-#define BIT7 0x80
-#define BIT8 0x0100
-#define BIT9 0x0200
-#define BIT10 0x0400
-#define BIT11 0x0800
-#define BIT12 0x1000
-#define BIT13 0x2000
-#define BIT14 0x4000
-#define BIT15 0x8000
-
-//Signed
-typedef signed char INT8;
-typedef signed short INT16;
-typedef signed int INT32;
-typedef signed long long INT64;
-
-//Unsigned
-typedef unsigned char UINT8;
-typedef unsigned short UINT16;
-typedef unsigned int UINT32;
-typedef unsigned long long UINT64;
-
-//Other
-typedef unsigned char UCHAR;
-typedef unsigned short USHORT;
-typedef unsigned int UINT;
-typedef unsigned long ULONG;
-
-typedef enum {
- CTR_OKAY, //!< No Error - Function executed as expected
- CTR_RxTimeout, //!< CAN frame has not been received within specified period of time.
- CTR_TxTimeout, //!< Not used.
- CTR_InvalidParamValue, //!< Caller passed an invalid param
- CTR_UnexpectedArbId, //!< Specified CAN Id is invalid.
- CTR_TxFailed, //!< Could not transmit the CAN frame.
- CTR_SigNotUpdated, //!< Have not received an value response for signal.
- CTR_BufferFull, //!< Caller attempted to insert data into a buffer that is full.
-}CTR_Code;
-
-#endif /* CTRE_H */
diff --git a/hal/src/main/native/athena/mockdata/AccelerometerData.cpp b/hal/src/main/native/athena/mockdata/AccelerometerData.cpp
index 2baaf78..e097a24 100644
--- a/hal/src/main/native/athena/mockdata/AccelerometerData.cpp
+++ b/hal/src/main/native/athena/mockdata/AccelerometerData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/AccelerometerData.h"
diff --git a/hal/src/main/native/athena/mockdata/AddressableLEDData.cpp b/hal/src/main/native/athena/mockdata/AddressableLEDData.cpp
index d718789..a1d7011 100644
--- a/hal/src/main/native/athena/mockdata/AddressableLEDData.cpp
+++ b/hal/src/main/native/athena/mockdata/AddressableLEDData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/AddressableLEDData.h"
@@ -11,7 +8,9 @@
extern "C" {
-int32_t HALSIM_FindAddressableLEDForChannel(int32_t channel) { return 0; }
+int32_t HALSIM_FindAddressableLEDForChannel(int32_t channel) {
+ return 0;
+}
void HALSIM_ResetAddressableLEDData(int32_t index) {}
diff --git a/hal/src/main/native/athena/mockdata/AnalogGyroData.cpp b/hal/src/main/native/athena/mockdata/AnalogGyroData.cpp
index d91ce27..b4ff695 100644
--- a/hal/src/main/native/athena/mockdata/AnalogGyroData.cpp
+++ b/hal/src/main/native/athena/mockdata/AnalogGyroData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/AnalogGyroData.h"
diff --git a/hal/src/main/native/athena/mockdata/AnalogInData.cpp b/hal/src/main/native/athena/mockdata/AnalogInData.cpp
index 4288538..30ac795 100644
--- a/hal/src/main/native/athena/mockdata/AnalogInData.cpp
+++ b/hal/src/main/native/athena/mockdata/AnalogInData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/AnalogInData.h"
@@ -12,7 +9,9 @@
extern "C" {
void HALSIM_ResetAnalogInData(int32_t index) {}
-HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index) { return 0; }
+HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index) {
+ return 0;
+}
#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, AnalogIn##CAPINAME, RETURN)
diff --git a/hal/src/main/native/athena/mockdata/AnalogOutData.cpp b/hal/src/main/native/athena/mockdata/AnalogOutData.cpp
index f05b0be..e6da2aa 100644
--- a/hal/src/main/native/athena/mockdata/AnalogOutData.cpp
+++ b/hal/src/main/native/athena/mockdata/AnalogOutData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/AnalogOutData.h"
diff --git a/hal/src/main/native/athena/mockdata/AnalogTriggerData.cpp b/hal/src/main/native/athena/mockdata/AnalogTriggerData.cpp
index 7781cf2..af8d7cc 100644
--- a/hal/src/main/native/athena/mockdata/AnalogTriggerData.cpp
+++ b/hal/src/main/native/athena/mockdata/AnalogTriggerData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/AnalogTriggerData.h"
@@ -11,7 +8,9 @@
extern "C" {
-int32_t HALSIM_FindAnalogTriggerForChannel(int32_t channel) { return 0; }
+int32_t HALSIM_FindAnalogTriggerForChannel(int32_t channel) {
+ return 0;
+}
void HALSIM_ResetAnalogTriggerData(int32_t index) {}
diff --git a/hal/src/main/native/athena/mockdata/CTREPCMData.cpp b/hal/src/main/native/athena/mockdata/CTREPCMData.cpp
new file mode 100644
index 0000000..fc9edfe
--- /dev/null
+++ b/hal/src/main/native/athena/mockdata/CTREPCMData.cpp
@@ -0,0 +1,38 @@
+// 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.
+
+#include "hal/simulation/CTREPCMData.h"
+
+#include "hal/simulation/SimDataValue.h"
+
+extern "C" {
+void HALSIM_ResetCTREPCMData(int32_t index) {}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
+ HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, CTREPCM##CAPINAME, RETURN)
+
+HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(HAL_Bool, HALSIM, CTREPCMSolenoidOutput,
+ false)
+DEFINE_CAPI(HAL_Bool, Initialized, false)
+DEFINE_CAPI(HAL_Bool, CompressorOn, false)
+DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, false)
+DEFINE_CAPI(HAL_Bool, PressureSwitch, false)
+DEFINE_CAPI(double, CompressorCurrent, 0)
+
+void HALSIM_GetCTREPCMAllSolenoids(int32_t index, uint8_t* values) {
+ *values = 0;
+}
+
+void HALSIM_SetCTREPCMAllSolenoids(int32_t index, uint8_t values) {}
+
+void HALSIM_RegisterCTREPCMAllNonSolenoidCallbacks(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify) {}
+
+void HALSIM_RegisterCTREPCMAllSolenoidCallbacks(int32_t index, int32_t channel,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify) {}
+} // extern "C"
diff --git a/hal/src/main/native/athena/mockdata/CanDataInternal.cpp b/hal/src/main/native/athena/mockdata/CanDataInternal.cpp
index 69debf0..be2fbc0 100644
--- a/hal/src/main/native/athena/mockdata/CanDataInternal.cpp
+++ b/hal/src/main/native/athena/mockdata/CanDataInternal.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/CanData.h"
#include "hal/simulation/SimDataValue.h"
diff --git a/hal/src/main/native/athena/mockdata/DIOData.cpp b/hal/src/main/native/athena/mockdata/DIOData.cpp
index a06855d..392c31b 100644
--- a/hal/src/main/native/athena/mockdata/DIOData.cpp
+++ b/hal/src/main/native/athena/mockdata/DIOData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/DIOData.h"
@@ -12,7 +9,9 @@
extern "C" {
void HALSIM_ResetDIOData(int32_t index) {}
-HAL_SimDeviceHandle HALSIM_GetDIOSimDevice(int32_t index) { return 0; }
+HAL_SimDeviceHandle HALSIM_GetDIOSimDevice(int32_t index) {
+ return 0;
+}
#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, DIO##CAPINAME, RETURN)
diff --git a/hal/src/main/native/athena/mockdata/DigitalPWMData.cpp b/hal/src/main/native/athena/mockdata/DigitalPWMData.cpp
index bcbe370..c3f5d31 100644
--- a/hal/src/main/native/athena/mockdata/DigitalPWMData.cpp
+++ b/hal/src/main/native/athena/mockdata/DigitalPWMData.cpp
@@ -1,16 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/DigitalPWMData.h"
#include "hal/simulation/SimDataValue.h"
extern "C" {
-int32_t HALSIM_FindDigitalPWMForChannel(int32_t channel) { return 0; }
+int32_t HALSIM_FindDigitalPWMForChannel(int32_t channel) {
+ return 0;
+}
void HALSIM_ResetDigitalPWMData(int32_t index) {}
diff --git a/hal/src/main/native/athena/mockdata/DriverStationData.cpp b/hal/src/main/native/athena/mockdata/DriverStationData.cpp
index b4695ba..ba519fc 100644
--- a/hal/src/main/native/athena/mockdata/DriverStationData.cpp
+++ b/hal/src/main/native/athena/mockdata/DriverStationData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/DriverStationData.h"
diff --git a/hal/src/main/native/athena/mockdata/DutyCycleData.cpp b/hal/src/main/native/athena/mockdata/DutyCycleData.cpp
index 8d3cd61..d63e27e 100644
--- a/hal/src/main/native/athena/mockdata/DutyCycleData.cpp
+++ b/hal/src/main/native/athena/mockdata/DutyCycleData.cpp
@@ -1,22 +1,25 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/DutyCycleData.h"
#include "hal/simulation/SimDataValue.h"
extern "C" {
-int32_t HALSIM_FindDutyCycleForChannel(int32_t channel) { return 0; }
+int32_t HALSIM_FindDutyCycleForChannel(int32_t channel) {
+ return 0;
+}
void HALSIM_ResetDutyCycleData(int32_t index) {}
-int32_t HALSIM_GetDutyCycleDigitalChannel(int32_t index) { return 0; }
+int32_t HALSIM_GetDutyCycleDigitalChannel(int32_t index) {
+ return 0;
+}
-HAL_SimDeviceHandle HALSIM_GetDutyCycleSimDevice(int32_t index) { return 0; }
+HAL_SimDeviceHandle HALSIM_GetDutyCycleSimDevice(int32_t index) {
+ return 0;
+}
#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, DutyCycle##CAPINAME, RETURN)
diff --git a/hal/src/main/native/athena/mockdata/EncoderData.cpp b/hal/src/main/native/athena/mockdata/EncoderData.cpp
index 87a7385..4b07b31 100644
--- a/hal/src/main/native/athena/mockdata/EncoderData.cpp
+++ b/hal/src/main/native/athena/mockdata/EncoderData.cpp
@@ -1,24 +1,29 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/EncoderData.h"
#include "hal/simulation/SimDataValue.h"
extern "C" {
-int32_t HALSIM_FindEncoderForChannel(int32_t channel) { return 0; }
+int32_t HALSIM_FindEncoderForChannel(int32_t channel) {
+ return 0;
+}
void HALSIM_ResetEncoderData(int32_t index) {}
-int32_t HALSIM_GetEncoderDigitalChannelA(int32_t index) { return 0; }
+int32_t HALSIM_GetEncoderDigitalChannelA(int32_t index) {
+ return 0;
+}
-int32_t HALSIM_GetEncoderDigitalChannelB(int32_t index) { return 0; }
+int32_t HALSIM_GetEncoderDigitalChannelB(int32_t index) {
+ return 0;
+}
-HAL_SimDeviceHandle HALSIM_GetEncoderSimDevice(int32_t index) { return 0; }
+HAL_SimDeviceHandle HALSIM_GetEncoderSimDevice(int32_t index) {
+ return 0;
+}
#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, Encoder##CAPINAME, RETURN)
@@ -35,11 +40,15 @@
void HALSIM_SetEncoderDistance(int32_t index, double distance) {}
-double HALSIM_GetEncoderDistance(int32_t index) { return 0; }
+double HALSIM_GetEncoderDistance(int32_t index) {
+ return 0;
+}
void HALSIM_SetEncoderRate(int32_t index, double rate) {}
-double HALSIM_GetEncoderRate(int32_t index) { return 0; }
+double HALSIM_GetEncoderRate(int32_t index) {
+ return 0;
+}
void HALSIM_RegisterEncoderAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
diff --git a/hal/src/main/native/athena/mockdata/I2CData.cpp b/hal/src/main/native/athena/mockdata/I2CData.cpp
index eb6a6c9..2f91061 100644
--- a/hal/src/main/native/athena/mockdata/I2CData.cpp
+++ b/hal/src/main/native/athena/mockdata/I2CData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/I2CData.h"
diff --git a/hal/src/main/native/athena/mockdata/MockHooks.cpp b/hal/src/main/native/athena/mockdata/MockHooks.cpp
index 2e7bcfe..0ea05d0 100644
--- a/hal/src/main/native/athena/mockdata/MockHooks.cpp
+++ b/hal/src/main/native/athena/mockdata/MockHooks.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/MockHooks.h"
@@ -15,7 +12,9 @@
void HALSIM_SetProgramStarted(void) {}
-HAL_Bool HALSIM_GetProgramStarted(void) { return false; }
+HAL_Bool HALSIM_GetProgramStarted(void) {
+ return false;
+}
void HALSIM_RestartTiming(void) {}
@@ -23,7 +22,9 @@
void HALSIM_ResumeTiming(void) {}
-HAL_Bool HALSIM_IsTimingPaused(void) { return false; }
+HAL_Bool HALSIM_IsTimingPaused(void) {
+ return false;
+}
void HALSIM_StepTiming(uint64_t delta) {}
@@ -33,4 +34,18 @@
void HALSIM_SetSendConsoleLine(HALSIM_SendConsoleLineHandler handler) {}
+int32_t HALSIM_RegisterSimPeriodicBeforeCallback(
+ HALSIM_SimPeriodicCallback callback, void* param) {
+ return 0;
+}
+
+void HALSIM_CancelSimPeriodicBeforeCallback(int32_t uid) {}
+
+int32_t HALSIM_RegisterSimPeriodicAfterCallback(
+ HALSIM_SimPeriodicCallback callback, void* param) {
+ return 0;
+}
+
+void HALSIM_CancelSimPeriodicAfterCallback(int32_t uid) {}
+
} // extern "C"
diff --git a/hal/src/main/native/athena/mockdata/NotifierData.cpp b/hal/src/main/native/athena/mockdata/NotifierData.cpp
index 34aa6e7..f75733e 100644
--- a/hal/src/main/native/athena/mockdata/NotifierData.cpp
+++ b/hal/src/main/native/athena/mockdata/NotifierData.cpp
@@ -1,17 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/NotifierData.h"
extern "C" {
-uint64_t HALSIM_GetNextNotifierTimeout(void) { return 0; }
+uint64_t HALSIM_GetNextNotifierTimeout(void) {
+ return 0;
+}
-int32_t HALSIM_GetNumNotifiers(void) { return 0; }
+int32_t HALSIM_GetNumNotifiers(void) {
+ return 0;
+}
int32_t HALSIM_GetNotifierInfo(struct HALSIM_NotifierInfo* arr, int32_t size) {
return 0;
diff --git a/hal/src/main/native/athena/mockdata/PCMData.cpp b/hal/src/main/native/athena/mockdata/PCMData.cpp
deleted file mode 100644
index 29302cb..0000000
--- a/hal/src/main/native/athena/mockdata/PCMData.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "hal/simulation/PCMData.h"
-
-#include "hal/simulation/SimDataValue.h"
-
-extern "C" {
-void HALSIM_ResetPCMData(int32_t index) {}
-
-#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
- HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, PCM##CAPINAME, RETURN)
-
-HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(HAL_Bool, HALSIM, PCMSolenoidInitialized,
- false)
-HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(HAL_Bool, HALSIM, PCMSolenoidOutput, false)
-DEFINE_CAPI(HAL_Bool, CompressorInitialized, false)
-DEFINE_CAPI(HAL_Bool, CompressorOn, false)
-DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, false)
-DEFINE_CAPI(HAL_Bool, PressureSwitch, false)
-DEFINE_CAPI(double, CompressorCurrent, 0)
-
-void HALSIM_GetPCMAllSolenoids(int32_t index, uint8_t* values) { *values = 0; }
-
-void HALSIM_SetPCMAllSolenoids(int32_t index, uint8_t values) {}
-
-void HALSIM_RegisterPCMAllNonSolenoidCallbacks(int32_t index,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify) {}
-
-void HALSIM_RegisterPCMAllSolenoidCallbacks(int32_t index, int32_t channel,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify) {}
-} // extern "C"
diff --git a/hal/src/main/native/athena/mockdata/PDPData.cpp b/hal/src/main/native/athena/mockdata/PDPData.cpp
deleted file mode 100644
index a28bb81..0000000
--- a/hal/src/main/native/athena/mockdata/PDPData.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "hal/simulation/PDPData.h"
-
-#include "../PortsInternal.h"
-#include "hal/simulation/SimDataValue.h"
-
-extern "C" {
-void HALSIM_ResetPDPData(int32_t index) {}
-
-#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
- HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, PDP##CAPINAME, RETURN)
-
-DEFINE_CAPI(HAL_Bool, Initialized, false)
-DEFINE_CAPI(double, Temperature, 0)
-DEFINE_CAPI(double, Voltage, 0)
-HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(double, HALSIM, PDPCurrent, 0)
-
-void HALSIM_GetPDPAllCurrents(int32_t index, double* currents) {
- for (int i = 0; i < hal::kNumPDPChannels; i++) currents[i] = 0;
-}
-
-void HALSIM_SetPDPAllCurrents(int32_t index, const double* currents) {}
-
-void HALSIM_RegisterPDPAllNonCurrentCallbacks(int32_t index, int32_t channel,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify) {}
-} // extern "C"
diff --git a/hal/src/main/native/athena/mockdata/PWMData.cpp b/hal/src/main/native/athena/mockdata/PWMData.cpp
index b9c5691..3e12398 100644
--- a/hal/src/main/native/athena/mockdata/PWMData.cpp
+++ b/hal/src/main/native/athena/mockdata/PWMData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/PWMData.h"
diff --git a/hal/src/main/native/athena/mockdata/PowerDistributionData.cpp b/hal/src/main/native/athena/mockdata/PowerDistributionData.cpp
new file mode 100644
index 0000000..a44e222
--- /dev/null
+++ b/hal/src/main/native/athena/mockdata/PowerDistributionData.cpp
@@ -0,0 +1,35 @@
+// 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.
+
+#include "hal/simulation/PowerDistributionData.h"
+
+#include "../PortsInternal.h"
+#include "hal/simulation/SimDataValue.h"
+
+extern "C" {
+void HALSIM_ResetPowerDistributionData(int32_t index) {}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
+ HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, PowerDistribution##CAPINAME, RETURN)
+
+DEFINE_CAPI(HAL_Bool, Initialized, false)
+DEFINE_CAPI(double, Temperature, 0)
+DEFINE_CAPI(double, Voltage, 0)
+HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(double, HALSIM, PowerDistributionCurrent, 0)
+
+void HALSIM_GetPowerDistributionAllCurrents(int32_t index, double* currents,
+ int length) {
+ for (int i = 0; i < length; i++) {
+ currents[i] = 0;
+ }
+}
+
+void HALSIM_SetPowerDistributionAllCurrents(int32_t index,
+ const double* currents,
+ int length) {}
+
+void HALSIM_RegisterPowerDistributionAllNonCurrentCallbacks(
+ int32_t index, int32_t channel, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify) {}
+} // extern "C"
diff --git a/hal/src/main/native/athena/mockdata/REVPHData.cpp b/hal/src/main/native/athena/mockdata/REVPHData.cpp
new file mode 100644
index 0000000..d617694
--- /dev/null
+++ b/hal/src/main/native/athena/mockdata/REVPHData.cpp
@@ -0,0 +1,37 @@
+// 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.
+
+#include "hal/simulation/REVPHData.h"
+
+#include "hal/simulation/SimDataValue.h"
+
+extern "C" {
+void HALSIM_ResetREVPHData(int32_t index) {}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
+ HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, REVPH##CAPINAME, RETURN)
+
+HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(HAL_Bool, HALSIM, REVPHSolenoidOutput, false)
+DEFINE_CAPI(HAL_Bool, Initialized, false)
+DEFINE_CAPI(HAL_Bool, CompressorOn, false)
+DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, false)
+DEFINE_CAPI(HAL_Bool, PressureSwitch, false)
+DEFINE_CAPI(double, CompressorCurrent, 0)
+
+void HALSIM_GetREVPHAllSolenoids(int32_t index, uint8_t* values) {
+ *values = 0;
+}
+
+void HALSIM_SetREVPHAllSolenoids(int32_t index, uint8_t values) {}
+
+void HALSIM_RegisterREVPHAllNonSolenoidCallbacks(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify) {}
+
+void HALSIM_RegisterREVPHAllSolenoidCallbacks(int32_t index, int32_t channel,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify) {}
+} // extern "C"
diff --git a/hal/src/main/native/athena/mockdata/RelayData.cpp b/hal/src/main/native/athena/mockdata/RelayData.cpp
index 734bf89..7d8d439 100644
--- a/hal/src/main/native/athena/mockdata/RelayData.cpp
+++ b/hal/src/main/native/athena/mockdata/RelayData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/RelayData.h"
diff --git a/hal/src/main/native/athena/mockdata/RoboRioData.cpp b/hal/src/main/native/athena/mockdata/RoboRioData.cpp
index f9e9ca7..9f6683a 100644
--- a/hal/src/main/native/athena/mockdata/RoboRioData.cpp
+++ b/hal/src/main/native/athena/mockdata/RoboRioData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/RoboRioData.h"
@@ -30,6 +27,7 @@
DEFINE_CAPI(int32_t, UserFaults6V, 0)
DEFINE_CAPI(int32_t, UserFaults5V, 0)
DEFINE_CAPI(int32_t, UserFaults3V3, 0)
+DEFINE_CAPI(double, BrownoutVoltage, 6.75)
void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {}
diff --git a/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp b/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp
index c3e8ede..c938abf 100644
--- a/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp
+++ b/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/SPIAccelerometerData.h"
diff --git a/hal/src/main/native/athena/mockdata/SPIData.cpp b/hal/src/main/native/athena/mockdata/SPIData.cpp
index 13cf67c..433ca10 100644
--- a/hal/src/main/native/athena/mockdata/SPIData.cpp
+++ b/hal/src/main/native/athena/mockdata/SPIData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/SPIData.h"
diff --git a/hal/src/main/native/athena/mockdata/SimDeviceData.cpp b/hal/src/main/native/athena/mockdata/SimDeviceData.cpp
index a31160c..08bd8ce 100644
--- a/hal/src/main/native/athena/mockdata/SimDeviceData.cpp
+++ b/hal/src/main/native/athena/mockdata/SimDeviceData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/SimDeviceData.h"
@@ -13,7 +10,9 @@
void HALSIM_SetSimDeviceEnabled(const char* prefix, HAL_Bool enabled) {}
-HAL_Bool HALSIM_IsSimDeviceEnabled(const char* name) { return false; }
+HAL_Bool HALSIM_IsSimDeviceEnabled(const char* name) {
+ return false;
+}
int32_t HALSIM_RegisterSimDeviceCreatedCallback(
const char* prefix, void* param, HALSIM_SimDeviceCallback callback,
@@ -23,16 +22,21 @@
void HALSIM_CancelSimDeviceCreatedCallback(int32_t uid) {}
-int32_t HALSIM_RegisterSimDeviceFreedCallback(
- const char* prefix, void* param, HALSIM_SimDeviceCallback callback) {
+int32_t HALSIM_RegisterSimDeviceFreedCallback(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback,
+ HAL_Bool initialNotify) {
return 0;
}
void HALSIM_CancelSimDeviceFreedCallback(int32_t uid) {}
-HAL_SimDeviceHandle HALSIM_GetSimDeviceHandle(const char* name) { return 0; }
+HAL_SimDeviceHandle HALSIM_GetSimDeviceHandle(const char* name) {
+ return 0;
+}
-const char* HALSIM_GetSimDeviceName(HAL_SimDeviceHandle handle) { return ""; }
+const char* HALSIM_GetSimDeviceName(HAL_SimDeviceHandle handle) {
+ return "";
+}
HAL_SimDeviceHandle HALSIM_GetSimValueDeviceHandle(HAL_SimValueHandle handle) {
return 0;
@@ -59,6 +63,15 @@
void HALSIM_CancelSimValueChangedCallback(int32_t uid) {}
+int32_t HALSIM_RegisterSimValueResetCallback(HAL_SimValueHandle handle,
+ void* param,
+ HALSIM_SimValueCallback callback,
+ HAL_Bool initialNotify) {
+ return 0;
+}
+
+void HALSIM_CancelSimValueResetCallback(int32_t uid) {}
+
HAL_SimValueHandle HALSIM_GetSimValueHandle(HAL_SimDeviceHandle device,
const char* name) {
return 0;
@@ -73,6 +86,12 @@
return nullptr;
}
+const double* HALSIM_GetSimValueEnumDoubleValues(HAL_SimValueHandle handle,
+ int32_t* numOptions) {
+ *numOptions = 0;
+ return nullptr;
+}
+
void HALSIM_ResetSimDeviceData(void) {}
} // extern "C"
diff --git a/hal/src/main/native/athena/rev/PDHFrames.cpp b/hal/src/main/native/athena/rev/PDHFrames.cpp
new file mode 100644
index 0000000..b50a148
--- /dev/null
+++ b/hal/src/main/native/athena/rev/PDHFrames.cpp
@@ -0,0 +1,1790 @@
+/**
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018-2019 Erik Moqvist
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/**
+ * This file was generated by cantools version
+ */
+
+#include <string.h>
+
+#include "PDHFrames.h"
+
+static inline uint8_t pack_left_shift_u8(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value << shift) & mask);
+}
+
+static inline uint8_t pack_left_shift_u16(
+ uint16_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value << shift) & mask);
+}
+
+static inline uint8_t pack_left_shift_u32(
+ uint32_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value << shift) & mask);
+}
+
+static inline uint8_t pack_right_shift_u16(
+ uint16_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value >> shift) & mask);
+}
+
+static inline uint8_t pack_right_shift_u32(
+ uint32_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value >> shift) & mask);
+}
+
+static inline uint16_t unpack_left_shift_u16(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint16_t)((uint16_t)(value & mask) << shift);
+}
+
+static inline uint32_t unpack_left_shift_u32(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint32_t)((uint32_t)(value & mask) << shift);
+}
+
+static inline uint8_t unpack_right_shift_u8(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value & mask) >> shift);
+}
+
+static inline uint16_t unpack_right_shift_u16(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint16_t)((uint16_t)(value & mask) >> shift);
+}
+
+static inline uint32_t unpack_right_shift_u32(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint32_t)((uint32_t)(value & mask) >> shift);
+}
+
+int PDH_switch_channel_set_pack(
+ uint8_t *dst_p,
+ const struct PDH_switch_channel_set_t *src_p,
+ size_t size)
+{
+ if (size < 1u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 1);
+
+ dst_p[0] |= pack_left_shift_u8(src_p->output_set_value, 0u, 0x01u);
+ dst_p[0] |= pack_left_shift_u8(src_p->use_system_enable, 1u, 0x02u);
+
+ return (1);
+}
+
+int PDH_switch_channel_set_unpack(
+ struct PDH_switch_channel_set_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 1u) {
+ return (-EINVAL);
+ }
+
+ dst_p->output_set_value = unpack_right_shift_u8(src_p[0], 0u, 0x01u);
+ dst_p->use_system_enable = unpack_right_shift_u8(src_p[0], 1u, 0x02u);
+
+ return (0);
+}
+
+uint8_t PDH_switch_channel_set_output_set_value_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_switch_channel_set_output_set_value_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_switch_channel_set_output_set_value_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_switch_channel_set_use_system_enable_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_switch_channel_set_use_system_enable_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_switch_channel_set_use_system_enable_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+int PDH_status0_pack(
+ uint8_t *dst_p,
+ const struct PDH_status0_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 8);
+
+ dst_p[0] |= pack_left_shift_u16(src_p->channel_0_current, 0u, 0xffu);
+ dst_p[1] |= pack_right_shift_u16(src_p->channel_0_current, 8u, 0x03u);
+ dst_p[1] |= pack_left_shift_u16(src_p->channel_1_current, 2u, 0xfcu);
+ dst_p[2] |= pack_right_shift_u16(src_p->channel_1_current, 6u, 0x0fu);
+ dst_p[2] |= pack_left_shift_u16(src_p->channel_2_current, 4u, 0xf0u);
+ dst_p[3] |= pack_right_shift_u16(src_p->channel_2_current, 4u, 0x3fu);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_0_brownout, 6u, 0x40u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_1_brownout, 7u, 0x80u);
+ dst_p[4] |= pack_left_shift_u16(src_p->channel_3_current, 0u, 0xffu);
+ dst_p[5] |= pack_right_shift_u16(src_p->channel_3_current, 8u, 0x03u);
+ dst_p[5] |= pack_left_shift_u16(src_p->channel_4_current, 2u, 0xfcu);
+ dst_p[6] |= pack_right_shift_u16(src_p->channel_4_current, 6u, 0x0fu);
+ dst_p[6] |= pack_left_shift_u16(src_p->channel_5_current, 4u, 0xf0u);
+ dst_p[7] |= pack_right_shift_u16(src_p->channel_5_current, 4u, 0x3fu);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_2_brownout, 6u, 0x40u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_3_brownout, 7u, 0x80u);
+
+ return (8);
+}
+
+int PDH_status0_unpack(
+ struct PDH_status0_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ dst_p->channel_0_current = unpack_right_shift_u16(src_p[0], 0u, 0xffu);
+ dst_p->channel_0_current |= unpack_left_shift_u16(src_p[1], 8u, 0x03u);
+ dst_p->channel_1_current = unpack_right_shift_u16(src_p[1], 2u, 0xfcu);
+ dst_p->channel_1_current |= unpack_left_shift_u16(src_p[2], 6u, 0x0fu);
+ dst_p->channel_2_current = unpack_right_shift_u16(src_p[2], 4u, 0xf0u);
+ dst_p->channel_2_current |= unpack_left_shift_u16(src_p[3], 4u, 0x3fu);
+ dst_p->channel_0_brownout = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
+ dst_p->channel_1_brownout = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
+ dst_p->channel_3_current = unpack_right_shift_u16(src_p[4], 0u, 0xffu);
+ dst_p->channel_3_current |= unpack_left_shift_u16(src_p[5], 8u, 0x03u);
+ dst_p->channel_4_current = unpack_right_shift_u16(src_p[5], 2u, 0xfcu);
+ dst_p->channel_4_current |= unpack_left_shift_u16(src_p[6], 6u, 0x0fu);
+ dst_p->channel_5_current = unpack_right_shift_u16(src_p[6], 4u, 0xf0u);
+ dst_p->channel_5_current |= unpack_left_shift_u16(src_p[7], 4u, 0x3fu);
+ dst_p->channel_2_brownout = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
+ dst_p->channel_3_brownout = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
+
+ return (0);
+}
+
+uint16_t PDH_status0_channel_0_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status0_channel_0_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status0_channel_0_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status0_channel_1_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status0_channel_1_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status0_channel_1_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status0_channel_2_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status0_channel_2_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status0_channel_2_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint8_t PDH_status0_channel_0_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status0_channel_0_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status0_channel_0_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status0_channel_1_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status0_channel_1_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status0_channel_1_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint16_t PDH_status0_channel_3_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status0_channel_3_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status0_channel_3_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status0_channel_4_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status0_channel_4_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status0_channel_4_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status0_channel_5_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status0_channel_5_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status0_channel_5_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint8_t PDH_status0_channel_2_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status0_channel_2_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status0_channel_2_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status0_channel_3_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status0_channel_3_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status0_channel_3_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+int PDH_status1_pack(
+ uint8_t *dst_p,
+ const struct PDH_status1_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 8);
+
+ dst_p[0] |= pack_left_shift_u16(src_p->channel_6_current, 0u, 0xffu);
+ dst_p[1] |= pack_right_shift_u16(src_p->channel_6_current, 8u, 0x03u);
+ dst_p[1] |= pack_left_shift_u16(src_p->channel_7_current, 2u, 0xfcu);
+ dst_p[2] |= pack_right_shift_u16(src_p->channel_7_current, 6u, 0x0fu);
+ dst_p[2] |= pack_left_shift_u16(src_p->channel_8_current, 4u, 0xf0u);
+ dst_p[3] |= pack_right_shift_u16(src_p->channel_8_current, 4u, 0x3fu);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_4_brownout, 6u, 0x40u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_5_brownout, 7u, 0x80u);
+ dst_p[4] |= pack_left_shift_u16(src_p->channel_9_current, 0u, 0xffu);
+ dst_p[5] |= pack_right_shift_u16(src_p->channel_9_current, 8u, 0x03u);
+ dst_p[5] |= pack_left_shift_u16(src_p->channel_10_current, 2u, 0xfcu);
+ dst_p[6] |= pack_right_shift_u16(src_p->channel_10_current, 6u, 0x0fu);
+ dst_p[6] |= pack_left_shift_u16(src_p->channel_11_current, 4u, 0xf0u);
+ dst_p[7] |= pack_right_shift_u16(src_p->channel_11_current, 4u, 0x3fu);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_6_brownout, 6u, 0x40u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_7_brownout, 7u, 0x80u);
+
+ return (8);
+}
+
+int PDH_status1_unpack(
+ struct PDH_status1_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ dst_p->channel_6_current = unpack_right_shift_u16(src_p[0], 0u, 0xffu);
+ dst_p->channel_6_current |= unpack_left_shift_u16(src_p[1], 8u, 0x03u);
+ dst_p->channel_7_current = unpack_right_shift_u16(src_p[1], 2u, 0xfcu);
+ dst_p->channel_7_current |= unpack_left_shift_u16(src_p[2], 6u, 0x0fu);
+ dst_p->channel_8_current = unpack_right_shift_u16(src_p[2], 4u, 0xf0u);
+ dst_p->channel_8_current |= unpack_left_shift_u16(src_p[3], 4u, 0x3fu);
+ dst_p->channel_4_brownout = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
+ dst_p->channel_5_brownout = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
+ dst_p->channel_9_current = unpack_right_shift_u16(src_p[4], 0u, 0xffu);
+ dst_p->channel_9_current |= unpack_left_shift_u16(src_p[5], 8u, 0x03u);
+ dst_p->channel_10_current = unpack_right_shift_u16(src_p[5], 2u, 0xfcu);
+ dst_p->channel_10_current |= unpack_left_shift_u16(src_p[6], 6u, 0x0fu);
+ dst_p->channel_11_current = unpack_right_shift_u16(src_p[6], 4u, 0xf0u);
+ dst_p->channel_11_current |= unpack_left_shift_u16(src_p[7], 4u, 0x3fu);
+ dst_p->channel_6_brownout = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
+ dst_p->channel_7_brownout = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
+
+ return (0);
+}
+
+uint16_t PDH_status1_channel_6_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status1_channel_6_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status1_channel_6_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status1_channel_7_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status1_channel_7_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status1_channel_7_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status1_channel_8_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status1_channel_8_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status1_channel_8_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint8_t PDH_status1_channel_4_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status1_channel_4_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status1_channel_4_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status1_channel_5_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status1_channel_5_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status1_channel_5_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint16_t PDH_status1_channel_9_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status1_channel_9_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status1_channel_9_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status1_channel_10_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status1_channel_10_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status1_channel_10_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status1_channel_11_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status1_channel_11_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status1_channel_11_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint8_t PDH_status1_channel_6_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status1_channel_6_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status1_channel_6_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status1_channel_7_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status1_channel_7_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status1_channel_7_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+int PDH_status2_pack(
+ uint8_t *dst_p,
+ const struct PDH_status2_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 8);
+
+ dst_p[0] |= pack_left_shift_u16(src_p->channel_12_current, 0u, 0xffu);
+ dst_p[1] |= pack_right_shift_u16(src_p->channel_12_current, 8u, 0x03u);
+ dst_p[1] |= pack_left_shift_u16(src_p->channel_13_current, 2u, 0xfcu);
+ dst_p[2] |= pack_right_shift_u16(src_p->channel_13_current, 6u, 0x0fu);
+ dst_p[2] |= pack_left_shift_u16(src_p->channel_14_current, 4u, 0xf0u);
+ dst_p[3] |= pack_right_shift_u16(src_p->channel_14_current, 4u, 0x3fu);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_8_brownout, 6u, 0x40u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_9_brownout, 7u, 0x80u);
+ dst_p[4] |= pack_left_shift_u16(src_p->channel_15_current, 0u, 0xffu);
+ dst_p[5] |= pack_right_shift_u16(src_p->channel_15_current, 8u, 0x03u);
+ dst_p[5] |= pack_left_shift_u16(src_p->channel_16_current, 2u, 0xfcu);
+ dst_p[6] |= pack_right_shift_u16(src_p->channel_16_current, 6u, 0x0fu);
+ dst_p[6] |= pack_left_shift_u16(src_p->channel_17_current, 4u, 0xf0u);
+ dst_p[7] |= pack_right_shift_u16(src_p->channel_17_current, 4u, 0x3fu);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_10_brownout, 6u, 0x40u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_11_brownout, 7u, 0x80u);
+
+ return (8);
+}
+
+int PDH_status2_unpack(
+ struct PDH_status2_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ dst_p->channel_12_current = unpack_right_shift_u16(src_p[0], 0u, 0xffu);
+ dst_p->channel_12_current |= unpack_left_shift_u16(src_p[1], 8u, 0x03u);
+ dst_p->channel_13_current = unpack_right_shift_u16(src_p[1], 2u, 0xfcu);
+ dst_p->channel_13_current |= unpack_left_shift_u16(src_p[2], 6u, 0x0fu);
+ dst_p->channel_14_current = unpack_right_shift_u16(src_p[2], 4u, 0xf0u);
+ dst_p->channel_14_current |= unpack_left_shift_u16(src_p[3], 4u, 0x3fu);
+ dst_p->channel_8_brownout = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
+ dst_p->channel_9_brownout = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
+ dst_p->channel_15_current = unpack_right_shift_u16(src_p[4], 0u, 0xffu);
+ dst_p->channel_15_current |= unpack_left_shift_u16(src_p[5], 8u, 0x03u);
+ dst_p->channel_16_current = unpack_right_shift_u16(src_p[5], 2u, 0xfcu);
+ dst_p->channel_16_current |= unpack_left_shift_u16(src_p[6], 6u, 0x0fu);
+ dst_p->channel_17_current = unpack_right_shift_u16(src_p[6], 4u, 0xf0u);
+ dst_p->channel_17_current |= unpack_left_shift_u16(src_p[7], 4u, 0x3fu);
+ dst_p->channel_10_brownout = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
+ dst_p->channel_11_brownout = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
+
+ return (0);
+}
+
+uint16_t PDH_status2_channel_12_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status2_channel_12_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status2_channel_12_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status2_channel_13_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status2_channel_13_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status2_channel_13_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status2_channel_14_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status2_channel_14_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status2_channel_14_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint8_t PDH_status2_channel_8_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status2_channel_8_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status2_channel_8_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status2_channel_9_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status2_channel_9_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status2_channel_9_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint16_t PDH_status2_channel_15_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status2_channel_15_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status2_channel_15_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status2_channel_16_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status2_channel_16_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status2_channel_16_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status2_channel_17_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status2_channel_17_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status2_channel_17_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint8_t PDH_status2_channel_10_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status2_channel_10_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status2_channel_10_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status2_channel_11_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status2_channel_11_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status2_channel_11_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+int PDH_status3_pack(
+ uint8_t *dst_p,
+ const struct PDH_status3_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 8);
+
+ dst_p[0] |= pack_left_shift_u16(src_p->channel_18_current, 0u, 0xffu);
+ dst_p[1] |= pack_right_shift_u16(src_p->channel_18_current, 8u, 0x03u);
+ dst_p[1] |= pack_left_shift_u16(src_p->channel_19_current, 2u, 0xfcu);
+ dst_p[2] |= pack_right_shift_u16(src_p->channel_19_current, 6u, 0x0fu);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_12_brownout, 4u, 0x10u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_13_brownout, 5u, 0x20u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_14_brownout, 6u, 0x40u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_15_brownout, 7u, 0x80u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_20_current, 0u, 0xffu);
+ dst_p[4] |= pack_left_shift_u8(src_p->channel_21_current, 0u, 0xffu);
+ dst_p[5] |= pack_left_shift_u8(src_p->channel_22_current, 0u, 0xffu);
+ dst_p[6] |= pack_left_shift_u8(src_p->channel_23_current, 0u, 0xffu);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_16_brownout, 0u, 0x01u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_17_brownout, 1u, 0x02u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_18_brownout, 2u, 0x04u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_19_brownout, 3u, 0x08u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_20_brownout, 4u, 0x10u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_21_brownout, 5u, 0x20u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_22_brownout, 6u, 0x40u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_23_brownout, 7u, 0x80u);
+
+ return (8);
+}
+
+int PDH_status3_unpack(
+ struct PDH_status3_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ dst_p->channel_18_current = unpack_right_shift_u16(src_p[0], 0u, 0xffu);
+ dst_p->channel_18_current |= unpack_left_shift_u16(src_p[1], 8u, 0x03u);
+ dst_p->channel_19_current = unpack_right_shift_u16(src_p[1], 2u, 0xfcu);
+ dst_p->channel_19_current |= unpack_left_shift_u16(src_p[2], 6u, 0x0fu);
+ dst_p->channel_12_brownout = unpack_right_shift_u8(src_p[2], 4u, 0x10u);
+ dst_p->channel_13_brownout = unpack_right_shift_u8(src_p[2], 5u, 0x20u);
+ dst_p->channel_14_brownout = unpack_right_shift_u8(src_p[2], 6u, 0x40u);
+ dst_p->channel_15_brownout = unpack_right_shift_u8(src_p[2], 7u, 0x80u);
+ dst_p->channel_20_current = unpack_right_shift_u8(src_p[3], 0u, 0xffu);
+ dst_p->channel_21_current = unpack_right_shift_u8(src_p[4], 0u, 0xffu);
+ dst_p->channel_22_current = unpack_right_shift_u8(src_p[5], 0u, 0xffu);
+ dst_p->channel_23_current = unpack_right_shift_u8(src_p[6], 0u, 0xffu);
+ dst_p->channel_16_brownout = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
+ dst_p->channel_17_brownout = unpack_right_shift_u8(src_p[7], 1u, 0x02u);
+ dst_p->channel_18_brownout = unpack_right_shift_u8(src_p[7], 2u, 0x04u);
+ dst_p->channel_19_brownout = unpack_right_shift_u8(src_p[7], 3u, 0x08u);
+ dst_p->channel_20_brownout = unpack_right_shift_u8(src_p[7], 4u, 0x10u);
+ dst_p->channel_21_brownout = unpack_right_shift_u8(src_p[7], 5u, 0x20u);
+ dst_p->channel_22_brownout = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
+ dst_p->channel_23_brownout = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
+
+ return (0);
+}
+
+uint16_t PDH_status3_channel_18_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status3_channel_18_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status3_channel_18_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint16_t PDH_status3_channel_19_current_encode(double value)
+{
+ return (uint16_t)(value / 0.125);
+}
+
+double PDH_status3_channel_19_current_decode(uint16_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PDH_status3_channel_19_current_is_in_range(uint16_t value)
+{
+ return (value <= 1023u);
+}
+
+uint8_t PDH_status3_channel_12_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_12_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_12_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_13_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_13_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_13_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_14_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_14_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_14_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_15_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_15_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_15_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_20_current_encode(double value)
+{
+ return (uint8_t)(value / 0.0625);
+}
+
+double PDH_status3_channel_20_current_decode(uint8_t value)
+{
+ return ((double)value * 0.0625);
+}
+
+bool PDH_status3_channel_20_current_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PDH_status3_channel_21_current_encode(double value)
+{
+ return (uint8_t)(value / 0.0625);
+}
+
+double PDH_status3_channel_21_current_decode(uint8_t value)
+{
+ return ((double)value * 0.0625);
+}
+
+bool PDH_status3_channel_21_current_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PDH_status3_channel_22_current_encode(double value)
+{
+ return (uint8_t)(value / 0.0625);
+}
+
+double PDH_status3_channel_22_current_decode(uint8_t value)
+{
+ return ((double)value * 0.0625);
+}
+
+bool PDH_status3_channel_22_current_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PDH_status3_channel_23_current_encode(double value)
+{
+ return (uint8_t)(value / 0.0625);
+}
+
+double PDH_status3_channel_23_current_decode(uint8_t value)
+{
+ return ((double)value * 0.0625);
+}
+
+bool PDH_status3_channel_23_current_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PDH_status3_channel_16_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_16_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_16_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_17_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_17_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_17_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_18_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_18_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_18_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_19_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_19_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_19_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_20_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_20_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_20_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_21_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_21_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_21_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_22_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_22_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_22_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status3_channel_23_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status3_channel_23_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status3_channel_23_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+int PDH_status4_pack(
+ uint8_t *dst_p,
+ const struct PDH_status4_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 8);
+
+ dst_p[0] |= pack_left_shift_u16(src_p->v_bus, 0u, 0xffu);
+ dst_p[1] |= pack_right_shift_u16(src_p->v_bus, 8u, 0x0fu);
+ dst_p[1] |= pack_left_shift_u8(src_p->system_enable, 4u, 0x10u);
+ dst_p[1] |= pack_left_shift_u8(src_p->rsvd0, 5u, 0xe0u);
+ dst_p[2] |= pack_left_shift_u8(src_p->brownout, 0u, 0x01u);
+ dst_p[2] |= pack_left_shift_u8(src_p->rsvd1, 1u, 0x02u);
+ dst_p[2] |= pack_left_shift_u8(src_p->can_warning, 2u, 0x04u);
+ dst_p[2] |= pack_left_shift_u8(src_p->hardware_fault, 3u, 0x08u);
+ dst_p[2] |= pack_left_shift_u8(src_p->sw_state, 4u, 0x10u);
+ dst_p[2] |= pack_left_shift_u8(src_p->sticky_brownout, 5u, 0x20u);
+ dst_p[2] |= pack_left_shift_u8(src_p->rsvd2, 6u, 0x40u);
+ dst_p[2] |= pack_left_shift_u8(src_p->sticky_can_warning, 7u, 0x80u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_can_bus_off, 0u, 0x01u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_hardware_fault, 1u, 0x02u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_firmware_fault, 2u, 0x04u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch20_brownout, 3u, 0x08u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch21_brownout, 4u, 0x10u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch22_brownout, 5u, 0x20u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch23_brownout, 6u, 0x40u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_has_reset, 7u, 0x80u);
+ dst_p[4] |= pack_left_shift_u8(src_p->total_current, 0u, 0xffu);
+
+ return (8);
+}
+
+int PDH_status4_unpack(
+ struct PDH_status4_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ dst_p->v_bus = unpack_right_shift_u16(src_p[0], 0u, 0xffu);
+ dst_p->v_bus |= unpack_left_shift_u16(src_p[1], 8u, 0x0fu);
+ dst_p->system_enable = unpack_right_shift_u8(src_p[1], 4u, 0x10u);
+ dst_p->rsvd0 = unpack_right_shift_u8(src_p[1], 5u, 0xe0u);
+ dst_p->brownout = unpack_right_shift_u8(src_p[2], 0u, 0x01u);
+ dst_p->rsvd1 = unpack_right_shift_u8(src_p[2], 1u, 0x02u);
+ dst_p->can_warning = unpack_right_shift_u8(src_p[2], 2u, 0x04u);
+ dst_p->hardware_fault = unpack_right_shift_u8(src_p[2], 3u, 0x08u);
+ dst_p->sw_state = unpack_right_shift_u8(src_p[2], 4u, 0x10u);
+ dst_p->sticky_brownout = unpack_right_shift_u8(src_p[2], 5u, 0x20u);
+ dst_p->rsvd2 = unpack_right_shift_u8(src_p[2], 6u, 0x40u);
+ dst_p->sticky_can_warning = unpack_right_shift_u8(src_p[2], 7u, 0x80u);
+ dst_p->sticky_can_bus_off = unpack_right_shift_u8(src_p[3], 0u, 0x01u);
+ dst_p->sticky_hardware_fault = unpack_right_shift_u8(src_p[3], 1u, 0x02u);
+ dst_p->sticky_firmware_fault = unpack_right_shift_u8(src_p[3], 2u, 0x04u);
+ dst_p->sticky_ch20_brownout = unpack_right_shift_u8(src_p[3], 3u, 0x08u);
+ dst_p->sticky_ch21_brownout = unpack_right_shift_u8(src_p[3], 4u, 0x10u);
+ dst_p->sticky_ch22_brownout = unpack_right_shift_u8(src_p[3], 5u, 0x20u);
+ dst_p->sticky_ch23_brownout = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
+ dst_p->sticky_has_reset = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
+ dst_p->total_current = unpack_right_shift_u8(src_p[4], 0u, 0xffu);
+
+ return (0);
+}
+
+uint16_t PDH_status4_v_bus_encode(double value)
+{
+ return (uint16_t)(value / 0.0078125);
+}
+
+double PDH_status4_v_bus_decode(uint16_t value)
+{
+ return ((double)value * 0.0078125);
+}
+
+bool PDH_status4_v_bus_is_in_range(uint16_t value)
+{
+ return (value <= 4095u);
+}
+
+uint8_t PDH_status4_system_enable_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_system_enable_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_system_enable_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_rsvd0_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_rsvd0_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_rsvd0_is_in_range(uint8_t value)
+{
+ return (value <= 7u);
+}
+
+uint8_t PDH_status4_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_rsvd1_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_rsvd1_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_rsvd1_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_can_warning_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_can_warning_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_can_warning_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_hardware_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_hardware_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_hardware_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sw_state_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sw_state_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sw_state_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_rsvd2_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_rsvd2_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_rsvd2_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_can_warning_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_can_warning_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_can_warning_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_can_bus_off_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_can_bus_off_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_can_bus_off_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_hardware_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_hardware_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_hardware_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_firmware_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_firmware_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_firmware_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_ch20_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_ch20_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_ch20_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_ch21_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_ch21_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_ch21_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_ch22_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_ch22_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_ch22_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_ch23_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_ch23_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_ch23_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_sticky_has_reset_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status4_sticky_has_reset_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status4_sticky_has_reset_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status4_total_current_encode(double value)
+{
+ return (uint8_t)(value / 2.0);
+}
+
+double PDH_status4_total_current_decode(uint8_t value)
+{
+ return ((double)value * 2.0);
+}
+
+bool PDH_status4_total_current_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+int PDH_clear_faults_pack(
+ uint8_t *dst_p,
+ const struct PDH_clear_faults_t *src_p,
+ size_t size)
+{
+ (void)dst_p;
+ (void)src_p;
+ (void)size;
+
+ return (0);
+}
+
+int PDH_clear_faults_unpack(
+ struct PDH_clear_faults_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ (void)dst_p;
+ (void)src_p;
+ (void)size;
+
+ return (0);
+}
+
+int PDH_identify_pack(
+ uint8_t *dst_p,
+ const struct PDH_identify_t *src_p,
+ size_t size)
+{
+ (void)dst_p;
+ (void)src_p;
+ (void)size;
+
+ return (0);
+}
+
+int PDH_identify_unpack(
+ struct PDH_identify_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ (void)dst_p;
+ (void)src_p;
+ (void)size;
+
+ return (0);
+}
+
+int PDH_version_pack(
+ uint8_t *dst_p,
+ const struct PDH_version_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 8);
+
+ dst_p[0] |= pack_left_shift_u8(src_p->firmware_fix, 0u, 0xffu);
+ dst_p[1] |= pack_left_shift_u8(src_p->firmware_minor, 0u, 0xffu);
+ dst_p[2] |= pack_left_shift_u8(src_p->firmware_year, 0u, 0xffu);
+ dst_p[3] |= pack_left_shift_u8(src_p->hardware_code, 0u, 0xffu);
+ dst_p[4] |= pack_left_shift_u32(src_p->unique_id, 0u, 0xffu);
+ dst_p[5] |= pack_right_shift_u32(src_p->unique_id, 8u, 0xffu);
+ dst_p[6] |= pack_right_shift_u32(src_p->unique_id, 16u, 0xffu);
+ dst_p[7] |= pack_right_shift_u32(src_p->unique_id, 24u, 0xffu);
+
+ return (8);
+}
+
+int PDH_version_unpack(
+ struct PDH_version_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ dst_p->firmware_fix = unpack_right_shift_u8(src_p[0], 0u, 0xffu);
+ dst_p->firmware_minor = unpack_right_shift_u8(src_p[1], 0u, 0xffu);
+ dst_p->firmware_year = unpack_right_shift_u8(src_p[2], 0u, 0xffu);
+ dst_p->hardware_code = unpack_right_shift_u8(src_p[3], 0u, 0xffu);
+ dst_p->unique_id = unpack_right_shift_u32(src_p[4], 0u, 0xffu);
+ dst_p->unique_id |= unpack_left_shift_u32(src_p[5], 8u, 0xffu);
+ dst_p->unique_id |= unpack_left_shift_u32(src_p[6], 16u, 0xffu);
+ dst_p->unique_id |= unpack_left_shift_u32(src_p[7], 24u, 0xffu);
+
+ return (0);
+}
+
+uint8_t PDH_version_firmware_fix_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_version_firmware_fix_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_version_firmware_fix_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PDH_version_firmware_minor_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_version_firmware_minor_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_version_firmware_minor_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PDH_version_firmware_year_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_version_firmware_year_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_version_firmware_year_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PDH_version_hardware_code_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_version_hardware_code_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_version_hardware_code_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint32_t PDH_version_unique_id_encode(double value)
+{
+ return (uint32_t)(value);
+}
+
+double PDH_version_unique_id_decode(uint32_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_version_unique_id_is_in_range(uint32_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+int PDH_configure_hr_channel_pack(
+ uint8_t *dst_p,
+ const struct PDH_configure_hr_channel_t *src_p,
+ size_t size)
+{
+ if (size < 3u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 3);
+
+ dst_p[0] |= pack_left_shift_u8(src_p->channel, 0u, 0xffu);
+ dst_p[1] |= pack_left_shift_u16(src_p->period, 0u, 0xffu);
+ dst_p[2] |= pack_right_shift_u16(src_p->period, 8u, 0xffu);
+
+ return (3);
+}
+
+int PDH_configure_hr_channel_unpack(
+ struct PDH_configure_hr_channel_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 3u) {
+ return (-EINVAL);
+ }
+
+ dst_p->channel = unpack_right_shift_u8(src_p[0], 0u, 0xffu);
+ dst_p->period = unpack_right_shift_u16(src_p[1], 0u, 0xffu);
+ dst_p->period |= unpack_left_shift_u16(src_p[2], 8u, 0xffu);
+
+ return (0);
+}
+
+uint8_t PDH_configure_hr_channel_channel_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_configure_hr_channel_channel_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_configure_hr_channel_channel_is_in_range(uint8_t value)
+{
+ return (value <= 23u);
+}
+
+uint16_t PDH_configure_hr_channel_period_encode(double value)
+{
+ return (uint16_t)(value);
+}
+
+double PDH_configure_hr_channel_period_decode(uint16_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_configure_hr_channel_period_is_in_range(uint16_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+int PDH_enter_bootloader_pack(
+ uint8_t *dst_p,
+ const struct PDH_enter_bootloader_t *src_p,
+ size_t size)
+{
+ (void)dst_p;
+ (void)src_p;
+ (void)size;
+
+ return (0);
+}
+
+int PDH_enter_bootloader_unpack(
+ struct PDH_enter_bootloader_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ (void)dst_p;
+ (void)src_p;
+ (void)size;
+
+ return (0);
+}
diff --git a/hal/src/main/native/athena/rev/PDHFrames.h b/hal/src/main/native/athena/rev/PDHFrames.h
new file mode 100644
index 0000000..5d2452a
--- /dev/null
+++ b/hal/src/main/native/athena/rev/PDHFrames.h
@@ -0,0 +1,3136 @@
+/**
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018-2019 Erik Moqvist
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/**
+ * This file was generated by cantools version
+ */
+
+#ifndef PDH_H
+#define PDH_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+
+#ifndef EINVAL
+# define EINVAL 22
+#endif
+
+/* Frame ids. */
+#define PDH_SWITCH_CHANNEL_SET_FRAME_ID (0x8050840u)
+#define PDH_STATUS0_FRAME_ID (0x8051800u)
+#define PDH_STATUS1_FRAME_ID (0x8051840u)
+#define PDH_STATUS2_FRAME_ID (0x8051880u)
+#define PDH_STATUS3_FRAME_ID (0x80518c0u)
+#define PDH_STATUS4_FRAME_ID (0x8051900u)
+#define PDH_CLEAR_FAULTS_FRAME_ID (0x8051b80u)
+#define PDH_IDENTIFY_FRAME_ID (0x8051d80u)
+#define PDH_VERSION_FRAME_ID (0x8052600u)
+#define PDH_CONFIGURE_HR_CHANNEL_FRAME_ID (0x80538c0u)
+#define PDH_ENTER_BOOTLOADER_FRAME_ID (0x8057fc0u)
+
+/* Frame lengths in bytes. */
+#define PDH_SWITCH_CHANNEL_SET_LENGTH (1u)
+#define PDH_STATUS0_LENGTH (8u)
+#define PDH_STATUS1_LENGTH (8u)
+#define PDH_STATUS2_LENGTH (8u)
+#define PDH_STATUS3_LENGTH (8u)
+#define PDH_STATUS4_LENGTH (8u)
+#define PDH_CLEAR_FAULTS_LENGTH (0u)
+#define PDH_IDENTIFY_LENGTH (0u)
+#define PDH_VERSION_LENGTH (8u)
+#define PDH_CONFIGURE_HR_CHANNEL_LENGTH (3u)
+#define PDH_ENTER_BOOTLOADER_LENGTH (0u)
+
+/* Extended or standard frame types. */
+#define PDH_SWITCH_CHANNEL_SET_IS_EXTENDED (1)
+#define PDH_STATUS0_IS_EXTENDED (1)
+#define PDH_STATUS1_IS_EXTENDED (1)
+#define PDH_STATUS2_IS_EXTENDED (1)
+#define PDH_STATUS3_IS_EXTENDED (1)
+#define PDH_STATUS4_IS_EXTENDED (1)
+#define PDH_CLEAR_FAULTS_IS_EXTENDED (1)
+#define PDH_IDENTIFY_IS_EXTENDED (1)
+#define PDH_VERSION_IS_EXTENDED (1)
+#define PDH_CONFIGURE_HR_CHANNEL_IS_EXTENDED (1)
+#define PDH_ENTER_BOOTLOADER_IS_EXTENDED (1)
+
+/* Frame cycle times in milliseconds. */
+
+
+/* Signal choices. */
+
+
+/**
+ * Signals in message SwitchChannelSet.
+ *
+ * Set the switch channel output
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_switch_channel_set_t {
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t output_set_value : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t use_system_enable : 1;
+};
+
+/**
+ * Signals in message Status0.
+ *
+ * Periodic status frame 0
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_status0_t {
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_0_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_1_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_2_current : 10;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_0_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_1_brownout : 1;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_3_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_4_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_5_current : 10;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_2_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_3_brownout : 1;
+};
+
+/**
+ * Signals in message Status1.
+ *
+ * Periodic status frame 1
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_status1_t {
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_6_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_7_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_8_current : 10;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_4_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_5_brownout : 1;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_9_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_10_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_11_current : 10;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_6_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_7_brownout : 1;
+};
+
+/**
+ * Signals in message Status2.
+ *
+ * Periodic status frame 2
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_status2_t {
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_12_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_13_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_14_current : 10;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_8_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_9_brownout : 1;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_15_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_16_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_17_current : 10;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_10_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_11_brownout : 1;
+};
+
+/**
+ * Signals in message Status3.
+ *
+ * Periodic status frame 3
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_status3_t {
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_18_current : 10;
+
+ /**
+ * Range: 0..1023 (0..127.875 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint16_t channel_19_current : 10;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_12_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_13_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_14_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_15_brownout : 1;
+
+ /**
+ * Range: 0..255 (0..15.9375 A)
+ * Scale: 0.0625
+ * Offset: 0
+ */
+ uint8_t channel_20_current : 8;
+
+ /**
+ * Range: 0..255 (0..15.9375 A)
+ * Scale: 0.0625
+ * Offset: 0
+ */
+ uint8_t channel_21_current : 8;
+
+ /**
+ * Range: 0..511 (0..31.9375 A)
+ * Scale: 0.0625
+ * Offset: 0
+ */
+ uint8_t channel_22_current : 8;
+
+ /**
+ * Range: 0..511 (0..31.9375 A)
+ * Scale: 0.0625
+ * Offset: 0
+ */
+ uint8_t channel_23_current : 8;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_16_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_17_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_18_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_19_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_20_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_21_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_22_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_23_brownout : 1;
+};
+
+/**
+ * Signals in message Status4.
+ *
+ * Periodic status frame 4
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_status4_t {
+ /**
+ * Range: 0..4095 (0..31.9921875 V)
+ * Scale: 0.0078125
+ * Offset: 0
+ */
+ uint16_t v_bus : 12;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t system_enable : 1;
+
+ /**
+ * Range: 0..7 (0..7 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t rsvd0 : 3;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t rsvd1 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t can_warning : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t hardware_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sw_state : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t rsvd2 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_can_warning : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_can_bus_off : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_hardware_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_firmware_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch20_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch21_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch22_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch23_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_has_reset : 1;
+
+ /**
+ * Range: 0..255 (0..510 A)
+ * Scale: 2
+ * Offset: 0
+ */
+ uint8_t total_current : 8;
+};
+
+/**
+ * Signals in message ClearFaults.
+ *
+ * Clear sticky faults on the device
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_clear_faults_t {
+ /**
+ * Dummy signal in empty message.
+ */
+ uint8_t dummy;
+};
+
+/**
+ * Signals in message Identify.
+ *
+ * Flash the LED on the device to identify this device
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_identify_t {
+ /**
+ * Dummy signal in empty message.
+ */
+ uint8_t dummy;
+};
+
+/**
+ * Signals in message Version.
+ *
+ * Get the version of the PDH device
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_version_t {
+ /**
+ * Range: 0..255 (0..255 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t firmware_fix : 8;
+
+ /**
+ * Range: 0..255 (0..255 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t firmware_minor : 8;
+
+ /**
+ * Range: 0..255 (0..255 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t firmware_year : 8;
+
+ /**
+ * Range: 0..255 (0..255 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t hardware_code : 8;
+
+ /**
+ * Range: 0..4294967295 (0..4294967295 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint32_t unique_id : 32;
+};
+
+/**
+ * Signals in message ConfigureHRChannel.
+ *
+ * Configure a periodic high-resolution channel frame to send back data for a particular channel. This can be useful for more detailed diagnostics, or even for current based control or monitoring.
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_configure_hr_channel_t {
+ /**
+ * Range: 0..23 (0..23 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel : 8;
+
+ /**
+ * Range: 0..65535 (0..65535 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint16_t period : 16;
+};
+
+/**
+ * Signals in message Enter_Bootloader.
+ *
+ * Enter the REV bootloader from user application
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PDH_enter_bootloader_t {
+ /**
+ * Dummy signal in empty message.
+ */
+ uint8_t dummy;
+};
+
+/**
+ * Pack message SwitchChannelSet.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_switch_channel_set_pack(
+ uint8_t *dst_p,
+ const struct PDH_switch_channel_set_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message SwitchChannelSet.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_switch_channel_set_unpack(
+ struct PDH_switch_channel_set_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_switch_channel_set_output_set_value_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_switch_channel_set_output_set_value_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_switch_channel_set_output_set_value_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_switch_channel_set_use_system_enable_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_switch_channel_set_use_system_enable_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_switch_channel_set_use_system_enable_is_in_range(uint8_t value);
+
+/**
+ * Pack message Status0.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_status0_pack(
+ uint8_t *dst_p,
+ const struct PDH_status0_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Status0.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_status0_unpack(
+ struct PDH_status0_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status0_channel_0_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_0_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_0_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status0_channel_1_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_1_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_1_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status0_channel_2_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_2_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_2_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status0_channel_0_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_0_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_0_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status0_channel_1_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_1_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_1_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status0_channel_3_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_3_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_3_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status0_channel_4_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_4_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_4_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status0_channel_5_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_5_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_5_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status0_channel_2_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_2_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_2_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status0_channel_3_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status0_channel_3_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status0_channel_3_brownout_is_in_range(uint8_t value);
+
+/**
+ * Pack message Status1.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_status1_pack(
+ uint8_t *dst_p,
+ const struct PDH_status1_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Status1.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_status1_unpack(
+ struct PDH_status1_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status1_channel_6_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_6_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_6_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status1_channel_7_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_7_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_7_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status1_channel_8_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_8_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_8_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status1_channel_4_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_4_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_4_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status1_channel_5_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_5_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_5_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status1_channel_9_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_9_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_9_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status1_channel_10_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_10_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_10_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status1_channel_11_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_11_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_11_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status1_channel_6_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_6_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_6_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status1_channel_7_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status1_channel_7_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status1_channel_7_brownout_is_in_range(uint8_t value);
+
+/**
+ * Pack message Status2.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_status2_pack(
+ uint8_t *dst_p,
+ const struct PDH_status2_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Status2.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_status2_unpack(
+ struct PDH_status2_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status2_channel_12_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_12_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_12_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status2_channel_13_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_13_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_13_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status2_channel_14_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_14_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_14_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status2_channel_8_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_8_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_8_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status2_channel_9_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_9_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_9_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status2_channel_15_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_15_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_15_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status2_channel_16_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_16_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_16_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status2_channel_17_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_17_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_17_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status2_channel_10_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_10_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_10_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status2_channel_11_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status2_channel_11_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status2_channel_11_brownout_is_in_range(uint8_t value);
+
+/**
+ * Pack message Status3.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_status3_pack(
+ uint8_t *dst_p,
+ const struct PDH_status3_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Status3.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_status3_unpack(
+ struct PDH_status3_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status3_channel_18_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_18_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_18_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status3_channel_19_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_19_current_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_19_current_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_12_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_12_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_12_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_13_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_13_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_13_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_14_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_14_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_14_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_15_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_15_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_15_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_20_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_20_current_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_20_current_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_21_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_21_current_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_21_current_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_22_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_22_current_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_22_current_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_23_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_23_current_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_23_current_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_16_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_16_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_16_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_17_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_17_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_17_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_18_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_18_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_18_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_19_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_19_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_19_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_20_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_20_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_20_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_21_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_21_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_21_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_22_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_22_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_22_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status3_channel_23_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status3_channel_23_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status3_channel_23_brownout_is_in_range(uint8_t value);
+
+/**
+ * Pack message Status4.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_status4_pack(
+ uint8_t *dst_p,
+ const struct PDH_status4_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Status4.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_status4_unpack(
+ struct PDH_status4_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_status4_v_bus_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_v_bus_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_v_bus_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_system_enable_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_system_enable_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_system_enable_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_rsvd0_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_rsvd0_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_rsvd0_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_rsvd1_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_rsvd1_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_rsvd1_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_can_warning_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_can_warning_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_can_warning_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_hardware_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_hardware_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_hardware_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sw_state_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sw_state_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sw_state_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_rsvd2_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_rsvd2_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_rsvd2_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_can_warning_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_can_warning_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_can_warning_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_can_bus_off_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_can_bus_off_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_can_bus_off_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_hardware_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_hardware_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_hardware_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_firmware_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_firmware_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_firmware_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_ch20_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_ch20_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_ch20_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_ch21_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_ch21_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_ch21_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_ch22_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_ch22_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_ch22_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_ch23_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_ch23_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_ch23_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_sticky_has_reset_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_sticky_has_reset_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_sticky_has_reset_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status4_total_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status4_total_current_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status4_total_current_is_in_range(uint8_t value);
+
+/**
+ * Pack message ClearFaults.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_clear_faults_pack(
+ uint8_t *dst_p,
+ const struct PDH_clear_faults_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message ClearFaults.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_clear_faults_unpack(
+ struct PDH_clear_faults_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Pack message Identify.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_identify_pack(
+ uint8_t *dst_p,
+ const struct PDH_identify_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Identify.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_identify_unpack(
+ struct PDH_identify_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Pack message Version.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_version_pack(
+ uint8_t *dst_p,
+ const struct PDH_version_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Version.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_version_unpack(
+ struct PDH_version_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_version_firmware_fix_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_version_firmware_fix_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_version_firmware_fix_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_version_firmware_minor_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_version_firmware_minor_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_version_firmware_minor_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_version_firmware_year_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_version_firmware_year_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_version_firmware_year_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_version_hardware_code_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_version_hardware_code_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_version_hardware_code_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint32_t PDH_version_unique_id_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_version_unique_id_decode(uint32_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_version_unique_id_is_in_range(uint32_t value);
+
+/**
+ * Pack message ConfigureHRChannel.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_configure_hr_channel_pack(
+ uint8_t *dst_p,
+ const struct PDH_configure_hr_channel_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message ConfigureHRChannel.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_configure_hr_channel_unpack(
+ struct PDH_configure_hr_channel_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_configure_hr_channel_channel_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_configure_hr_channel_channel_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_configure_hr_channel_channel_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PDH_configure_hr_channel_period_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_configure_hr_channel_period_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_configure_hr_channel_period_is_in_range(uint16_t value);
+
+/**
+ * Pack message Enter_Bootloader.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PDH_enter_bootloader_pack(
+ uint8_t *dst_p,
+ const struct PDH_enter_bootloader_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Enter_Bootloader.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PDH_enter_bootloader_unpack(
+ struct PDH_enter_bootloader_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/hal/src/main/native/athena/rev/PHFrames.cpp b/hal/src/main/native/athena/rev/PHFrames.cpp
new file mode 100644
index 0000000..e7f77e0
--- /dev/null
+++ b/hal/src/main/native/athena/rev/PHFrames.cpp
@@ -0,0 +1,1720 @@
+/**
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018-2019 Erik Moqvist
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/**
+ * This file was generated by cantools version
+ */
+
+#include <string.h>
+
+#include "PHFrames.h"
+
+static inline uint8_t pack_left_shift_u8(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value << shift) & mask);
+}
+
+static inline uint8_t pack_left_shift_u16(
+ uint16_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value << shift) & mask);
+}
+
+static inline uint8_t pack_right_shift_u16(
+ uint16_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value >> shift) & mask);
+}
+
+static inline uint16_t unpack_left_shift_u16(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint16_t)((uint16_t)(value & mask) << shift);
+}
+
+static inline uint8_t unpack_right_shift_u8(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value & mask) >> shift);
+}
+
+static inline uint16_t unpack_right_shift_u16(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint16_t)((uint16_t)(value & mask) >> shift);
+}
+
+int PH_set_all_pack(
+ uint8_t *dst_p,
+ const struct PH_set_all_t *src_p,
+ size_t size)
+{
+ if (size < 4u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 4);
+
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_0, 0u, 0x03u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_1, 2u, 0x0cu);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_2, 4u, 0x30u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_3, 6u, 0xc0u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_4, 0u, 0x03u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_5, 2u, 0x0cu);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_6, 4u, 0x30u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_7, 6u, 0xc0u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_8, 0u, 0x03u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_9, 2u, 0x0cu);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_10, 4u, 0x30u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_11, 6u, 0xc0u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_12, 0u, 0x03u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_13, 2u, 0x0cu);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_14, 4u, 0x30u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_15, 6u, 0xc0u);
+
+ return (4);
+}
+
+int PH_set_all_unpack(
+ struct PH_set_all_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 4u) {
+ return (-EINVAL);
+ }
+
+ dst_p->channel_0 = unpack_right_shift_u8(src_p[0], 0u, 0x03u);
+ dst_p->channel_1 = unpack_right_shift_u8(src_p[0], 2u, 0x0cu);
+ dst_p->channel_2 = unpack_right_shift_u8(src_p[0], 4u, 0x30u);
+ dst_p->channel_3 = unpack_right_shift_u8(src_p[0], 6u, 0xc0u);
+ dst_p->channel_4 = unpack_right_shift_u8(src_p[1], 0u, 0x03u);
+ dst_p->channel_5 = unpack_right_shift_u8(src_p[1], 2u, 0x0cu);
+ dst_p->channel_6 = unpack_right_shift_u8(src_p[1], 4u, 0x30u);
+ dst_p->channel_7 = unpack_right_shift_u8(src_p[1], 6u, 0xc0u);
+ dst_p->channel_8 = unpack_right_shift_u8(src_p[2], 0u, 0x03u);
+ dst_p->channel_9 = unpack_right_shift_u8(src_p[2], 2u, 0x0cu);
+ dst_p->channel_10 = unpack_right_shift_u8(src_p[2], 4u, 0x30u);
+ dst_p->channel_11 = unpack_right_shift_u8(src_p[2], 6u, 0xc0u);
+ dst_p->channel_12 = unpack_right_shift_u8(src_p[3], 0u, 0x03u);
+ dst_p->channel_13 = unpack_right_shift_u8(src_p[3], 2u, 0x0cu);
+ dst_p->channel_14 = unpack_right_shift_u8(src_p[3], 4u, 0x30u);
+ dst_p->channel_15 = unpack_right_shift_u8(src_p[3], 6u, 0xc0u);
+
+ return (0);
+}
+
+uint8_t PH_set_all_channel_0_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_0_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_0_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_1_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_1_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_1_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_2_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_2_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_2_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_3_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_3_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_3_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_4_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_4_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_4_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_5_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_5_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_5_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_6_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_6_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_6_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_7_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_7_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_7_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_8_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_8_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_8_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_9_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_9_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_9_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_10_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_10_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_10_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_11_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_11_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_11_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_12_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_12_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_12_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_13_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_13_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_13_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_14_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_14_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_14_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+uint8_t PH_set_all_channel_15_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_set_all_channel_15_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_set_all_channel_15_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+int PH_pulse_once_pack(
+ uint8_t *dst_p,
+ const struct PH_pulse_once_t *src_p,
+ size_t size)
+{
+ if (size < 4u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 4);
+
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_0, 0u, 0x01u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_1, 1u, 0x02u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_2, 2u, 0x04u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_3, 3u, 0x08u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_4, 4u, 0x10u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_5, 5u, 0x20u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_6, 6u, 0x40u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_7, 7u, 0x80u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_8, 0u, 0x01u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_9, 1u, 0x02u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_10, 2u, 0x04u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_11, 3u, 0x08u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_12, 4u, 0x10u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_13, 5u, 0x20u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_14, 6u, 0x40u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_15, 7u, 0x80u);
+ dst_p[2] |= pack_left_shift_u16(src_p->pulse_length_ms, 0u, 0xffu);
+ dst_p[3] |= pack_right_shift_u16(src_p->pulse_length_ms, 8u, 0xffu);
+
+ return (4);
+}
+
+int PH_pulse_once_unpack(
+ struct PH_pulse_once_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 4u) {
+ return (-EINVAL);
+ }
+
+ dst_p->channel_0 = unpack_right_shift_u8(src_p[0], 0u, 0x01u);
+ dst_p->channel_1 = unpack_right_shift_u8(src_p[0], 1u, 0x02u);
+ dst_p->channel_2 = unpack_right_shift_u8(src_p[0], 2u, 0x04u);
+ dst_p->channel_3 = unpack_right_shift_u8(src_p[0], 3u, 0x08u);
+ dst_p->channel_4 = unpack_right_shift_u8(src_p[0], 4u, 0x10u);
+ dst_p->channel_5 = unpack_right_shift_u8(src_p[0], 5u, 0x20u);
+ dst_p->channel_6 = unpack_right_shift_u8(src_p[0], 6u, 0x40u);
+ dst_p->channel_7 = unpack_right_shift_u8(src_p[0], 7u, 0x80u);
+ dst_p->channel_8 = unpack_right_shift_u8(src_p[1], 0u, 0x01u);
+ dst_p->channel_9 = unpack_right_shift_u8(src_p[1], 1u, 0x02u);
+ dst_p->channel_10 = unpack_right_shift_u8(src_p[1], 2u, 0x04u);
+ dst_p->channel_11 = unpack_right_shift_u8(src_p[1], 3u, 0x08u);
+ dst_p->channel_12 = unpack_right_shift_u8(src_p[1], 4u, 0x10u);
+ dst_p->channel_13 = unpack_right_shift_u8(src_p[1], 5u, 0x20u);
+ dst_p->channel_14 = unpack_right_shift_u8(src_p[1], 6u, 0x40u);
+ dst_p->channel_15 = unpack_right_shift_u8(src_p[1], 7u, 0x80u);
+ dst_p->pulse_length_ms = unpack_right_shift_u16(src_p[2], 0u, 0xffu);
+ dst_p->pulse_length_ms |= unpack_left_shift_u16(src_p[3], 8u, 0xffu);
+
+ return (0);
+}
+
+uint8_t PH_pulse_once_channel_0_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_0_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_0_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_1_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_1_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_1_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_2_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_2_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_2_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_3_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_3_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_3_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_4_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_4_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_4_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_5_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_5_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_5_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_6_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_6_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_6_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_7_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_7_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_7_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_8_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_8_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_8_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_9_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_9_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_9_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_10_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_10_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_10_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_11_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_11_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_11_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_12_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_12_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_12_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_13_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_13_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_13_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_14_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_14_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_14_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_pulse_once_channel_15_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_pulse_once_channel_15_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_channel_15_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint16_t PH_pulse_once_pulse_length_ms_encode(double value)
+{
+ return (uint16_t)(value);
+}
+
+double PH_pulse_once_pulse_length_ms_decode(uint16_t value)
+{
+ return ((double)value);
+}
+
+bool PH_pulse_once_pulse_length_ms_is_in_range(uint16_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+int PH_status0_pack(
+ uint8_t *dst_p,
+ const struct PH_status0_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 8);
+
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_0, 0u, 0x01u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_1, 1u, 0x02u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_2, 2u, 0x04u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_3, 3u, 0x08u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_4, 4u, 0x10u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_5, 5u, 0x20u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_6, 6u, 0x40u);
+ dst_p[0] |= pack_left_shift_u8(src_p->channel_7, 7u, 0x80u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_8, 0u, 0x01u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_9, 1u, 0x02u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_10, 2u, 0x04u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_11, 3u, 0x08u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_12, 4u, 0x10u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_13, 5u, 0x20u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_14, 6u, 0x40u);
+ dst_p[1] |= pack_left_shift_u8(src_p->channel_15, 7u, 0x80u);
+ dst_p[2] |= pack_left_shift_u8(src_p->analog_0, 0u, 0xffu);
+ dst_p[3] |= pack_left_shift_u8(src_p->analog_1, 0u, 0xffu);
+ dst_p[4] |= pack_left_shift_u8(src_p->digital_sensor, 0u, 0x01u);
+ dst_p[4] |= pack_left_shift_u8(src_p->brownout, 1u, 0x02u);
+ dst_p[4] |= pack_left_shift_u8(src_p->compressor_oc, 2u, 0x04u);
+ dst_p[4] |= pack_left_shift_u8(src_p->compressor_open, 3u, 0x08u);
+ dst_p[4] |= pack_left_shift_u8(src_p->solenoid_oc, 4u, 0x10u);
+ dst_p[4] |= pack_left_shift_u8(src_p->can_warning, 5u, 0x20u);
+ dst_p[4] |= pack_left_shift_u8(src_p->hardware_fault, 6u, 0x40u);
+ dst_p[5] |= pack_left_shift_u8(src_p->channel_0_fault, 0u, 0x01u);
+ dst_p[5] |= pack_left_shift_u8(src_p->channel_1_fault, 1u, 0x02u);
+ dst_p[5] |= pack_left_shift_u8(src_p->channel_2_fault, 2u, 0x04u);
+ dst_p[5] |= pack_left_shift_u8(src_p->channel_3_fault, 3u, 0x08u);
+ dst_p[5] |= pack_left_shift_u8(src_p->channel_4_fault, 4u, 0x10u);
+ dst_p[5] |= pack_left_shift_u8(src_p->channel_5_fault, 5u, 0x20u);
+ dst_p[5] |= pack_left_shift_u8(src_p->channel_6_fault, 6u, 0x40u);
+ dst_p[5] |= pack_left_shift_u8(src_p->channel_7_fault, 7u, 0x80u);
+ dst_p[6] |= pack_left_shift_u8(src_p->channel_8_fault, 0u, 0x01u);
+ dst_p[6] |= pack_left_shift_u8(src_p->channel_9_fault, 1u, 0x02u);
+ dst_p[6] |= pack_left_shift_u8(src_p->channel_10_fault, 2u, 0x04u);
+ dst_p[6] |= pack_left_shift_u8(src_p->channel_11_fault, 3u, 0x08u);
+ dst_p[6] |= pack_left_shift_u8(src_p->channel_12_fault, 4u, 0x10u);
+ dst_p[6] |= pack_left_shift_u8(src_p->channel_13_fault, 5u, 0x20u);
+ dst_p[6] |= pack_left_shift_u8(src_p->channel_14_fault, 6u, 0x40u);
+ dst_p[6] |= pack_left_shift_u8(src_p->channel_15_fault, 7u, 0x80u);
+ dst_p[7] |= pack_left_shift_u8(src_p->compressor_on, 0u, 0x01u);
+ dst_p[7] |= pack_left_shift_u8(src_p->system_enabled, 1u, 0x02u);
+
+ return (8);
+}
+
+int PH_status0_unpack(
+ struct PH_status0_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ dst_p->channel_0 = unpack_right_shift_u8(src_p[0], 0u, 0x01u);
+ dst_p->channel_1 = unpack_right_shift_u8(src_p[0], 1u, 0x02u);
+ dst_p->channel_2 = unpack_right_shift_u8(src_p[0], 2u, 0x04u);
+ dst_p->channel_3 = unpack_right_shift_u8(src_p[0], 3u, 0x08u);
+ dst_p->channel_4 = unpack_right_shift_u8(src_p[0], 4u, 0x10u);
+ dst_p->channel_5 = unpack_right_shift_u8(src_p[0], 5u, 0x20u);
+ dst_p->channel_6 = unpack_right_shift_u8(src_p[0], 6u, 0x40u);
+ dst_p->channel_7 = unpack_right_shift_u8(src_p[0], 7u, 0x80u);
+ dst_p->channel_8 = unpack_right_shift_u8(src_p[1], 0u, 0x01u);
+ dst_p->channel_9 = unpack_right_shift_u8(src_p[1], 1u, 0x02u);
+ dst_p->channel_10 = unpack_right_shift_u8(src_p[1], 2u, 0x04u);
+ dst_p->channel_11 = unpack_right_shift_u8(src_p[1], 3u, 0x08u);
+ dst_p->channel_12 = unpack_right_shift_u8(src_p[1], 4u, 0x10u);
+ dst_p->channel_13 = unpack_right_shift_u8(src_p[1], 5u, 0x20u);
+ dst_p->channel_14 = unpack_right_shift_u8(src_p[1], 6u, 0x40u);
+ dst_p->channel_15 = unpack_right_shift_u8(src_p[1], 7u, 0x80u);
+ dst_p->analog_0 = unpack_right_shift_u8(src_p[2], 0u, 0xffu);
+ dst_p->analog_1 = unpack_right_shift_u8(src_p[3], 0u, 0xffu);
+ dst_p->digital_sensor = unpack_right_shift_u8(src_p[4], 0u, 0x01u);
+ dst_p->brownout = unpack_right_shift_u8(src_p[4], 1u, 0x02u);
+ dst_p->compressor_oc = unpack_right_shift_u8(src_p[4], 2u, 0x04u);
+ dst_p->compressor_open = unpack_right_shift_u8(src_p[4], 3u, 0x08u);
+ dst_p->solenoid_oc = unpack_right_shift_u8(src_p[4], 4u, 0x10u);
+ dst_p->can_warning = unpack_right_shift_u8(src_p[4], 5u, 0x20u);
+ dst_p->hardware_fault = unpack_right_shift_u8(src_p[4], 6u, 0x40u);
+ dst_p->channel_0_fault = unpack_right_shift_u8(src_p[5], 0u, 0x01u);
+ dst_p->channel_1_fault = unpack_right_shift_u8(src_p[5], 1u, 0x02u);
+ dst_p->channel_2_fault = unpack_right_shift_u8(src_p[5], 2u, 0x04u);
+ dst_p->channel_3_fault = unpack_right_shift_u8(src_p[5], 3u, 0x08u);
+ dst_p->channel_4_fault = unpack_right_shift_u8(src_p[5], 4u, 0x10u);
+ dst_p->channel_5_fault = unpack_right_shift_u8(src_p[5], 5u, 0x20u);
+ dst_p->channel_6_fault = unpack_right_shift_u8(src_p[5], 6u, 0x40u);
+ dst_p->channel_7_fault = unpack_right_shift_u8(src_p[5], 7u, 0x80u);
+ dst_p->channel_8_fault = unpack_right_shift_u8(src_p[6], 0u, 0x01u);
+ dst_p->channel_9_fault = unpack_right_shift_u8(src_p[6], 1u, 0x02u);
+ dst_p->channel_10_fault = unpack_right_shift_u8(src_p[6], 2u, 0x04u);
+ dst_p->channel_11_fault = unpack_right_shift_u8(src_p[6], 3u, 0x08u);
+ dst_p->channel_12_fault = unpack_right_shift_u8(src_p[6], 4u, 0x10u);
+ dst_p->channel_13_fault = unpack_right_shift_u8(src_p[6], 5u, 0x20u);
+ dst_p->channel_14_fault = unpack_right_shift_u8(src_p[6], 6u, 0x40u);
+ dst_p->channel_15_fault = unpack_right_shift_u8(src_p[6], 7u, 0x80u);
+ dst_p->compressor_on = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
+ dst_p->system_enabled = unpack_right_shift_u8(src_p[7], 1u, 0x02u);
+
+ return (0);
+}
+
+uint8_t PH_status0_channel_0_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_0_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_0_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_1_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_1_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_1_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_2_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_2_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_2_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_3_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_3_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_3_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_4_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_4_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_4_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_5_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_5_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_5_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_6_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_6_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_6_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_7_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_7_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_7_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_8_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_8_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_8_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_9_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_9_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_9_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_10_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_10_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_10_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_11_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_11_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_11_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_12_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_12_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_12_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_13_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_13_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_13_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_14_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_14_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_14_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_15_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_15_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_15_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_analog_0_encode(double value)
+{
+ return (uint8_t)(value / 0.01961);
+}
+
+double PH_status0_analog_0_decode(uint8_t value)
+{
+ return ((double)value * 0.01961);
+}
+
+bool PH_status0_analog_0_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PH_status0_analog_1_encode(double value)
+{
+ return (uint8_t)(value / 0.01961);
+}
+
+double PH_status0_analog_1_decode(uint8_t value)
+{
+ return ((double)value * 0.01961);
+}
+
+bool PH_status0_analog_1_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PH_status0_digital_sensor_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_digital_sensor_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_digital_sensor_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_compressor_oc_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_compressor_oc_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_compressor_oc_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_compressor_open_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_compressor_open_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_compressor_open_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_solenoid_oc_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_solenoid_oc_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_solenoid_oc_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_can_warning_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_can_warning_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_can_warning_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_hardware_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_hardware_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_hardware_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_0_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_0_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_0_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_1_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_1_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_1_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_2_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_2_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_2_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_3_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_3_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_3_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_4_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_4_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_4_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_5_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_5_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_5_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_6_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_6_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_6_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_7_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_7_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_7_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_8_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_8_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_8_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_9_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_9_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_9_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_10_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_10_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_10_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_11_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_11_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_11_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_12_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_12_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_12_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_13_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_13_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_13_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_14_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_14_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_14_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_channel_15_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_channel_15_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_channel_15_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_compressor_on_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_compressor_on_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_compressor_on_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status0_system_enabled_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status0_system_enabled_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status0_system_enabled_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+int PH_status1_pack(
+ uint8_t *dst_p,
+ const struct PH_status1_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 8);
+
+ dst_p[0] |= pack_left_shift_u8(src_p->v_bus, 0u, 0xffu);
+ dst_p[1] |= pack_left_shift_u16(src_p->solenoid_voltage, 0u, 0xffu);
+ dst_p[2] |= pack_right_shift_u16(src_p->solenoid_voltage, 8u, 0x0fu);
+ dst_p[4] |= pack_left_shift_u8(src_p->compressor_current, 0u, 0xffu);
+ dst_p[5] |= pack_left_shift_u8(src_p->solenoid_current, 0u, 0xffu);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_brownout, 0u, 0x01u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_compressor_over_current, 1u, 0x02u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_compressor_not_present, 2u, 0x04u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_solenoid_over_current, 3u, 0x08u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_can_warning, 4u, 0x10u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_can_bus_off, 5u, 0x20u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_hardware_fault, 6u, 0x40u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_firmware_fault, 7u, 0x80u);
+ dst_p[7] |= pack_left_shift_u8(src_p->sticky_has_reset, 0u, 0x01u);
+
+ return (8);
+}
+
+int PH_status1_unpack(
+ struct PH_status1_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ dst_p->v_bus = unpack_right_shift_u8(src_p[0], 0u, 0xffu);
+ dst_p->solenoid_voltage = unpack_right_shift_u16(src_p[1], 0u, 0xffu);
+ dst_p->solenoid_voltage |= unpack_left_shift_u16(src_p[2], 8u, 0x0fu);
+ dst_p->compressor_current = unpack_right_shift_u8(src_p[4], 0u, 0xffu);
+ dst_p->solenoid_current = unpack_right_shift_u8(src_p[5], 0u, 0xffu);
+ dst_p->sticky_brownout = unpack_right_shift_u8(src_p[6], 0u, 0x01u);
+ dst_p->sticky_compressor_over_current = unpack_right_shift_u8(src_p[6], 1u, 0x02u);
+ dst_p->sticky_compressor_not_present = unpack_right_shift_u8(src_p[6], 2u, 0x04u);
+ dst_p->sticky_solenoid_over_current = unpack_right_shift_u8(src_p[6], 3u, 0x08u);
+ dst_p->sticky_can_warning = unpack_right_shift_u8(src_p[6], 4u, 0x10u);
+ dst_p->sticky_can_bus_off = unpack_right_shift_u8(src_p[6], 5u, 0x20u);
+ dst_p->sticky_hardware_fault = unpack_right_shift_u8(src_p[6], 6u, 0x40u);
+ dst_p->sticky_firmware_fault = unpack_right_shift_u8(src_p[6], 7u, 0x80u);
+ dst_p->sticky_has_reset = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
+
+ return (0);
+}
+
+uint8_t PH_status1_v_bus_encode(double value)
+{
+ return (uint8_t)((value - 4.0) / 0.0625);
+}
+
+double PH_status1_v_bus_decode(uint8_t value)
+{
+ return (((double)value * 0.0625) + 4.0);
+}
+
+bool PH_status1_v_bus_is_in_range(uint8_t value)
+{
+ return (value <= 192u);
+}
+
+uint16_t PH_status1_solenoid_voltage_encode(double value)
+{
+ return (uint16_t)(value / 0.0078125);
+}
+
+double PH_status1_solenoid_voltage_decode(uint16_t value)
+{
+ return ((double)value * 0.0078125);
+}
+
+bool PH_status1_solenoid_voltage_is_in_range(uint16_t value)
+{
+ return (value <= 4096u);
+}
+
+uint8_t PH_status1_compressor_current_encode(double value)
+{
+ return (uint8_t)(value / 0.125);
+}
+
+double PH_status1_compressor_current_decode(uint8_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PH_status1_compressor_current_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PH_status1_solenoid_current_encode(double value)
+{
+ return (uint8_t)(value / 0.125);
+}
+
+double PH_status1_solenoid_current_decode(uint8_t value)
+{
+ return ((double)value * 0.125);
+}
+
+bool PH_status1_solenoid_current_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PH_status1_sticky_brownout_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status1_sticky_brownout_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status1_sticky_brownout_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status1_sticky_compressor_over_current_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status1_sticky_compressor_over_current_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status1_sticky_compressor_over_current_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status1_sticky_compressor_not_present_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status1_sticky_compressor_not_present_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status1_sticky_compressor_not_present_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status1_sticky_solenoid_over_current_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status1_sticky_solenoid_over_current_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status1_sticky_solenoid_over_current_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status1_sticky_can_warning_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status1_sticky_can_warning_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status1_sticky_can_warning_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status1_sticky_can_bus_off_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status1_sticky_can_bus_off_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status1_sticky_can_bus_off_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status1_sticky_hardware_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status1_sticky_hardware_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status1_sticky_hardware_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status1_sticky_firmware_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status1_sticky_firmware_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status1_sticky_firmware_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status1_sticky_has_reset_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status1_sticky_has_reset_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status1_sticky_has_reset_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
diff --git a/hal/src/main/native/athena/rev/PHFrames.h b/hal/src/main/native/athena/rev/PHFrames.h
new file mode 100644
index 0000000..295be0a
--- /dev/null
+++ b/hal/src/main/native/athena/rev/PHFrames.h
@@ -0,0 +1,3249 @@
+/**
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018-2019 Erik Moqvist
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/**
+ * This file was generated by cantools version
+ */
+
+#ifndef PH_H
+#define PH_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+
+#ifndef EINVAL
+# define EINVAL 22
+#endif
+
+/* Frame ids. */
+#define PH_SET_ALL_FRAME_ID (0x9050c00u)
+#define PH_PULSE_ONCE_FRAME_ID (0x9050c40u)
+#define PH_STATUS0_FRAME_ID (0x9051800u)
+#define PH_STATUS1_FRAME_ID (0x9051840u)
+
+/* Frame lengths in bytes. */
+#define PH_SET_ALL_LENGTH (4u)
+#define PH_PULSE_ONCE_LENGTH (4u)
+#define PH_STATUS0_LENGTH (8u)
+#define PH_STATUS1_LENGTH (8u)
+
+/* Extended or standard frame types. */
+#define PH_SET_ALL_IS_EXTENDED (1)
+#define PH_PULSE_ONCE_IS_EXTENDED (1)
+#define PH_STATUS0_IS_EXTENDED (1)
+#define PH_STATUS1_IS_EXTENDED (1)
+
+/* Frame cycle times in milliseconds. */
+
+
+/* Signal choices. */
+
+
+/**
+ * Signals in message SetAll.
+ *
+ * Set state of all channels
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PH_set_all_t {
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_0 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_1 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_2 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_3 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_4 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_5 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_6 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_7 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_8 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_9 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_10 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_11 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_12 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_13 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_14 : 2;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_15 : 2;
+};
+
+/**
+ * Signals in message PulseOnce.
+ *
+ * Pulse selected channels once
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PH_pulse_once_t {
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_0 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_1 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_2 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_3 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_4 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_5 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_6 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_7 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_8 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_9 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_10 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_11 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_12 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_13 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_14 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_15 : 1;
+
+ /**
+ * Range: 0..65535 (0..65535 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint16_t pulse_length_ms : 16;
+};
+
+/**
+ * Signals in message Status0.
+ *
+ * Periodic status frame 0
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PH_status0_t {
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_0 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_1 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_2 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_3 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_4 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_5 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_6 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_7 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_8 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_9 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_10 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_11 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_12 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_13 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_14 : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_15 : 1;
+
+ /**
+ * Range: 0..255 (0..5.00055 V)
+ * Scale: 0.01961
+ * Offset: 0
+ */
+ uint8_t analog_0 : 8;
+
+ /**
+ * Range: 0..255 (0..5.00055 V)
+ * Scale: 0.01961
+ * Offset: 0
+ */
+ uint8_t analog_1 : 8;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t digital_sensor : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t compressor_oc : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t compressor_open : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t solenoid_oc : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t can_warning : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t hardware_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_0_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_1_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_2_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_3_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_4_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_5_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_6_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_7_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_8_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_9_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_10_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_11_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_12_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_13_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_14_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t channel_15_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t compressor_on : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t system_enabled : 1;
+};
+
+/**
+ * Signals in message Status1.
+ *
+ * Periodic status frame 1
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PH_status1_t {
+ /**
+ * Range: 0..192 (4..16 V)
+ * Scale: 0.0625
+ * Offset: 4
+ */
+ uint8_t v_bus : 8;
+
+ /**
+ * Range: 0..4096 (0..32 V)
+ * Scale: 0.0078125
+ * Offset: 0
+ */
+ uint16_t solenoid_voltage : 12;
+
+ /**
+ * Range: 0..256 (0..32 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint8_t compressor_current : 8;
+
+ /**
+ * Range: 0..256 (0..32 A)
+ * Scale: 0.125
+ * Offset: 0
+ */
+ uint8_t solenoid_current : 8;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_brownout : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_compressor_over_current : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_compressor_not_present : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_solenoid_over_current : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_can_warning : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_can_bus_off : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_hardware_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_firmware_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_has_reset : 1;
+};
+
+/**
+ * Pack message SetAll.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PH_set_all_pack(
+ uint8_t *dst_p,
+ const struct PH_set_all_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message SetAll.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PH_set_all_unpack(
+ struct PH_set_all_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_0_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_0_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_0_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_1_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_1_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_1_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_2_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_2_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_2_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_3_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_3_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_3_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_4_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_4_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_4_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_5_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_5_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_5_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_6_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_6_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_6_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_7_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_7_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_7_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_8_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_8_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_8_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_9_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_9_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_9_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_10_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_10_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_10_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_11_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_11_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_11_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_12_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_12_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_12_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_13_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_13_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_13_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_14_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_14_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_14_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_set_all_channel_15_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_set_all_channel_15_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_set_all_channel_15_is_in_range(uint8_t value);
+
+/**
+ * Pack message PulseOnce.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PH_pulse_once_pack(
+ uint8_t *dst_p,
+ const struct PH_pulse_once_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message PulseOnce.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PH_pulse_once_unpack(
+ struct PH_pulse_once_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_0_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_0_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_0_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_1_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_1_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_1_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_2_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_2_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_2_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_3_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_3_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_3_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_4_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_4_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_4_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_5_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_5_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_5_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_6_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_6_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_6_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_7_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_7_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_7_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_8_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_8_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_8_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_9_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_9_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_9_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_10_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_10_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_10_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_11_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_11_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_11_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_12_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_12_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_12_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_13_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_13_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_13_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_14_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_14_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_14_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_pulse_once_channel_15_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_channel_15_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_channel_15_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PH_pulse_once_pulse_length_ms_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_pulse_once_pulse_length_ms_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_pulse_once_pulse_length_ms_is_in_range(uint16_t value);
+
+/**
+ * Pack message Status0.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PH_status0_pack(
+ uint8_t *dst_p,
+ const struct PH_status0_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Status0.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PH_status0_unpack(
+ struct PH_status0_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_0_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_0_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_0_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_1_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_1_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_1_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_2_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_2_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_2_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_3_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_3_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_3_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_4_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_4_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_4_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_5_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_5_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_5_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_6_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_6_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_6_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_7_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_7_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_7_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_8_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_8_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_8_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_9_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_9_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_9_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_10_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_10_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_10_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_11_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_11_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_11_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_12_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_12_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_12_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_13_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_13_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_13_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_14_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_14_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_14_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_15_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_15_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_15_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_analog_0_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_analog_0_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_analog_0_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_analog_1_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_analog_1_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_analog_1_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_digital_sensor_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_digital_sensor_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_digital_sensor_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_compressor_oc_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_compressor_oc_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_compressor_oc_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_compressor_open_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_compressor_open_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_compressor_open_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_solenoid_oc_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_solenoid_oc_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_solenoid_oc_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_can_warning_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_can_warning_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_can_warning_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_hardware_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_hardware_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_hardware_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_0_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_0_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_0_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_1_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_1_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_1_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_2_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_2_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_2_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_3_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_3_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_3_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_4_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_4_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_4_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_5_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_5_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_5_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_6_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_6_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_6_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_7_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_7_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_7_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_8_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_8_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_8_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_9_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_9_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_9_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_10_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_10_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_10_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_11_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_11_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_11_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_12_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_12_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_12_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_13_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_13_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_13_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_14_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_14_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_14_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_channel_15_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_channel_15_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_channel_15_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_compressor_on_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_compressor_on_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_compressor_on_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status0_system_enabled_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status0_system_enabled_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status0_system_enabled_is_in_range(uint8_t value);
+
+/**
+ * Pack message Status1.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PH_status1_pack(
+ uint8_t *dst_p,
+ const struct PH_status1_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Status1.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PH_status1_unpack(
+ struct PH_status1_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_v_bus_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_v_bus_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_v_bus_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PH_status1_solenoid_voltage_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_solenoid_voltage_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_solenoid_voltage_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_compressor_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_compressor_current_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_compressor_current_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_solenoid_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_solenoid_current_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_solenoid_current_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_sticky_brownout_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_sticky_brownout_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_sticky_brownout_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_sticky_compressor_over_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_sticky_compressor_over_current_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_sticky_compressor_over_current_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_sticky_compressor_not_present_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_sticky_compressor_not_present_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_sticky_compressor_not_present_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_sticky_solenoid_over_current_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_sticky_solenoid_over_current_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_sticky_solenoid_over_current_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_sticky_can_warning_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_sticky_can_warning_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_sticky_can_warning_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_sticky_can_bus_off_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_sticky_can_bus_off_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_sticky_can_bus_off_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_sticky_hardware_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_sticky_hardware_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_sticky_hardware_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_sticky_firmware_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_sticky_firmware_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_sticky_firmware_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status1_sticky_has_reset_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status1_sticky_has_reset_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status1_sticky_has_reset_is_in_range(uint8_t value);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/hal/src/main/native/cpp/ErrorHandling.cpp b/hal/src/main/native/cpp/ErrorHandling.cpp
new file mode 100644
index 0000000..ad1b40b
--- /dev/null
+++ b/hal/src/main/native/cpp/ErrorHandling.cpp
@@ -0,0 +1,60 @@
+// 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.
+
+#include <fmt/format.h>
+#include <wpi/SmallString.h>
+
+#include "hal/Errors.h"
+#include "hal/HALBase.h"
+
+namespace {
+struct LastErrorStorage {
+ int32_t status;
+ wpi::SmallString<512> message;
+};
+} // namespace
+
+static LastErrorStorage& GetThreadLastError() {
+ thread_local LastErrorStorage lastError;
+ return lastError;
+}
+
+namespace hal {
+void SetLastError(int32_t* status, std::string_view value) {
+ LastErrorStorage& lastError = GetThreadLastError();
+ lastError.message = value;
+ lastError.status = *status;
+ *status = HAL_USE_LAST_ERROR;
+}
+
+void SetLastErrorIndexOutOfRange(int32_t* status, std::string_view message,
+ int32_t minimum, int32_t maximum,
+ int32_t requested) {
+ SetLastError(
+ status,
+ fmt::format("{}\n Status: {}\n Minimum: {} Maximum: {} Requested: {}",
+ message, *status, minimum, maximum, requested));
+}
+
+void SetLastErrorPreviouslyAllocated(int32_t* status, std::string_view message,
+ int32_t channel,
+ std::string_view previousAllocation) {
+ hal::SetLastError(status,
+ fmt::format("{} {} previously allocated.\n"
+ "Location of the previous allocation:\n{}\n"
+ "Location of the current allocation:",
+ message, channel, previousAllocation));
+}
+} // namespace hal
+
+extern "C" {
+const char* HAL_GetLastError(int32_t* status) {
+ if (*status == HAL_USE_LAST_ERROR) {
+ LastErrorStorage& lastError = GetThreadLastError();
+ *status = lastError.status;
+ return lastError.message.c_str();
+ }
+ return HAL_GetErrorMessage(*status);
+}
+} // extern "C"
diff --git a/hal/src/main/native/cpp/Main.cpp b/hal/src/main/native/cpp/Main.cpp
index a37c2b0..a43a108 100644
--- a/hal/src/main/native/cpp/Main.cpp
+++ b/hal/src/main/native/cpp/Main.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Main.h"
@@ -36,14 +33,12 @@
mainObj->gExitCv.notify_all();
}
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeMain() {
static MainObj mO;
mainObj = &mO;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -55,10 +50,16 @@
gExitFunc = exitFunc;
}
-HAL_Bool HAL_HasMain(void) { return gHasMain; }
+HAL_Bool HAL_HasMain(void) {
+ return gHasMain;
+}
-void HAL_RunMain(void) { gMainFunc(gMainParam); }
+void HAL_RunMain(void) {
+ gMainFunc(gMainParam);
+}
-void HAL_ExitMain(void) { gExitFunc(gMainParam); }
+void HAL_ExitMain(void) {
+ gExitFunc(gMainParam);
+}
} // extern "C"
diff --git a/hal/src/main/native/cpp/cpp/fpga_clock.cpp b/hal/src/main/native/cpp/cpp/fpga_clock.cpp
index ae65ee7..550596a 100644
--- a/hal/src/main/native/cpp/cpp/fpga_clock.cpp
+++ b/hal/src/main/native/cpp/cpp/fpga_clock.cpp
@@ -1,15 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/cpp/fpga_clock.h"
+#include <cstdio>
#include <limits>
-#include <wpi/raw_ostream.h>
+#include <fmt/format.h>
#include "hal/HALBase.h"
@@ -22,11 +20,12 @@
int32_t status = 0;
uint64_t currentTime = HAL_GetFPGATime(&status);
if (status != 0) {
- wpi::errs()
- << "Call to HAL_GetFPGATime failed in fpga_clock::now() with status "
- << status
- << ". Initialization might have failed. Time will not be correct\n";
- wpi::errs().flush();
+ fmt::print(
+ stderr,
+ "Call to HAL_GetFPGATime failed in fpga_clock::now() with status {}. "
+ "Initialization might have failed. Time will not be correct\n",
+ status);
+ std::fflush(stderr);
return epoch();
}
return time_point(std::chrono::microseconds(currentTime));
diff --git a/hal/src/main/native/cpp/handles/HandlesInternal.cpp b/hal/src/main/native/cpp/handles/HandlesInternal.cpp
index 5e66ce1..80dca71 100644
--- a/hal/src/main/native/cpp/handles/HandlesInternal.cpp
+++ b/hal/src/main/native/cpp/handles/HandlesInternal.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/handles/HandlesInternal.h"
@@ -80,9 +77,13 @@
}
HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
int16_t version) {
- if (index < 0) return HAL_kInvalidHandle;
+ if (index < 0) {
+ return HAL_kInvalidHandle;
+ }
uint8_t hType = static_cast<uint8_t>(handleType);
- if (hType == 0 || hType > 127) return HAL_kInvalidHandle;
+ if (hType == 0 || hType > 127) {
+ return HAL_kInvalidHandle;
+ }
// set last 8 bits, then shift to first 8 bits
HAL_Handle handle = hType;
handle = handle << 8;
diff --git a/hal/src/main/native/cpp/jni/AccelerometerJNI.cpp b/hal/src/main/native/cpp/jni/AccelerometerJNI.cpp
index 6d0d256..d2c107e 100644
--- a/hal/src/main/native/cpp/jni/AccelerometerJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AccelerometerJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
index 3d74b24..75da176 100644
--- a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp b/hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp
index c06e513..154301f 100644
--- a/hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
#include <cassert>
+#include <wpi/jni_util.h>
+
#include "HALUtil.h"
#include "edu_wpi_first_hal_AnalogGyroJNI.h"
#include "hal/AnalogGyro.h"
@@ -27,8 +26,9 @@
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
- HAL_GyroHandle handle =
- HAL_InitializeAnalogGyro((HAL_AnalogInputHandle)id, &status);
+ auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+ HAL_GyroHandle handle = HAL_InitializeAnalogGyro((HAL_AnalogInputHandle)id,
+ stack.c_str(), &status);
// Analog input does range checking, so we don't need to do so.
CheckStatusForceThrow(env, status);
return (jint)handle;
diff --git a/hal/src/main/native/cpp/jni/AnalogJNI.cpp b/hal/src/main/native/cpp/jni/AnalogJNI.cpp
index 8b920ac..a2cccb6 100644
--- a/hal/src/main/native/cpp/jni/AnalogJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AnalogJNI.cpp
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
#include <cassert>
+#include <wpi/jni_util.h>
+
#include "HALUtil.h"
#include "edu_wpi_first_hal_AnalogJNI.h"
#include "hal/AnalogAccumulator.h"
@@ -32,9 +31,10 @@
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
- auto analog = HAL_InitializeAnalogInputPort((HAL_PortHandle)id, &status);
- CheckStatusRange(env, status, 0, HAL_GetNumAnalogInputs(),
- hal::getPortHandleChannel((HAL_PortHandle)id));
+ auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+ auto analog =
+ HAL_InitializeAnalogInputPort((HAL_PortHandle)id, stack.c_str(), &status);
+ CheckStatusForceThrow(env, status);
return (jint)analog;
}
@@ -60,10 +60,10 @@
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
- HAL_AnalogOutputHandle analog =
- HAL_InitializeAnalogOutputPort((HAL_PortHandle)id, &status);
- CheckStatusRange(env, status, 0, HAL_GetNumAnalogOutputs(),
- hal::getPortHandleChannel((HAL_PortHandle)id));
+ auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+ HAL_AnalogOutputHandle analog = HAL_InitializeAnalogOutputPort(
+ (HAL_PortHandle)id, stack.c_str(), &status);
+ CheckStatusForceThrow(env, status);
return (jlong)analog;
}
@@ -298,6 +298,22 @@
/*
* Class: edu_wpi_first_hal_AnalogJNI
+ * Method: getAnalogValueToVolts
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_AnalogJNI_getAnalogValueToVolts
+ (JNIEnv* env, jclass, jint id, jint rawValue)
+{
+ int32_t status = 0;
+ jdouble returnValue =
+ HAL_GetAnalogValueToVolts((HAL_AnalogInputHandle)id, rawValue, &status);
+ CheckStatus(env, status);
+ return returnValue;
+}
+
+/*
+ * Class: edu_wpi_first_hal_AnalogJNI
* Method: getAnalogVoltage
* Signature: (I)D
*/
diff --git a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
index f42cc2f..106167a 100644
--- a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
@@ -1,17 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
#include <cassert>
-#include <wpi/SmallString.h>
#include <wpi/jni_util.h>
-#include <wpi/raw_ostream.h>
#include "HALUtil.h"
#include "edu_wpi_first_hal_CANAPIJNI.h"
@@ -197,11 +192,15 @@
if (!CheckStatus(env, status)) {
return false;
}
- if (dataLength > 8) dataLength = 8;
+ if (dataLength > 8) {
+ dataLength = 8;
+ }
jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
auto javaLen = env->GetArrayLength(toSetArray);
- if (javaLen < dataLength) dataLength = javaLen;
+ if (javaLen < dataLength) {
+ dataLength = javaLen;
+ }
env->SetByteArrayRegion(toSetArray, 0, dataLength,
reinterpret_cast<jbyte*>(dataTemp));
return true;
@@ -229,11 +228,15 @@
if (!CheckStatus(env, status)) {
return false;
}
- if (dataLength > 8) dataLength = 8;
+ if (dataLength > 8) {
+ dataLength = 8;
+ }
jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
auto javaLen = env->GetArrayLength(toSetArray);
- if (javaLen < dataLength) dataLength = javaLen;
+ if (javaLen < dataLength) {
+ dataLength = javaLen;
+ }
env->SetByteArrayRegion(toSetArray, 0, dataLength,
reinterpret_cast<jbyte*>(dataTemp));
return true;
@@ -262,11 +265,15 @@
if (!CheckStatus(env, status)) {
return false;
}
- if (dataLength > 8) dataLength = 8;
+ if (dataLength > 8) {
+ dataLength = 8;
+ }
jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
auto javaLen = env->GetArrayLength(toSetArray);
- if (javaLen < dataLength) dataLength = javaLen;
+ if (javaLen < dataLength) {
+ dataLength = javaLen;
+ }
env->SetByteArrayRegion(toSetArray, 0, dataLength,
reinterpret_cast<jbyte*>(dataTemp));
return true;
diff --git a/hal/src/main/native/cpp/jni/CANJNI.cpp b/hal/src/main/native/cpp/jni/CANJNI.cpp
index 42b484b..968f656 100644
--- a/hal/src/main/native/cpp/jni/CANJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANJNI.cpp
@@ -1,17 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
#include <cassert>
-#include <wpi/SmallString.h>
#include <wpi/jni_util.h>
-#include <wpi/raw_ostream.h>
#include "HALUtil.h"
#include "edu_wpi_first_hal_can_CANJNI.h"
@@ -64,19 +59,21 @@
HAL_CAN_ReceiveMessage(messageIDPtr, messageIDMask, buffer, &dataSize,
timeStampPtr, &status);
- if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
+ if (!CheckCANStatus(env, status, *messageIDPtr)) {
+ return nullptr;
+ }
return MakeJByteArray(env,
- wpi::StringRef{reinterpret_cast<const char*>(buffer),
- static_cast<size_t>(dataSize)});
+ std::string_view{reinterpret_cast<const char*>(buffer),
+ static_cast<size_t>(dataSize)});
}
/*
* Class: edu_wpi_first_hal_can_CANJNI
- * Method: GetCANStatus
+ * Method: getCANStatus
* Signature: (Ljava/lang/Object;)V
*/
JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_can_CANJNI_GetCANStatus
+Java_edu_wpi_first_hal_can_CANJNI_getCANStatus
(JNIEnv* env, jclass, jobject canStatus)
{
float percentBusUtilization = 0;
@@ -88,7 +85,9 @@
HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount,
&receiveErrorCount, &transmitErrorCount, &status);
- if (!CheckStatus(env, status)) return;
+ if (!CheckStatus(env, status)) {
+ return;
+ }
SetCanStatusObject(env, canStatus, percentBusUtilization, busOffCount,
txFullCount, receiveErrorCount, transmitErrorCount);
diff --git a/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp b/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp
new file mode 100644
index 0000000..4d22f66
--- /dev/null
+++ b/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp
@@ -0,0 +1,340 @@
+// 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.
+
+#include <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_CTREPCMJNI.h"
+#include "hal/CTREPCM.h"
+#include "hal/Ports.h"
+#include "hal/handles/HandlesInternal.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: initialize
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_initialize
+ (JNIEnv* env, jclass, jint module)
+{
+ int32_t status = 0;
+ auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+ auto handle = HAL_InitializeCTREPCM(module, stack.c_str(), &status);
+ CheckStatusForceThrow(env, status);
+ return handle;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_free
+ (JNIEnv* env, jclass, jint handle)
+{
+ HAL_FreeCTREPCM(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: checkSolenoidChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_checkSolenoidChannel
+ (JNIEnv*, jclass, jint channel)
+{
+ return HAL_CheckCTREPCMSolenoidChannel(channel);
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getCompressor
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressor
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMCompressor(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: setClosedLoopControl
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_setClosedLoopControl
+ (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+ int32_t status = 0;
+ HAL_SetCTREPCMClosedLoopControl(handle, enabled, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getClosedLoopControl
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getClosedLoopControl
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMClosedLoopControl(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getPressureSwitch
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMPressureSwitch(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorCurrent
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMCompressorCurrent(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getCompressorCurrentTooHighFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorCurrentTooHighFault
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMCompressorCurrentTooHighFault(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getCompressorCurrentTooHighStickyFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorCurrentTooHighStickyFault
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result =
+ HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getCompressorShortedFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorShortedFault
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMCompressorShortedFault(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getCompressorShortedStickyFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorShortedStickyFault
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMCompressorShortedStickyFault(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getCompressorNotConnectedFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorNotConnectedFault
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMCompressorNotConnectedFault(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getCompressorNotConnectedStickyFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorNotConnectedStickyFault
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result =
+ HAL_GetCTREPCMCompressorNotConnectedStickyFault(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getSolenoids
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getSolenoids
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMSolenoids(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: setSolenoids
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_setSolenoids
+ (JNIEnv* env, jclass, jint handle, jint mask, jint value)
+{
+ int32_t status = 0;
+ HAL_SetCTREPCMSolenoids(handle, mask, value, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getSolenoidDisabledList
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getSolenoidDisabledList
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMSolenoidDisabledList(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getSolenoidVoltageFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getSolenoidVoltageFault
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMSolenoidVoltageFault(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: getSolenoidVoltageStickyFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getSolenoidVoltageStickyFault
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetCTREPCMSolenoidVoltageStickyFault(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: clearAllStickyFaults
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_clearAllStickyFaults
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_ClearAllCTREPCMStickyFaults(handle, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: fireOneShot
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_fireOneShot
+ (JNIEnv* env, jclass, jint handle, jint index)
+{
+ int32_t status = 0;
+ HAL_FireCTREPCMOneShot(handle, index, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_CTREPCMJNI
+ * Method: setOneShotDuration
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_setOneShotDuration
+ (JNIEnv* env, jclass, jint handle, jint index, jint durMs)
+{
+ int32_t status = 0;
+ HAL_SetCTREPCMOneShotDuration(handle, index, durMs, &status);
+ CheckStatus(env, status, false);
+}
+} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/CompressorJNI.cpp b/hal/src/main/native/cpp/jni/CompressorJNI.cpp
deleted file mode 100644
index c214c60..0000000
--- a/hal/src/main/native/cpp/jni/CompressorJNI.cpp
+++ /dev/null
@@ -1,233 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "HALUtil.h"
-#include "edu_wpi_first_hal_CompressorJNI.h"
-#include "hal/Compressor.h"
-#include "hal/Ports.h"
-#include "hal/Solenoid.h"
-
-using namespace hal;
-
-extern "C" {
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: initializeCompressor
- * Signature: (B)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_initializeCompressor
- (JNIEnv* env, jclass, jbyte module)
-{
- int32_t status = 0;
- auto handle = HAL_InitializeCompressor(module, &status);
- CheckStatusRange(env, status, 0, HAL_GetNumPCMModules(), module);
-
- return (jint)handle;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: checkCompressorModule
- * Signature: (B)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_checkCompressorModule
- (JNIEnv* env, jclass, jbyte module)
-{
- return HAL_CheckCompressorModule(module);
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressor
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressor
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- bool val = HAL_GetCompressor((HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: setCompressorClosedLoopControl
- * Signature: (IZ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_setCompressorClosedLoopControl
- (JNIEnv* env, jclass, jint compressorHandle, jboolean value)
-{
- int32_t status = 0;
- HAL_SetCompressorClosedLoopControl((HAL_CompressorHandle)compressorHandle,
- value, &status);
- CheckStatus(env, status);
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressorClosedLoopControl
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressorClosedLoopControl
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- bool val = HAL_GetCompressorClosedLoopControl(
- (HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressorPressureSwitch
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressorPressureSwitch
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- bool val = HAL_GetCompressorPressureSwitch(
- (HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressorCurrent
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressorCurrent
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- double val =
- HAL_GetCompressorCurrent((HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressorCurrentTooHighFault
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressorCurrentTooHighFault
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- bool val = HAL_GetCompressorCurrentTooHighFault(
- (HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressorCurrentTooHighStickyFault
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressorCurrentTooHighStickyFault
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- bool val = HAL_GetCompressorCurrentTooHighStickyFault(
- (HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressorShortedStickyFault
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressorShortedStickyFault
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- bool val = HAL_GetCompressorShortedStickyFault(
- (HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressorShortedFault
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressorShortedFault
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- bool val = HAL_GetCompressorShortedFault(
- (HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressorNotConnectedStickyFault
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressorNotConnectedStickyFault
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- bool val = HAL_GetCompressorNotConnectedStickyFault(
- (HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: getCompressorNotConnectedFault
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_getCompressorNotConnectedFault
- (JNIEnv* env, jclass, jint compressorHandle)
-{
- int32_t status = 0;
- bool val = HAL_GetCompressorNotConnectedFault(
- (HAL_CompressorHandle)compressorHandle, &status);
- CheckStatus(env, status);
- return val;
-}
-/*
- * Class: edu_wpi_first_hal_CompressorJNI
- * Method: clearAllPCMStickyFaults
- * Signature: (B)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_CompressorJNI_clearAllPCMStickyFaults
- (JNIEnv* env, jclass, jbyte module)
-{
- int32_t status = 0;
- HAL_ClearAllPCMStickyFaults(static_cast<int32_t>(module), &status);
- CheckStatus(env, status);
-}
-
-} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/ConstantsJNI.cpp b/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
index 9c4aa63..600b7f7 100644
--- a/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
+++ b/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/CounterJNI.cpp b/hal/src/main/native/cpp/jni/CounterJNI.cpp
index 06cbceb..0565d5b 100644
--- a/hal/src/main/native/cpp/jni/CounterJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CounterJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -122,12 +119,6 @@
HAL_SetCounterDownSource((HAL_CounterHandle)id,
(HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
- if (status == PARAMETER_OUT_OF_RANGE) {
- ThrowIllegalArgumentException(env,
- "Counter only supports DownSource in "
- "TwoPulse and ExternalDirection modes.");
- return;
- }
CheckStatus(env, status);
}
@@ -243,10 +234,6 @@
{
int32_t status = 0;
HAL_SetCounterSamplesToAverage((HAL_CounterHandle)id, value, &status);
- if (status == PARAMETER_OUT_OF_RANGE) {
- ThrowBoundaryException(env, value, 1, 127);
- return;
- }
CheckStatus(env, status);
}
diff --git a/hal/src/main/native/cpp/jni/DIOJNI.cpp b/hal/src/main/native/cpp/jni/DIOJNI.cpp
index 428dd99..5cd6c2e 100644
--- a/hal/src/main/native/cpp/jni/DIOJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DIOJNI.cpp
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
#include <cassert>
+#include <wpi/jni_util.h>
+
#include "HALUtil.h"
#include "edu_wpi_first_hal_DIOJNI.h"
#include "hal/DIO.h"
@@ -30,10 +29,10 @@
(JNIEnv* env, jclass, jint id, jboolean input)
{
int32_t status = 0;
- auto dio = HAL_InitializeDIOPort((HAL_PortHandle)id,
- static_cast<uint8_t>(input), &status);
- CheckStatusRange(env, status, 0, HAL_GetNumDigitalChannels(),
- hal::getPortHandleChannel((HAL_PortHandle)id));
+ auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+ auto dio = HAL_InitializeDIOPort(
+ (HAL_PortHandle)id, static_cast<uint8_t>(input), stack.c_str(), &status);
+ CheckStatusForceThrow(env, status);
return (jint)dio;
}
@@ -76,11 +75,11 @@
/*
* Class: edu_wpi_first_hal_DIOJNI
* Method: setDIO
- * Signature: (IS)V
+ * Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_DIOJNI_setDIO
- (JNIEnv* env, jclass, jint id, jshort value)
+ (JNIEnv* env, jclass, jint id, jboolean value)
{
int32_t status = 0;
HAL_SetDIO((HAL_DigitalHandle)id, value, &status);
diff --git a/hal/src/main/native/cpp/jni/DMAJNI.cpp b/hal/src/main/native/cpp/jni/DMAJNI.cpp
new file mode 100644
index 0000000..3e95c7b
--- /dev/null
+++ b/hal/src/main/native/cpp/jni/DMAJNI.cpp
@@ -0,0 +1,416 @@
+// 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.
+
+#include <algorithm>
+#include <cstring>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_DMAJNI.h"
+#include "hal/DMA.h"
+#include "hal/handles/HandlesInternal.h"
+
+using namespace hal;
+
+namespace hal {
+bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
+ HAL_FPGAEncoderHandle* fpgaEncoderHandle,
+ HAL_CounterHandle* counterHandle);
+} // namespace hal
+
+extern "C" {
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: initialize
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DMAJNI_initialize
+ (JNIEnv* env, jclass)
+{
+ int32_t status = 0;
+ auto handle = HAL_InitializeDMA(&status);
+ CheckStatusForceThrow(env, status);
+ return handle;
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_free
+ (JNIEnv* env, jclass, jint handle)
+{
+ HAL_FreeDMA(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: setPause
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_setPause
+ (JNIEnv* env, jclass, jint handle, jboolean pause)
+{
+ int32_t status = 0;
+ HAL_SetDMAPause(handle, pause, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: setTimedTrigger
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_setTimedTrigger
+ (JNIEnv* env, jclass, jint handle, jdouble seconds)
+{
+ int32_t status = 0;
+ HAL_SetDMATimedTrigger(handle, seconds, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: setTimedTriggerCycles
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_setTimedTriggerCycles
+ (JNIEnv* env, jclass, jint handle, jint cycles)
+{
+ int32_t status = 0;
+ HAL_SetDMATimedTriggerCycles(handle, static_cast<uint32_t>(cycles), &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: addEncoder
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_addEncoder
+ (JNIEnv* env, jclass, jint handle, jint encoderHandle)
+{
+ int32_t status = 0;
+ HAL_AddDMAEncoder(handle, encoderHandle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: addEncoderPeriod
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_addEncoderPeriod
+ (JNIEnv* env, jclass, jint handle, jint encoderHandle)
+{
+ int32_t status = 0;
+ HAL_AddDMAEncoderPeriod(handle, encoderHandle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: addCounter
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_addCounter
+ (JNIEnv* env, jclass, jint handle, jint counterHandle)
+{
+ int32_t status = 0;
+ HAL_AddDMACounter(handle, counterHandle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: addCounterPeriod
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_addCounterPeriod
+ (JNIEnv* env, jclass, jint handle, jint counterHandle)
+{
+ int32_t status = 0;
+ HAL_AddDMACounterPeriod(handle, counterHandle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: addDutyCycle
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_addDutyCycle
+ (JNIEnv* env, jclass, jint handle, jint dutyCycleHandle)
+{
+ int32_t status = 0;
+ HAL_AddDMADutyCycle(handle, dutyCycleHandle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: addDigitalSource
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_addDigitalSource
+ (JNIEnv* env, jclass, jint handle, jint digitalSourceHandle)
+{
+ int32_t status = 0;
+ HAL_AddDMADigitalSource(handle, digitalSourceHandle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: addAnalogInput
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_addAnalogInput
+ (JNIEnv* env, jclass, jint handle, jint analogInputHandle)
+{
+ int32_t status = 0;
+ HAL_AddDMAAnalogInput(handle, analogInputHandle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: addAveragedAnalogInput
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_addAveragedAnalogInput
+ (JNIEnv* env, jclass, jint handle, jint analogInputHandle)
+{
+ int32_t status = 0;
+ HAL_AddDMAAveragedAnalogInput(handle, analogInputHandle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: addAnalogAccumulator
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_addAnalogAccumulator
+ (JNIEnv* env, jclass, jint handle, jint analogInputHandle)
+{
+ int32_t status = 0;
+ HAL_AddDMAAnalogAccumulator(handle, analogInputHandle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: setExternalTrigger
+ * Signature: (IIIZZ)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DMAJNI_setExternalTrigger
+ (JNIEnv* env, jclass, jint handle, jint digitalSourceHandle,
+ jint analogTriggerType, jboolean rising, jboolean falling)
+{
+ int32_t status = 0;
+ int32_t idx = HAL_SetDMAExternalTrigger(
+ handle, digitalSourceHandle,
+ static_cast<HAL_AnalogTriggerType>(analogTriggerType), rising, falling,
+ &status);
+ CheckStatus(env, status);
+ return idx;
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: clearSensors
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_clearSensors
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_ClearDMASensors(handle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: clearExternalTriggers
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_clearExternalTriggers
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_ClearDMAExternalTriggers(handle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: startDMA
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_startDMA
+ (JNIEnv* env, jclass, jint handle, jint queueDepth)
+{
+ int32_t status = 0;
+ HAL_StartDMA(handle, queueDepth, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: stopDMA
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DMAJNI_stopDMA
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_StopDMA(handle, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: readDMA
+ * Signature: (ID[I[I)J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_hal_DMAJNI_readDMA
+ (JNIEnv* env, jclass, jint handle, jdouble timeoutSeconds, jintArray buf,
+ jintArray store)
+{
+ int32_t status = 0;
+ HAL_DMASample dmaSample;
+ std::memset(&dmaSample, 0, sizeof(dmaSample));
+ int32_t remaining = 0;
+ HAL_DMAReadStatus readStatus =
+ HAL_ReadDMA(handle, &dmaSample, timeoutSeconds, &remaining, &status);
+ CheckStatus(env, status);
+
+ static_assert(sizeof(uint32_t) == sizeof(jint), "Java ints must be 32 bits");
+
+ env->SetIntArrayRegion(buf, 0, dmaSample.captureSize,
+ reinterpret_cast<jint*>(dmaSample.readBuffer));
+
+ int32_t* nativeArr =
+ static_cast<int32_t*>(env->GetPrimitiveArrayCritical(store, nullptr));
+
+ std::copy_n(
+ dmaSample.channelOffsets,
+ sizeof(dmaSample.channelOffsets) / sizeof(dmaSample.channelOffsets[0]),
+ nativeArr);
+ nativeArr[22] = static_cast<int32_t>(dmaSample.captureSize);
+ nativeArr[23] = static_cast<int32_t>(dmaSample.triggerChannels);
+ nativeArr[24] = remaining;
+ nativeArr[25] = readStatus;
+
+ env->ReleasePrimitiveArrayCritical(store, nativeArr, JNI_ABORT);
+
+ return dmaSample.timeStamp;
+}
+
+// TODO sync these up
+enum DMAOffsetConstants {
+ kEnable_AI0_Low = 0,
+ kEnable_AI0_High = 1,
+ kEnable_AIAveraged0_Low = 2,
+ kEnable_AIAveraged0_High = 3,
+ kEnable_AI1_Low = 4,
+ kEnable_AI1_High = 5,
+ kEnable_AIAveraged1_Low = 6,
+ kEnable_AIAveraged1_High = 7,
+ kEnable_Accumulator0 = 8,
+ kEnable_Accumulator1 = 9,
+ kEnable_DI = 10,
+ kEnable_AnalogTriggers = 11,
+ kEnable_Counters_Low = 12,
+ kEnable_Counters_High = 13,
+ kEnable_CounterTimers_Low = 14,
+ kEnable_CounterTimers_High = 15,
+ kEnable_Encoders_Low = 16,
+ kEnable_Encoders_High = 17,
+ kEnable_EncoderTimers_Low = 18,
+ kEnable_EncoderTimers_High = 19,
+ kEnable_DutyCycle_Low = 20,
+ kEnable_DutyCycle_High = 21,
+};
+
+/*
+ * Class: edu_wpi_first_hal_DMAJNI
+ * Method: getSensorReadData
+ * Signature: (I)Ljava/lang/Object;
+ */
+JNIEXPORT jobject JNICALL
+Java_edu_wpi_first_hal_DMAJNI_getSensorReadData
+ (JNIEnv* env, jclass, jint handle)
+{
+ HAL_Handle halHandle = static_cast<HAL_Handle>(handle);
+
+ // Check for encoder/counter handle
+ HAL_FPGAEncoderHandle fpgaEncoderHandle = 0;
+ HAL_CounterHandle counterHandle = 0;
+ bool validEncoderHandle =
+ hal::GetEncoderBaseHandle(halHandle, &fpgaEncoderHandle, &counterHandle);
+
+ if (validEncoderHandle) {
+ if (counterHandle != HAL_kInvalidHandle) {
+ int32_t cindex = getHandleIndex(counterHandle);
+ if (cindex < 4) {
+ return CreateDMABaseStore(env, kEnable_Counters_Low, cindex);
+ } else {
+ return CreateDMABaseStore(env, kEnable_Counters_High, cindex - 4);
+ }
+ } else {
+ int32_t cindex = getHandleIndex(fpgaEncoderHandle);
+ if (cindex < 4) {
+ return CreateDMABaseStore(env, kEnable_Encoders_Low, cindex);
+ } else {
+ return CreateDMABaseStore(env, kEnable_Encoders_High, cindex - 4);
+ }
+ }
+ }
+
+ HAL_HandleEnum handleType = getHandleType(halHandle);
+ int32_t index = getHandleIndex(halHandle);
+ if (handleType == HAL_HandleEnum::DIO) {
+ return CreateDMABaseStore(env, kEnable_DI, index);
+ } else if (handleType == HAL_HandleEnum::AnalogTrigger) {
+ return CreateDMABaseStore(env, kEnable_AnalogTriggers, index);
+ } else if (handleType == HAL_HandleEnum::AnalogInput) {
+ if (index < 4) {
+ return CreateDMABaseStore(env, kEnable_AI0_Low, index);
+ } else {
+ return CreateDMABaseStore(env, kEnable_AI0_High, index - 4);
+ }
+ } else if (handleType == HAL_HandleEnum::DutyCycle) {
+ if (index < 4) {
+ return CreateDMABaseStore(env, kEnable_DutyCycle_Low, index);
+ } else {
+ return CreateDMABaseStore(env, kEnable_DutyCycle_High, index - 4);
+ }
+ } else {
+ return nullptr;
+ }
+}
+
+} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/DigitalGlitchFilterJNI.cpp b/hal/src/main/native/cpp/jni/DigitalGlitchFilterJNI.cpp
index cfb504d..762f7fb 100644
--- a/hal/src/main/native/cpp/jni/DigitalGlitchFilterJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DigitalGlitchFilterJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp b/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
index b191374..96cc27b 100644
--- a/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/EncoderJNI.cpp b/hal/src/main/native/cpp/jni/EncoderJNI.cpp
index 11686a6..f93e064 100644
--- a/hal/src/main/native/cpp/jni/EncoderJNI.cpp
+++ b/hal/src/main/native/cpp/jni/EncoderJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -270,10 +267,6 @@
{
int32_t status = 0;
HAL_SetEncoderSamplesToAverage((HAL_EncoderHandle)id, value, &status);
- if (status == PARAMETER_OUT_OF_RANGE) {
- ThrowBoundaryException(env, value, 1, 127);
- return;
- }
CheckStatus(env, status);
}
diff --git a/hal/src/main/native/cpp/jni/HAL.cpp b/hal/src/main/native/cpp/jni/HAL.cpp
index 3d736bf..4e26032 100644
--- a/hal/src/main/native/cpp/jni/HAL.cpp
+++ b/hal/src/main/native/cpp/jni/HAL.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/HAL.h"
@@ -12,6 +9,7 @@
#include <cassert>
#include <cstring>
+#include <fmt/format.h>
#include <wpi/jni_util.h>
#include "HALUtil.h"
@@ -86,6 +84,30 @@
/*
* Class: edu_wpi_first_hal_HAL
+ * Method: simPeriodicBeforeNative
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_HAL_simPeriodicBeforeNative
+ (JNIEnv*, jclass)
+{
+ HAL_SimPeriodicBefore();
+}
+
+/*
+ * Class: edu_wpi_first_hal_HAL
+ * Method: simPeriodicAfterNative
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_HAL_simPeriodicAfterNative
+ (JNIEnv*, jclass)
+{
+ HAL_SimPeriodicAfter();
+}
+
+/*
+ * Class: edu_wpi_first_hal_HAL
* Method: observeUserProgramStarting
* Signature: ()V
*/
@@ -172,7 +194,6 @@
static_assert(sizeof(HAL_ControlWord) == sizeof(jint),
"Java int must match the size of control word");
HAL_ControlWord controlWord;
- std::memset(&controlWord, 0, sizeof(HAL_ControlWord));
HAL_GetControlWord(&controlWord);
jint retVal = 0;
std::memcpy(&retVal, &controlWord, sizeof(HAL_ControlWord));
@@ -207,13 +228,11 @@
jsize javaSize = env->GetArrayLength(axesArray);
if (axes.count > javaSize) {
- wpi::SmallString<128> errStr;
- wpi::raw_svector_ostream oss{errStr};
- oss << "Native array size larger then passed in java array size "
- << "Native Size: " << static_cast<int>(axes.count)
- << " Java Size: " << static_cast<int>(javaSize);
-
- ThrowIllegalArgumentException(env, errStr.str());
+ ThrowIllegalArgumentException(
+ env,
+ fmt::format("Native array size larger then passed in java array "
+ "size\nNative Size: {} Java Size: {}",
+ static_cast<int>(axes.count), static_cast<int>(javaSize)));
return 0;
}
@@ -236,13 +255,11 @@
jsize javaSize = env->GetArrayLength(povsArray);
if (povs.count > javaSize) {
- wpi::SmallString<128> errStr;
- wpi::raw_svector_ostream oss{errStr};
- oss << "Native array size larger then passed in java array size "
- << "Native Size: " << static_cast<int>(povs.count)
- << " Java Size: " << static_cast<int>(javaSize);
-
- ThrowIllegalArgumentException(env, errStr.str());
+ ThrowIllegalArgumentException(
+ env,
+ fmt::format("Native array size larger then passed in java array "
+ "size\nNative Size: {} Java Size: {}",
+ static_cast<int>(povs.count), static_cast<int>(javaSize)));
return 0;
}
diff --git a/hal/src/main/native/cpp/jni/HALUtil.cpp b/hal/src/main/native/cpp/jni/HALUtil.cpp
index 2938f45..1070085 100644
--- a/hal/src/main/native/cpp/jni/HALUtil.cpp
+++ b/hal/src/main/native/cpp/jni/HALUtil.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "HALUtil.h"
@@ -15,9 +12,8 @@
#include <cstring>
#include <string>
-#include <wpi/SmallString.h>
+#include <fmt/format.h>
#include <wpi/jni_util.h>
-#include <wpi/raw_ostream.h>
#include "edu_wpi_first_hal_HALUtil.h"
#include "hal/CAN.h"
@@ -34,6 +30,12 @@
#define kRIOStatusFeatureNotSupported (kRioStatusOffset - 193)
#define kRIOStatusResourceNotInitialized -52010
+static_assert(edu_wpi_first_hal_HALUtil_RUNTIME_ROBORIO == HAL_Runtime_RoboRIO);
+static_assert(edu_wpi_first_hal_HALUtil_RUNTIME_ROBORIO2 ==
+ HAL_Runtime_RoboRIO2);
+static_assert(edu_wpi_first_hal_HALUtil_RUNTIME_SIMULATION ==
+ HAL_Runtime_Simulation);
+
static JavaVM* jvm = nullptr;
static JException illegalArgExCls;
static JException boundaryExCls;
@@ -50,6 +52,7 @@
static JClass accumulatorResultCls;
static JClass canDataCls;
static JClass halValueCls;
+static JClass baseStoreCls;
static const JClassInit classes[] = {
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
@@ -57,7 +60,8 @@
{"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
{"edu/wpi/first/hal/AccumulatorResult", &accumulatorResultCls},
{"edu/wpi/first/hal/CANData", &canDataCls},
- {"edu/wpi/first/hal/HALValue", &halValueCls}};
+ {"edu/wpi/first/hal/HALValue", &halValueCls},
+ {"edu/wpi/first/hal/DMAJNISample$BaseStore", &baseStoreCls}};
static const JExceptionInit exceptions[] = {
{"java/lang/IllegalArgumentException", &illegalArgExCls},
@@ -75,7 +79,7 @@
namespace hal {
-void ThrowUncleanStatusException(JNIEnv* env, wpi::StringRef msg,
+void ThrowUncleanStatusException(JNIEnv* env, std::string_view msg,
int32_t status) {
static jmethodID func =
env->GetMethodID(uncleanStatusExCls, "<init>", "(ILjava/lang/String;)V");
@@ -86,63 +90,64 @@
env->Throw(static_cast<jthrowable>(exception));
}
-void ThrowAllocationException(JNIEnv* env, int32_t minRange, int32_t maxRange,
- int32_t requestedValue, int32_t status) {
- const char* message = HAL_GetErrorMessage(status);
- wpi::SmallString<1024> buf;
- wpi::raw_svector_ostream oss(buf);
- oss << " Code: " << status << ". " << message
- << ", Minimum Value: " << minRange << ", Maximum Value: " << maxRange
- << ", Requested Value: " << requestedValue;
- env->ThrowNew(allocationExCls, buf.c_str());
- allocationExCls.Throw(env, buf.c_str());
+void ThrowAllocationException(JNIEnv* env, const char* lastError,
+ int32_t status) {
+ allocationExCls.Throw(env,
+ fmt::format("Code: {}\n{}", status, lastError).c_str());
}
void ThrowHalHandleException(JNIEnv* env, int32_t status) {
- const char* message = HAL_GetErrorMessage(status);
- wpi::SmallString<1024> buf;
- wpi::raw_svector_ostream oss(buf);
- oss << " Code: " << status << ". " << message;
- halHandleExCls.Throw(env, buf.c_str());
+ const char* message = HAL_GetLastError(&status);
+ halHandleExCls.Throw(env,
+ fmt::format(" Code: {}. {}", status, message).c_str());
}
void ReportError(JNIEnv* env, int32_t status, bool doThrow) {
- if (status == 0) return;
+ if (status == 0) {
+ return;
+ }
+ const char* message = HAL_GetLastError(&status);
if (status == HAL_HANDLE_ERROR) {
ThrowHalHandleException(env, status);
+ return;
}
- const char* message = HAL_GetErrorMessage(status);
if (doThrow && status < 0) {
- wpi::SmallString<1024> buf;
- wpi::raw_svector_ostream oss(buf);
- oss << " Code: " << status << ". " << message;
- ThrowUncleanStatusException(env, buf.c_str(), status);
+ ThrowUncleanStatusException(
+ env, fmt::format(" Code: {}. {}", status, message).c_str(), status);
} else {
std::string func;
auto stack = GetJavaStackTrace(env, &func, "edu.wpi.first");
- HAL_SendError(1, status, 0, message, func.c_str(), stack.c_str(), 1);
+ // Make a copy of message for safety, calling back into the HAL might
+ // invalidate the string.
+ std::string lastMessage{message};
+ HAL_SendError(1, status, 0, lastMessage.c_str(), func.c_str(),
+ stack.c_str(), 1);
}
}
void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
int32_t requestedValue) {
- if (status == 0) return;
+ if (status == 0) {
+ return;
+ }
+ const char* lastError = HAL_GetLastError(&status);
if (status == NO_AVAILABLE_RESOURCES || status == RESOURCE_IS_ALLOCATED ||
status == RESOURCE_OUT_OF_RANGE) {
- ThrowAllocationException(env, minRange, maxRange, requestedValue, status);
+ ThrowAllocationException(env, lastError, status);
+ return;
}
if (status == HAL_HANDLE_ERROR) {
ThrowHalHandleException(env, status);
+ return;
}
- const char* message = HAL_GetErrorMessage(status);
- wpi::SmallString<1024> buf;
- wpi::raw_svector_ostream oss(buf);
- oss << " Code: " << status << ". " << message;
- ThrowUncleanStatusException(env, buf.c_str(), status);
+ ThrowUncleanStatusException(
+ env, fmt::format(" Code: {}. {}", status, lastError).c_str(), status);
}
void ReportCANError(JNIEnv* env, int32_t status, int message_id) {
- if (status >= 0) return;
+ if (status >= 0) {
+ return;
+ }
switch (status) {
case kRioStatusSuccess:
// Everything is ok... don't throw.
@@ -150,9 +155,10 @@
case HAL_ERR_CANSessionMux_InvalidBuffer:
case kRIOStatusBufferInvalidSize: {
static jmethodID invalidBufConstruct = nullptr;
- if (!invalidBufConstruct)
+ if (!invalidBufConstruct) {
invalidBufConstruct =
env->GetMethodID(canInvalidBufferExCls, "<init>", "()V");
+ }
jobject exception =
env->NewObject(canInvalidBufferExCls, invalidBufConstruct);
env->Throw(static_cast<jthrowable>(exception));
@@ -161,9 +167,10 @@
case HAL_ERR_CANSessionMux_MessageNotFound:
case kRIOStatusOperationTimedOut: {
static jmethodID messageNotFoundConstruct = nullptr;
- if (!messageNotFoundConstruct)
+ if (!messageNotFoundConstruct) {
messageNotFoundConstruct =
env->GetMethodID(canMessageNotFoundExCls, "<init>", "()V");
+ }
jobject exception =
env->NewObject(canMessageNotFoundExCls, messageNotFoundConstruct);
env->Throw(static_cast<jthrowable>(exception));
@@ -171,48 +178,47 @@
}
case HAL_ERR_CANSessionMux_NotAllowed:
case kRIOStatusFeatureNotSupported: {
- wpi::SmallString<100> buf;
- wpi::raw_svector_ostream oss(buf);
- oss << "MessageID = " << message_id;
- canMessageNotAllowedExCls.Throw(env, buf.c_str());
+ canMessageNotAllowedExCls.Throw(
+ env, fmt::format("MessageID = {}", message_id).c_str());
break;
}
case HAL_ERR_CANSessionMux_NotInitialized:
case kRIOStatusResourceNotInitialized: {
static jmethodID notInitConstruct = nullptr;
- if (!notInitConstruct)
+ if (!notInitConstruct) {
notInitConstruct =
env->GetMethodID(canNotInitializedExCls, "<init>", "()V");
+ }
jobject exception =
env->NewObject(canNotInitializedExCls, notInitConstruct);
env->Throw(static_cast<jthrowable>(exception));
break;
}
default: {
- wpi::SmallString<100> buf;
- wpi::raw_svector_ostream oss(buf);
- oss << "Fatal status code detected: " << status;
- uncleanStatusExCls.Throw(env, buf.c_str());
+ uncleanStatusExCls.Throw(
+ env, fmt::format("Fatal status code detected: {}", status).c_str());
break;
}
}
}
-void ThrowIllegalArgumentException(JNIEnv* env, wpi::StringRef msg) {
+void ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg) {
illegalArgExCls.Throw(env, msg);
}
void ThrowBoundaryException(JNIEnv* env, double value, double lower,
double upper) {
static jmethodID getMessage = nullptr;
- if (!getMessage)
+ if (!getMessage) {
getMessage = env->GetStaticMethodID(boundaryExCls, "getMessage",
"(DDD)Ljava/lang/String;");
+ }
static jmethodID constructor = nullptr;
- if (!constructor)
+ if (!constructor) {
constructor =
env->GetMethodID(boundaryExCls, "<init>", "(Ljava/lang/String;)V");
+ }
jobject msg = env->CallStaticObjectMethod(
boundaryExCls, getMessage, static_cast<jdouble>(value),
@@ -226,9 +232,10 @@
int32_t deadbandMinPwm, int32_t minPwm) {
static jmethodID constructor =
env->GetMethodID(pwmConfigDataResultCls, "<init>", "(IIIII)V");
- return env->NewObject(pwmConfigDataResultCls, constructor, (jint)maxPwm,
- (jint)deadbandMaxPwm, (jint)centerPwm,
- (jint)deadbandMinPwm, (jint)minPwm);
+ return env->NewObject(
+ pwmConfigDataResultCls, constructor, static_cast<jint>(maxPwm),
+ static_cast<jint>(deadbandMaxPwm), static_cast<jint>(centerPwm),
+ static_cast<jint>(deadbandMinPwm), static_cast<jint>(minPwm));
}
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
@@ -237,9 +244,11 @@
uint32_t transmitErrorCount) {
static jmethodID func =
env->GetMethodID(canStatusCls, "setStatus", "(DIIII)V");
- env->CallVoidMethod(canStatus, func, (jdouble)percentBusUtilization,
- (jint)busOffCount, (jint)txFullCount,
- (jint)receiveErrorCount, (jint)transmitErrorCount);
+ env->CallVoidMethod(
+ canStatus, func, static_cast<jdouble>(percentBusUtilization),
+ static_cast<jint>(busOffCount), static_cast<jint>(txFullCount),
+ static_cast<jint>(receiveErrorCount),
+ static_cast<jint>(transmitErrorCount));
}
void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
@@ -250,11 +259,12 @@
env->CallVoidMethod(
matchStatus, func, MakeJString(env, matchInfo.eventName),
- MakeJString(env, wpi::StringRef{reinterpret_cast<const char*>(
- matchInfo.gameSpecificMessage),
- matchInfo.gameSpecificMessageSize}),
- (jint)matchInfo.matchNumber, (jint)matchInfo.replayNumber,
- (jint)matchInfo.matchType);
+ MakeJString(env,
+ {reinterpret_cast<const char*>(matchInfo.gameSpecificMessage),
+ matchInfo.gameSpecificMessageSize}),
+ static_cast<jint>(matchInfo.matchNumber),
+ static_cast<jint>(matchInfo.replayNumber),
+ static_cast<jint>(matchInfo.matchType));
}
void SetAccumulatorResultObject(JNIEnv* env, jobject accumulatorResult,
@@ -262,15 +272,16 @@
static jmethodID func =
env->GetMethodID(accumulatorResultCls, "set", "(JJ)V");
- env->CallVoidMethod(accumulatorResult, func, (jlong)value, (jlong)count);
+ env->CallVoidMethod(accumulatorResult, func, static_cast<jlong>(value),
+ static_cast<jlong>(count));
}
jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
uint64_t timestamp) {
static jmethodID func = env->GetMethodID(canDataCls, "setData", "(IJ)[B");
- jbyteArray retVal = static_cast<jbyteArray>(
- env->CallObjectMethod(canData, func, (jint)length, (jlong)timestamp));
+ jbyteArray retVal = static_cast<jbyteArray>(env->CallObjectMethod(
+ canData, func, static_cast<jint>(length), static_cast<jlong>(timestamp)));
return retVal;
}
@@ -298,11 +309,18 @@
default:
break;
}
- return env->CallStaticObjectMethod(halValueCls, fromNative, (jint)value.type,
- value1, value2);
+ return env->CallStaticObjectMethod(
+ halValueCls, fromNative, static_cast<jint>(value.type), value1, value2);
}
-JavaVM* GetJVM() { return jvm; }
+jobject CreateDMABaseStore(JNIEnv* env, jint valueType, jint index) {
+ static jmethodID ctor = env->GetMethodID(baseStoreCls, "<init>", "(II)V");
+ return env->NewObject(baseStoreCls, ctor, valueType, index);
+}
+
+JavaVM* GetJVM() {
+ return jvm;
+}
namespace sim {
jint SimOnLoad(JavaVM* vm, void* reserved);
@@ -322,17 +340,22 @@
jvm = vm;
JNIEnv* env;
- if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
+ if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return JNI_ERR;
+ }
for (auto& c : classes) {
*c.cls = JClass(env, c.name);
- if (!*c.cls) return JNI_ERR;
+ if (!*c.cls) {
+ return JNI_ERR;
+ }
}
for (auto& c : exceptions) {
*c.cls = JException(env, c.name);
- if (!*c.cls) return JNI_ERR;
+ if (!*c.cls) {
+ return JNI_ERR;
+ }
}
return sim::SimOnLoad(vm, reserved);
@@ -342,8 +365,9 @@
sim::SimOnUnload(vm, reserved);
JNIEnv* env;
- if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
+ if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return;
+ }
// Delete global references
for (auto& c : classes) {
diff --git a/hal/src/main/native/cpp/jni/HALUtil.h b/hal/src/main/native/cpp/jni/HALUtil.h
index 0a192da..2afe595 100644
--- a/hal/src/main/native/cpp/jni/HALUtil.h
+++ b/hal/src/main/native/cpp/jni/HALUtil.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#ifndef HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
#define HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
@@ -11,7 +8,7 @@
#include <jni.h>
#include <stdint.h>
-#include <wpi/StringRef.h>
+#include <string_view>
struct HAL_MatchInfo;
struct HAL_Value;
@@ -24,29 +21,37 @@
int32_t requestedValue);
inline bool CheckStatus(JNIEnv* env, int32_t status, bool doThrow = true) {
- if (status != 0) ReportError(env, status, doThrow);
+ if (status != 0) {
+ ReportError(env, status, doThrow);
+ }
return status == 0;
}
inline bool CheckStatusRange(JNIEnv* env, int32_t status, int32_t minRange,
int32_t maxRange, int32_t requestedValue) {
- if (status != 0) ThrowError(env, status, minRange, maxRange, requestedValue);
+ if (status != 0) {
+ ThrowError(env, status, minRange, maxRange, requestedValue);
+ }
return status == 0;
}
inline bool CheckStatusForceThrow(JNIEnv* env, int32_t status) {
- if (status != 0) ThrowError(env, status, 0, 0, 0);
+ if (status != 0) {
+ ThrowError(env, status, 0, 0, 0);
+ }
return status == 0;
}
void ReportCANError(JNIEnv* env, int32_t status, int32_t message_id);
inline bool CheckCANStatus(JNIEnv* env, int32_t status, int32_t message_id) {
- if (status != 0) ReportCANError(env, status, message_id);
+ if (status != 0) {
+ ReportCANError(env, status, message_id);
+ }
return status == 0;
}
-void ThrowIllegalArgumentException(JNIEnv* env, wpi::StringRef msg);
+void ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg);
void ThrowBoundaryException(JNIEnv* env, double value, double lower,
double upper);
@@ -70,6 +75,8 @@
jobject CreateHALValue(JNIEnv* env, const HAL_Value& value);
+jobject CreateDMABaseStore(JNIEnv* env, jint valueType, jint index);
+
JavaVM* GetJVM();
} // namespace hal
diff --git a/hal/src/main/native/cpp/jni/I2CJNI.cpp b/hal/src/main/native/cpp/jni/I2CJNI.cpp
index de27df6..b605b95 100644
--- a/hal/src/main/native/cpp/jni/I2CJNI.cpp
+++ b/hal/src/main/native/cpp/jni/I2CJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -45,7 +42,7 @@
jbyte sendSize, jobject dataReceived, jbyte receiveSize)
{
uint8_t* dataToSendPtr = nullptr;
- if (dataToSend != 0) {
+ if (dataToSend != nullptr) {
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
@@ -91,7 +88,7 @@
{
uint8_t* dataToSendPtr = nullptr;
- if (dataToSend != 0) {
+ if (dataToSend != nullptr) {
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
diff --git a/hal/src/main/native/cpp/jni/InterruptJNI.cpp b/hal/src/main/native/cpp/jni/InterruptJNI.cpp
index d18ef27..ed56ce5 100644
--- a/hal/src/main/native/cpp/jni/InterruptJNI.cpp
+++ b/hal/src/main/native/cpp/jni/InterruptJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -20,108 +17,19 @@
using namespace hal;
-// Thread where callbacks are actually performed.
-//
-// JNI's AttachCurrentThread() creates a Java Thread object on every
-// invocation, which is both time inefficient and causes issues with Eclipse
-// (which tries to keep a thread list up-to-date and thus gets swamped).
-//
-// Instead, this class attaches just once. When a hardware notification
-// occurs, a condition variable wakes up this thread and this thread actually
-// makes the call into Java.
-//
-// We don't want to use a FIFO here. If the user code takes too long to
-// process, we will just ignore the redundant wakeup.
-class InterruptThreadJNI : public wpi::SafeThread {
- public:
- void Main();
-
- bool m_notify = false;
- uint32_t m_mask = 0;
- jobject m_func = nullptr;
- jmethodID m_mid;
- jobject m_param = nullptr;
-};
-
-class InterruptJNI : public wpi::SafeThreadOwner<InterruptThreadJNI> {
- public:
- void SetFunc(JNIEnv* env, jobject func, jmethodID mid, jobject param);
-
- void Notify(uint32_t mask) {
- auto thr = GetThread();
- if (!thr) return;
- thr->m_notify = true;
- thr->m_mask = mask;
- thr->m_cond.notify_one();
- }
-};
-
-void InterruptJNI::SetFunc(JNIEnv* env, jobject func, jmethodID mid,
- jobject param) {
- auto thr = GetThread();
- if (!thr) return;
- // free global references
- if (thr->m_func) env->DeleteGlobalRef(thr->m_func);
- if (thr->m_param) env->DeleteGlobalRef(thr->m_param);
- // create global references
- thr->m_func = env->NewGlobalRef(func);
- thr->m_param = param ? env->NewGlobalRef(param) : nullptr;
- thr->m_mid = mid;
-}
-
-void InterruptThreadJNI::Main() {
- JNIEnv* env;
- JavaVMAttachArgs args;
- args.version = JNI_VERSION_1_2;
- args.name = const_cast<char*>("Interrupt");
- args.group = nullptr;
- jint rs = GetJVM()->AttachCurrentThreadAsDaemon(
- reinterpret_cast<void**>(&env), &args);
- if (rs != JNI_OK) return;
-
- std::unique_lock lock(m_mutex);
- while (m_active) {
- m_cond.wait(lock, [&] { return !m_active || m_notify; });
- if (!m_active) break;
- m_notify = false;
- if (!m_func) continue;
- jobject func = m_func;
- jmethodID mid = m_mid;
- uint32_t mask = m_mask;
- jobject param = m_param;
- lock.unlock(); // don't hold mutex during callback execution
- env->CallVoidMethod(func, mid, static_cast<jint>(mask), param);
- if (env->ExceptionCheck()) {
- env->ExceptionDescribe();
- env->ExceptionClear();
- }
- lock.lock();
- }
-
- // free global references
- if (m_func) env->DeleteGlobalRef(m_func);
- if (m_param) env->DeleteGlobalRef(m_param);
-
- GetJVM()->DetachCurrentThread();
-}
-
-void interruptHandler(uint32_t mask, void* param) {
- static_cast<InterruptJNI*>(param)->Notify(mask);
-}
-
extern "C" {
/*
* Class: edu_wpi_first_hal_InterruptJNI
* Method: initializeInterrupts
- * Signature: (Z)I
+ * Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_InterruptJNI_initializeInterrupts
- (JNIEnv* env, jclass, jboolean watcher)
+ (JNIEnv* env, jclass)
{
int32_t status = 0;
- HAL_InterruptHandle interrupt = HAL_InitializeInterrupts(watcher, &status);
+ HAL_InterruptHandle interrupt = HAL_InitializeInterrupts(&status);
CheckStatusForceThrow(env, status);
return (jint)interrupt;
@@ -136,14 +44,7 @@
Java_edu_wpi_first_hal_InterruptJNI_cleanInterrupts
(JNIEnv* env, jclass, jint interruptHandle)
{
- int32_t status = 0;
- auto param =
- HAL_CleanInterrupts((HAL_InterruptHandle)interruptHandle, &status);
- if (param) {
- delete static_cast<InterruptJNI*>(param);
- }
-
- // ignore status, as an invalid handle just needs to be ignored.
+ HAL_CleanInterrupts((HAL_InterruptHandle)interruptHandle);
}
/*
@@ -166,36 +67,6 @@
/*
* Class: edu_wpi_first_hal_InterruptJNI
- * Method: enableInterrupts
- * Signature: (I)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_InterruptJNI_enableInterrupts
- (JNIEnv* env, jclass, jint interruptHandle)
-{
- int32_t status = 0;
- HAL_EnableInterrupts((HAL_InterruptHandle)interruptHandle, &status);
-
- CheckStatus(env, status);
-}
-
-/*
- * Class: edu_wpi_first_hal_InterruptJNI
- * Method: disableInterrupts
- * Signature: (I)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_InterruptJNI_disableInterrupts
- (JNIEnv* env, jclass, jint interruptHandle)
-{
- int32_t status = 0;
- HAL_DisableInterrupts((HAL_InterruptHandle)interruptHandle, &status);
-
- CheckStatus(env, status);
-}
-
-/*
- * Class: edu_wpi_first_hal_InterruptJNI
* Method: readInterruptRisingTimestamp
* Signature: (I)J
*/
@@ -248,37 +119,6 @@
/*
* Class: edu_wpi_first_hal_InterruptJNI
- * Method: attachInterruptHandler
- * Signature: (ILjava/lang/Object;Ljava/lang/Object;)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_InterruptJNI_attachInterruptHandler
- (JNIEnv* env, jclass, jint interruptHandle, jobject handler, jobject param)
-{
- jclass cls = env->GetObjectClass(handler);
- if (cls == 0) {
- assert(false);
- return;
- }
- jmethodID mid = env->GetMethodID(cls, "apply", "(ILjava/lang/Object;)V");
- if (mid == 0) {
- assert(false);
- return;
- }
-
- InterruptJNI* intr = new InterruptJNI;
- intr->Start();
- intr->SetFunc(env, handler, mid, param);
-
- int32_t status = 0;
- HAL_AttachInterruptHandler((HAL_InterruptHandle)interruptHandle,
- interruptHandler, intr, &status);
-
- CheckStatus(env, status);
-}
-
-/*
- * Class: edu_wpi_first_hal_InterruptJNI
* Method: setInterruptUpSourceEdge
* Signature: (IZZ)V
*/
diff --git a/hal/src/main/native/cpp/jni/NotifierJNI.cpp b/hal/src/main/native/cpp/jni/NotifierJNI.cpp
index ed0b324..4e7069e 100644
--- a/hal/src/main/native/cpp/jni/NotifierJNI.cpp
+++ b/hal/src/main/native/cpp/jni/NotifierJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -41,6 +38,19 @@
/*
* Class: edu_wpi_first_hal_NotifierJNI
+ * Method: setHALThreadPriority
+ * Signature: (ZI)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_NotifierJNI_setHALThreadPriority
+ (JNIEnv* env, jclass, jboolean realTime, jint priority)
+{
+ int32_t status = 0;
+ return HAL_SetNotifierThreadPriority(realTime, priority, &status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_NotifierJNI
* Method: setNotifierName
* Signature: (ILjava/lang/String;)V
*/
diff --git a/hal/src/main/native/cpp/jni/PDPJNI.cpp b/hal/src/main/native/cpp/jni/PDPJNI.cpp
deleted file mode 100644
index bb28fdf..0000000
--- a/hal/src/main/native/cpp/jni/PDPJNI.cpp
+++ /dev/null
@@ -1,193 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "HALUtil.h"
-#include "edu_wpi_first_hal_PDPJNI.h"
-#include "hal/PDP.h"
-#include "hal/Ports.h"
-
-using namespace hal;
-
-extern "C" {
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: initializePDP
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_PDPJNI_initializePDP
- (JNIEnv* env, jclass, jint module)
-{
- int32_t status = 0;
- auto handle = HAL_InitializePDP(module, &status);
- CheckStatusRange(env, status, 0, HAL_GetNumPDPModules(), module);
- return static_cast<jint>(handle);
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: checkPDPChannel
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_PDPJNI_checkPDPChannel
- (JNIEnv* env, jclass, jint channel)
-{
- return HAL_CheckPDPChannel(channel);
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: checkPDPModule
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_PDPJNI_checkPDPModule
- (JNIEnv* env, jclass, jint module)
-{
- return HAL_CheckPDPModule(module);
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: getPDPTemperature
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_PDPJNI_getPDPTemperature
- (JNIEnv* env, jclass, jint handle)
-{
- int32_t status = 0;
- double temperature = HAL_GetPDPTemperature(handle, &status);
- CheckStatus(env, status, false);
- return temperature;
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: getPDPVoltage
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_PDPJNI_getPDPVoltage
- (JNIEnv* env, jclass, jint handle)
-{
- int32_t status = 0;
- double voltage = HAL_GetPDPVoltage(handle, &status);
- CheckStatus(env, status, false);
- return voltage;
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: getPDPChannelCurrent
- * Signature: (BI)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_PDPJNI_getPDPChannelCurrent
- (JNIEnv* env, jclass, jbyte channel, jint handle)
-{
- int32_t status = 0;
- double current = HAL_GetPDPChannelCurrent(handle, channel, &status);
- CheckStatus(env, status, false);
- return current;
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: getPDPAllCurrents
- * Signature: (I[D)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_PDPJNI_getPDPAllCurrents
- (JNIEnv* env, jclass, jint handle, jdoubleArray jarr)
-{
- double storage[16];
- int32_t status = 0;
- HAL_GetPDPAllChannelCurrents(handle, storage, &status);
- if (!CheckStatus(env, status, false)) {
- return;
- }
-
- env->SetDoubleArrayRegion(jarr, 0, 16, storage);
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: getPDPTotalCurrent
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_PDPJNI_getPDPTotalCurrent
- (JNIEnv* env, jclass, jint handle)
-{
- int32_t status = 0;
- double current = HAL_GetPDPTotalCurrent(handle, &status);
- CheckStatus(env, status, false);
- return current;
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: getPDPTotalPower
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_PDPJNI_getPDPTotalPower
- (JNIEnv* env, jclass, jint handle)
-{
- int32_t status = 0;
- double power = HAL_GetPDPTotalPower(handle, &status);
- CheckStatus(env, status, false);
- return power;
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: getPDPTotalEnergy
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_PDPJNI_getPDPTotalEnergy
- (JNIEnv* env, jclass, jint handle)
-{
- int32_t status = 0;
- double energy = HAL_GetPDPTotalEnergy(handle, &status);
- CheckStatus(env, status, false);
- return energy;
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: resetPDPTotalEnergy
- * Signature: (I)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_PDPJNI_resetPDPTotalEnergy
- (JNIEnv* env, jclass, jint handle)
-{
- int32_t status = 0;
- HAL_ResetPDPTotalEnergy(handle, &status);
- CheckStatus(env, status, false);
-}
-
-/*
- * Class: edu_wpi_first_hal_PDPJNI
- * Method: clearPDPStickyFaults
- * Signature: (I)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_PDPJNI_clearPDPStickyFaults
- (JNIEnv* env, jclass, jint handle)
-{
- int32_t status = 0;
- HAL_ClearPDPStickyFaults(handle, &status);
- CheckStatus(env, status, false);
-}
-
-} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/PWMJNI.cpp b/hal/src/main/native/cpp/jni/PWMJNI.cpp
index 085cd0c..e83f11b 100644
--- a/hal/src/main/native/cpp/jni/PWMJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PWMJNI.cpp
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
#include <cassert>
+#include <wpi/jni_util.h>
+
#include "HALUtil.h"
#include "edu_wpi_first_hal_PWMJNI.h"
#include "hal/DIO.h"
@@ -30,9 +29,9 @@
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
- auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, &status);
- CheckStatusRange(env, status, 0, HAL_GetNumPWMChannels(),
- hal::getPortHandleChannel((HAL_PortHandle)id));
+ auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+ auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, stack.c_str(), &status);
+ CheckStatusForceThrow(env, status);
return (jint)pwm;
}
diff --git a/hal/src/main/native/cpp/jni/PortsJNI.cpp b/hal/src/main/native/cpp/jni/PortsJNI.cpp
index 65fabd4..9757f44 100644
--- a/hal/src/main/native/cpp/jni/PortsJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PortsJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -200,53 +197,105 @@
/*
* Class: edu_wpi_first_hal_PortsJNI
- * Method: getNumPCMModules
+ * Method: getNumCTREPCMModules
* Signature: ()I
*/
JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_PortsJNI_getNumPCMModules
+Java_edu_wpi_first_hal_PortsJNI_getNumCTREPCMModules
(JNIEnv* env, jclass)
{
- jint value = HAL_GetNumPCMModules();
+ jint value = HAL_GetNumCTREPCMModules();
return value;
}
/*
* Class: edu_wpi_first_hal_PortsJNI
- * Method: getNumSolenoidChannels
+ * Method: getNumCTRESolenoidChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_PortsJNI_getNumSolenoidChannels
+Java_edu_wpi_first_hal_PortsJNI_getNumCTRESolenoidChannels
(JNIEnv* env, jclass)
{
- jint value = HAL_GetNumSolenoidChannels();
+ jint value = HAL_GetNumCTRESolenoidChannels();
return value;
}
/*
* Class: edu_wpi_first_hal_PortsJNI
- * Method: getNumPDPModules
+ * Method: getNumCTREPDPModules
* Signature: ()I
*/
JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_PortsJNI_getNumPDPModules
+Java_edu_wpi_first_hal_PortsJNI_getNumCTREPDPModules
(JNIEnv* env, jclass)
{
- jint value = HAL_GetNumPDPModules();
+ jint value = HAL_GetNumCTREPDPModules();
return value;
}
/*
* Class: edu_wpi_first_hal_PortsJNI
- * Method: getNumPDPChannels
+ * Method: getNumCTREPDPChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_PortsJNI_getNumPDPChannels
+Java_edu_wpi_first_hal_PortsJNI_getNumCTREPDPChannels
(JNIEnv* env, jclass)
{
- jint value = HAL_GetNumPDPChannels();
+ jint value = HAL_GetNumCTREPDPChannels();
+ return value;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PortsJNI
+ * Method: getNumREVPDHModules
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PortsJNI_getNumREVPDHModules
+ (JNIEnv* env, jclass)
+{
+ jint value = HAL_GetNumREVPDHModules();
+ return value;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PortsJNI
+ * Method: getNumREVPDHChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PortsJNI_getNumREVPDHChannels
+ (JNIEnv* env, jclass)
+{
+ jint value = HAL_GetNumREVPDHChannels();
+ return value;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PortsJNI
+ * Method: getNumREVPHModules
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PortsJNI_getNumREVPHModules
+ (JNIEnv* env, jclass)
+{
+ jint value = HAL_GetNumREVPHModules();
+ return value;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PortsJNI
+ * Method: getNumREVPHChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PortsJNI_getNumREVPHChannels
+ (JNIEnv* env, jclass)
+{
+ jint value = HAL_GetNumREVPHChannels();
return value;
}
} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp b/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
new file mode 100644
index 0000000..b608458
--- /dev/null
+++ b/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
@@ -0,0 +1,295 @@
+// 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.
+
+#include <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_PowerDistributionJNI.h"
+#include "hal/Ports.h"
+#include "hal/PowerDistribution.h"
+
+using namespace hal;
+
+static_assert(edu_wpi_first_hal_PowerDistributionJNI_AUTOMATIC_TYPE ==
+ HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic);
+static_assert(edu_wpi_first_hal_PowerDistributionJNI_CTRE_TYPE ==
+ HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE);
+static_assert(edu_wpi_first_hal_PowerDistributionJNI_REV_TYPE ==
+ HAL_PowerDistributionType::HAL_PowerDistributionType_kRev);
+static_assert(edu_wpi_first_hal_PowerDistributionJNI_DEFAULT_MODULE ==
+ HAL_DEFAULT_POWER_DISTRIBUTION_MODULE);
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: initialize
+ * Signature: (II)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_initialize
+ (JNIEnv* env, jclass, jint module, jint type)
+{
+ int32_t status = 0;
+ auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+ auto handle = HAL_InitializePowerDistribution(
+ module, static_cast<HAL_PowerDistributionType>(type), stack.c_str(),
+ &status);
+ CheckStatusForceThrow(env, status);
+ return static_cast<jint>(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_free
+ (JNIEnv*, jclass, jint handle)
+{
+ HAL_CleanPowerDistribution(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getModuleNumber
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getModuleNumber
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetPowerDistributionModuleNumber(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: checkChannel
+ * Signature: (II)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_checkChannel
+ (JNIEnv* env, jclass, jint handle, jint channel)
+{
+ return HAL_CheckPowerDistributionChannel(handle, channel);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: checkModule
+ * Signature: (II)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_checkModule
+ (JNIEnv* env, jclass, jint module, jint type)
+{
+ return HAL_CheckPowerDistributionModule(
+ module, static_cast<HAL_PowerDistributionType>(type));
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getType
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getType
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetPowerDistributionType(handle, &status);
+ CheckStatus(env, status);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getNumChannels
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getNumChannels
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetPowerDistributionNumChannels(handle, &status);
+ CheckStatus(env, status);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getTemperature
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getTemperature
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ double temperature = HAL_GetPowerDistributionTemperature(handle, &status);
+ CheckStatus(env, status, false);
+ return temperature;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getVoltage
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getVoltage
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ double voltage = HAL_GetPowerDistributionVoltage(handle, &status);
+ CheckStatus(env, status, false);
+ return voltage;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getChannelCurrent
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getChannelCurrent
+ (JNIEnv* env, jclass, jint handle, jint channel)
+{
+ int32_t status = 0;
+ double current =
+ HAL_GetPowerDistributionChannelCurrent(handle, channel, &status);
+ CheckStatus(env, status, false);
+ return current;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getAllCurrents
+ * Signature: (I[D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getAllCurrents
+ (JNIEnv* env, jclass, jint handle, jdoubleArray jarr)
+{
+ double storage[16];
+ int32_t status = 0;
+ // TODO fix me
+ HAL_GetPowerDistributionAllChannelCurrents(handle, storage, 16, &status);
+ if (!CheckStatus(env, status, false)) {
+ return;
+ }
+
+ env->SetDoubleArrayRegion(jarr, 0, 16, storage);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getTotalCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getTotalCurrent
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ double current = HAL_GetPowerDistributionTotalCurrent(handle, &status);
+ CheckStatus(env, status, false);
+ return current;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getTotalPower
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getTotalPower
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ double power = HAL_GetPowerDistributionTotalPower(handle, &status);
+ CheckStatus(env, status, false);
+ return power;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getTotalEnergy
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getTotalEnergy
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ double energy = HAL_GetPowerDistributionTotalEnergy(handle, &status);
+ CheckStatus(env, status, false);
+ return energy;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: resetTotalEnergy
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_resetTotalEnergy
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_ResetPowerDistributionTotalEnergy(handle, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: clearStickyFaults
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_clearStickyFaults
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_ClearPowerDistributionStickyFaults(handle, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: setSwitchableChannel
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_setSwitchableChannel
+ (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+ int32_t status = 0;
+ HAL_SetPowerDistributionSwitchableChannel(handle, enabled, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getSwitchableChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getSwitchableChannel
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto state = HAL_GetPowerDistributionSwitchableChannel(handle, &status);
+ CheckStatus(env, status, false);
+ return state;
+}
+
+} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/PowerJNI.cpp b/hal/src/main/native/cpp/jni/PowerJNI.cpp
index 6fc42b4..92b174d 100644
--- a/hal/src/main/native/cpp/jni/PowerJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PowerJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -225,4 +222,33 @@
return val;
}
+/*
+ * Class: edu_wpi_first_hal_PowerJNI
+ * Method: setBrownoutVoltage
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setBrownoutVoltage
+ (JNIEnv* env, jclass, jdouble brownoutVoltage)
+{
+ int32_t status = 0;
+ HAL_SetBrownoutVoltage(brownoutVoltage, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerJNI
+ * Method: getBrownoutVoltage
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerJNI_getBrownoutVoltage
+ (JNIEnv* env, jclass)
+{
+ int32_t status = 0;
+ double val = HAL_GetBrownoutVoltage(&status);
+ CheckStatus(env, status);
+ return val;
+}
+
} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/REVPHJNI.cpp b/hal/src/main/native/cpp/jni/REVPHJNI.cpp
new file mode 100644
index 0000000..3e99430
--- /dev/null
+++ b/hal/src/main/native/cpp/jni/REVPHJNI.cpp
@@ -0,0 +1,191 @@
+// 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.
+
+#include <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_REVPHJNI.h"
+#include "hal/Ports.h"
+#include "hal/REVPH.h"
+#include "hal/handles/HandlesInternal.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: initialize
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_initialize
+ (JNIEnv* env, jclass, jint module)
+{
+ int32_t status = 0;
+ auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+ auto handle = HAL_InitializeREVPH(module, stack.c_str(), &status);
+ CheckStatusForceThrow(env, status);
+ return handle;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_free
+ (JNIEnv* env, jclass, jint handle)
+{
+ HAL_FreeREVPH(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: checkSolenoidChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_checkSolenoidChannel
+ (JNIEnv*, jclass, jint channel)
+{
+ return HAL_CheckREVPHSolenoidChannel(channel);
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getCompressor
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getCompressor
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetREVPHCompressor(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: setClosedLoopControl
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControl
+ (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+ int32_t status = 0;
+ HAL_SetREVPHClosedLoopControl(handle, enabled, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getClosedLoopControl
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getClosedLoopControl
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetREVPHClosedLoopControl(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getPressureSwitch
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetREVPHPressureSwitch(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getAnalogPressure
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getAnalogPressure
+ (JNIEnv* env, jclass, jint handle, jint channel)
+{
+ int32_t status = 0;
+ auto result = HAL_GetREVPHAnalogPressure(handle, channel, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getCompressorCurrent
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetREVPHCompressorCurrent(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getSolenoids
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getSolenoids
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto result = HAL_GetREVPHSolenoids(handle, &status);
+ CheckStatus(env, status, false);
+ return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: setSolenoids
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setSolenoids
+ (JNIEnv* env, jclass, jint handle, jint mask, jint value)
+{
+ int32_t status = 0;
+ HAL_SetREVPHSolenoids(handle, mask, value, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: fireOneShot
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_fireOneShot
+ (JNIEnv* env, jclass, jint handle, jint index, jint durMs)
+{
+ int32_t status = 0;
+ HAL_FireREVPHOneShot(handle, index, durMs, &status);
+ CheckStatus(env, status, false);
+}
+
+} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/RelayJNI.cpp b/hal/src/main/native/cpp/jni/RelayJNI.cpp
index ce43307..9e31a9d 100644
--- a/hal/src/main/native/cpp/jni/RelayJNI.cpp
+++ b/hal/src/main/native/cpp/jni/RelayJNI.cpp
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
#include <cassert>
+#include <wpi/jni_util.h>
+
#include "HALUtil.h"
#include "edu_wpi_first_hal_RelayJNI.h"
#include "hal/Ports.h"
@@ -29,10 +28,10 @@
(JNIEnv* env, jclass, jint id, jboolean fwd)
{
int32_t status = 0;
+ auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
HAL_RelayHandle handle = HAL_InitializeRelayPort(
- (HAL_PortHandle)id, static_cast<uint8_t>(fwd), &status);
- CheckStatusRange(env, status, 0, HAL_GetNumRelayChannels(),
- hal::getPortHandleChannel((HAL_PortHandle)id));
+ (HAL_PortHandle)id, static_cast<uint8_t>(fwd), stack.c_str(), &status);
+ CheckStatusForceThrow(env, status);
return (jint)handle;
}
diff --git a/hal/src/main/native/cpp/jni/SPIJNI.cpp b/hal/src/main/native/cpp/jni/SPIJNI.cpp
index d7709e2..67ef56d 100644
--- a/hal/src/main/native/cpp/jni/SPIJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SPIJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -45,7 +42,7 @@
jbyte size)
{
uint8_t* dataToSendPtr = nullptr;
- if (dataToSend != 0) {
+ if (dataToSend != nullptr) {
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
@@ -88,7 +85,7 @@
(JNIEnv* env, jclass, jint port, jobject dataToSend, jbyte size)
{
uint8_t* dataToSendPtr = nullptr;
- if (dataToSend != 0) {
+ if (dataToSend != nullptr) {
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
@@ -370,7 +367,9 @@
jint retval =
HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port),
recvBuf.data(), numToRead, timeout, &status);
- if (!CheckStatus(env, status)) return retval;
+ if (!CheckStatus(env, status)) {
+ return retval;
+ }
if (numToRead > 0) {
env->SetIntArrayRegion(buffer, 0, numToRead,
reinterpret_cast<const jint*>(recvBuf.data()));
diff --git a/hal/src/main/native/cpp/jni/SerialPortJNI.cpp b/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
index 13f1f99..e7f81aa 100644
--- a/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
index b69a8bb..f681e71 100644
--- a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -69,25 +66,25 @@
/*
* Class: edu_wpi_first_hal_SimDeviceJNI
* Method: createSimValueNative
- * Signature: (ILjava/lang/String;ZIJD)I
+ * Signature: (ILjava/lang/String;IIJD)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueNative
- (JNIEnv* env, jclass, jint device, jstring name, jboolean readonly, jint type,
+ (JNIEnv* env, jclass, jint device, jstring name, jint direction, jint type,
jlong value1, jdouble value2)
{
- return HAL_CreateSimValue(device, JStringRef{env, name}.c_str(), readonly,
+ return HAL_CreateSimValue(device, JStringRef{env, name}.c_str(), direction,
ValueFromJava(type, value1, value2));
}
/*
* Class: edu_wpi_first_hal_SimDeviceJNI
* Method: createSimValueEnum
- * Signature: (ILjava/lang/String;Z[Ljava/lang/Object;I)I
+ * Signature: (ILjava/lang/String;I[Ljava/lang/Object;I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnum
- (JNIEnv* env, jclass, jint device, jstring name, jboolean readonly,
+ (JNIEnv* env, jclass, jint device, jstring name, jint direction,
jobjectArray options, jint initialValue)
{
size_t len = env->GetArrayLength(options);
@@ -96,13 +93,52 @@
for (size_t i = 0; i < len; ++i) {
JLocal<jstring> elem{
env, static_cast<jstring>(env->GetObjectArrayElement(options, i))};
- if (!elem) return 0;
- arr.push_back(JStringRef{env, elem}.str());
+ if (!elem) {
+ return 0;
+ }
+ arr.emplace_back(JStringRef{env, elem}.str());
}
wpi::SmallVector<const char*, 8> carr;
- for (auto&& val : arr) carr.push_back(val.c_str());
- return HAL_CreateSimValueEnum(device, JStringRef{env, name}.c_str(), readonly,
- len, carr.data(), initialValue);
+ for (auto&& val : arr) {
+ carr.push_back(val.c_str());
+ }
+ return HAL_CreateSimValueEnum(device, JStringRef{env, name}.c_str(),
+ direction, len, carr.data(), initialValue);
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: createSimValueEnumDouble
+ * Signature: (ILjava/lang/String;I[Ljava/lang/Object;[DI)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnumDouble
+ (JNIEnv* env, jclass, jint device, jstring name, jint direction,
+ jobjectArray options, jdoubleArray optionValues, jint initialValue)
+{
+ size_t len = env->GetArrayLength(options);
+ size_t len2 = env->GetArrayLength(optionValues);
+ if (len != len2) {
+ return 0;
+ }
+ std::vector<std::string> arr;
+ arr.reserve(len);
+ for (size_t i = 0; i < len; ++i) {
+ JLocal<jstring> elem{
+ env, static_cast<jstring>(env->GetObjectArrayElement(options, i))};
+ if (!elem) {
+ return 0;
+ }
+ arr.emplace_back(JStringRef{env, elem}.str());
+ }
+
+ wpi::SmallVector<const char*, 8> carr;
+ for (auto&& val : arr) {
+ carr.push_back(val.c_str());
+ }
+ return HAL_CreateSimValueEnumDouble(
+ device, JStringRef{env, name}.c_str(), direction, len, carr.data(),
+ JDoubleArrayRef{env, optionValues}.array().data(), initialValue);
}
/*
@@ -119,6 +155,30 @@
/*
* Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: getSimValueInt
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimValueInt
+ (JNIEnv*, jclass, jint handle)
+{
+ return HAL_GetSimValueInt(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: getSimValueLong
+ * Signature: (I)J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimValueLong
+ (JNIEnv*, jclass, jint handle)
+{
+ return HAL_GetSimValueLong(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
* Method: getSimValueDouble
* Signature: (I)D
*/
@@ -165,4 +225,16 @@
HAL_SetSimValue(handle, ValueFromJava(type, value1, value2));
}
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: resetSimValue
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_resetSimValue
+ (JNIEnv*, jclass, jint handle)
+{
+ HAL_ResetSimValue(handle);
+}
+
} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/SolenoidJNI.cpp b/hal/src/main/native/cpp/jni/SolenoidJNI.cpp
deleted file mode 100644
index 4877db3..0000000
--- a/hal/src/main/native/cpp/jni/SolenoidJNI.cpp
+++ /dev/null
@@ -1,203 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include <jni.h>
-
-#include "HALUtil.h"
-#include "edu_wpi_first_hal_SolenoidJNI.h"
-#include "hal/Ports.h"
-#include "hal/Solenoid.h"
-#include "hal/handles/HandlesInternal.h"
-
-using namespace hal;
-
-extern "C" {
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: initializeSolenoidPort
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_initializeSolenoidPort
- (JNIEnv* env, jclass, jint id)
-{
- int32_t status = 0;
- HAL_SolenoidHandle handle =
- HAL_InitializeSolenoidPort((HAL_PortHandle)id, &status);
-
- // Use solenoid channels, as we have to pick one.
- CheckStatusRange(env, status, 0, HAL_GetNumSolenoidChannels(),
- hal::getPortHandleChannel((HAL_PortHandle)id));
- return (jint)handle;
-}
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: checkSolenoidChannel
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_checkSolenoidChannel
- (JNIEnv* env, jclass, jint channel)
-{
- return HAL_CheckSolenoidChannel(channel);
-}
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: checkSolenoidModule
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_checkSolenoidModule
- (JNIEnv* env, jclass, jint module)
-{
- return HAL_CheckSolenoidModule(module);
-}
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: freeSolenoidPort
- * Signature: (I)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_freeSolenoidPort
- (JNIEnv* env, jclass, jint id)
-{
- HAL_FreeSolenoidPort((HAL_SolenoidHandle)id);
-}
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: setSolenoid
- * Signature: (IZ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_setSolenoid
- (JNIEnv* env, jclass, jint solenoid_port, jboolean value)
-{
- int32_t status = 0;
- HAL_SetSolenoid((HAL_SolenoidHandle)solenoid_port, value, &status);
- CheckStatus(env, status);
-}
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: getSolenoid
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_getSolenoid
- (JNIEnv* env, jclass, jint solenoid_port)
-{
- int32_t status = 0;
- jboolean val = HAL_GetSolenoid((HAL_SolenoidHandle)solenoid_port, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: getAllSolenoids
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_getAllSolenoids
- (JNIEnv* env, jclass, jint module)
-{
- int32_t status = 0;
- jint val = HAL_GetAllSolenoids(module, &status);
- CheckStatus(env, status);
- return val;
-}
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: getPCMSolenoidBlackList
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_getPCMSolenoidBlackList
- (JNIEnv* env, jclass, jint module)
-{
- int32_t status = 0;
- jint val = HAL_GetPCMSolenoidBlackList(module, &status);
- CheckStatus(env, status);
- return val;
-}
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: getPCMSolenoidVoltageStickyFault
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_getPCMSolenoidVoltageStickyFault
- (JNIEnv* env, jclass, jint module)
-{
- int32_t status = 0;
- bool val = HAL_GetPCMSolenoidVoltageStickyFault(module, &status);
- CheckStatus(env, status);
- return val;
-}
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: getPCMSolenoidVoltageFault
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_getPCMSolenoidVoltageFault
- (JNIEnv* env, jclass, jint module)
-{
- int32_t status = 0;
- bool val = HAL_GetPCMSolenoidVoltageFault(module, &status);
- CheckStatus(env, status);
- return val;
-}
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: clearAllPCMStickyFaults
- * Signature: (I)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_clearAllPCMStickyFaults
- (JNIEnv* env, jclass, jint module)
-{
- int32_t status = 0;
- HAL_ClearAllPCMStickyFaults(module, &status);
- CheckStatus(env, status);
-}
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: setOneShotDuration
- * Signature: (IJ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_setOneShotDuration
- (JNIEnv* env, jclass, jint solenoid_port, jlong durationMS)
-{
- int32_t status = 0;
- HAL_SetOneShotDuration((HAL_SolenoidHandle)solenoid_port, durationMS,
- &status);
- CheckStatus(env, status);
-}
-
-/*
- * Class: edu_wpi_first_hal_SolenoidJNI
- * Method: fireOneShot
- * Signature: (I)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_SolenoidJNI_fireOneShot
- (JNIEnv* env, jclass, jint solenoid_port)
-{
- int32_t status = 0;
- HAL_FireOneShot((HAL_SolenoidHandle)solenoid_port, &status);
- CheckStatus(env, status);
-}
-} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/ThreadsJNI.cpp b/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
index a26a4bf..94f00c5 100644
--- a/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
+++ b/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -29,7 +26,7 @@
HAL_Bool isRT = false;
auto ret = HAL_GetCurrentThreadPriority(&isRT, &status);
CheckStatus(env, status);
- return (jint)ret;
+ return static_cast<jint>(ret);
}
/*
@@ -45,7 +42,7 @@
HAL_Bool isRT = false;
HAL_GetCurrentThreadPriority(&isRT, &status);
CheckStatus(env, status);
- return (jboolean)isRT;
+ return static_cast<jboolean>(isRT);
}
/*
@@ -59,9 +56,9 @@
{
int32_t status = 0;
auto ret = HAL_SetCurrentThreadPriority(
- (HAL_Bool)realTime, static_cast<int32_t>(priority), &status);
- CheckStatus(env, status);
- return (jboolean)ret;
+ static_cast<HAL_Bool>(realTime), static_cast<int32_t>(priority), &status);
+ CheckStatus(env, status, false);
+ return static_cast<jboolean>(ret);
}
} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/simulation/AccelerometerDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AccelerometerDataJNI.cpp
index 21d93fe..bc0b499 100644
--- a/hal/src/main/native/cpp/jni/simulation/AccelerometerDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AccelerometerDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
index 8ac59ec..e888bd3 100644
--- a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -260,7 +257,7 @@
std::make_unique<HAL_AddressableLEDData[]>(HAL_kAddressableLEDMaxLength);
int32_t length = HALSIM_GetAddressableLEDData(index, data.get());
return MakeJByteArray(
- env, wpi::ArrayRef(reinterpret_cast<jbyte*>(data.get()), length * 4));
+ env, wpi::span(reinterpret_cast<jbyte*>(data.get()), length * 4));
}
/*
diff --git a/hal/src/main/native/cpp/jni/simulation/AnalogGyroDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AnalogGyroDataJNI.cpp
index ed867cd..6a916f5 100644
--- a/hal/src/main/native/cpp/jni/simulation/AnalogGyroDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AnalogGyroDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
index 0266a76..336c0f4 100644
--- a/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/AnalogOutDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AnalogOutDataJNI.cpp
index 06f5be6..ce74fad 100644
--- a/hal/src/main/native/cpp/jni/simulation/AnalogOutDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AnalogOutDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/AnalogTriggerDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AnalogTriggerDataJNI.cpp
index be92c6d..f7a5147 100644
--- a/hal/src/main/native/cpp/jni/simulation/AnalogTriggerDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AnalogTriggerDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
index 6751e03..265b363 100644
--- a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "BufferCallbackStore.h"
#include <jni.h>
+#include <cstdio>
+
#include <wpi/jni_util.h>
#include "SimulatorJNI.h"
@@ -25,16 +24,14 @@
hal::HAL_HandleEnum::SimulationJni>*
callbackHandles;
-namespace hal {
-namespace sim {
+namespace hal::sim {
void InitializeBufferStore() {
static hal::UnlimitedHandleResource<SIM_JniHandle, BufferCallbackStore,
hal::HAL_HandleEnum::SimulationJni>
cb;
callbackHandles = &cb;
}
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
void BufferCallbackStore::create(JNIEnv* env, jobject obj) {
m_call = JGlobal<jobject>(env, obj);
@@ -51,21 +48,21 @@
didAttachThread = true;
if (vm->AttachCurrentThread(reinterpret_cast<void**>(&env), nullptr) != 0) {
// Failed to attach, log and return
- wpi::outs() << "Failed to attach\n";
- wpi::outs().flush();
+ std::puts("Failed to attach");
+ std::fflush(stdout);
return;
}
} else if (tryGetEnv == JNI_EVERSION) {
- wpi::outs() << "Invalid JVM Version requested\n";
- wpi::outs().flush();
+ std::puts("Invalid JVM Version requested");
+ std::fflush(stdout);
}
- auto toCallbackArr =
- MakeJByteArray(env, wpi::StringRef{reinterpret_cast<const char*>(buffer),
- static_cast<size_t>(length)});
+ auto toCallbackArr = MakeJByteArray(
+ env, std::string_view{reinterpret_cast<const char*>(buffer),
+ static_cast<size_t>(length)});
env->CallVoidMethod(m_call, sim::GetBufferCallback(), MakeJString(env, name),
- toCallbackArr, (jint)length);
+ toCallbackArr, static_cast<jint>(length));
jbyte* fromCallbackArr = reinterpret_cast<jbyte*>(
env->GetPrimitiveArrayCritical(toCallbackArr, nullptr));
@@ -85,7 +82,9 @@
}
}
-void BufferCallbackStore::free(JNIEnv* env) { m_call.free(env); }
+void BufferCallbackStore::free(JNIEnv* env) {
+ m_call.free(env);
+}
SIM_JniHandle sim::AllocateBufferCallback(
JNIEnv* env, jint index, jobject callback,
@@ -108,7 +107,9 @@
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
- if (!data) return;
+ if (!data) {
+ return;
+ }
data->performCallback(name, buffer, length);
};
diff --git a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h
index 8e746d2..73cf957 100644
--- a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -17,8 +14,7 @@
#include "hal/handles/UnlimitedHandleResource.h"
#include "hal/simulation/NotifyListener.h"
-namespace hal {
-namespace sim {
+namespace hal::sim {
class BufferCallbackStore {
public:
void create(JNIEnv* env, jobject obj);
@@ -34,14 +30,13 @@
void InitializeBufferStore();
-typedef int32_t (*RegisterBufferCallbackFunc)(int32_t index,
- HAL_BufferCallback callback,
- void* param);
-typedef void (*FreeBufferCallbackFunc)(int32_t index, int32_t uid);
+using RegisterBufferCallbackFunc = int32_t (*)(int32_t index,
+ HAL_BufferCallback callback,
+ void* param);
+using FreeBufferCallbackFunc = void (*)(int32_t index, int32_t uid);
SIM_JniHandle AllocateBufferCallback(JNIEnv* env, jint index, jobject callback,
RegisterBufferCallbackFunc createCallback);
void FreeBufferCallback(JNIEnv* env, SIM_JniHandle handle, jint index,
FreeBufferCallbackFunc freeCallback);
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
diff --git a/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp
new file mode 100644
index 0000000..416478c
--- /dev/null
+++ b/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp
@@ -0,0 +1,368 @@
+// 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.
+
+#include <jni.h>
+
+#include "CallbackStore.h"
+#include "edu_wpi_first_hal_simulation_CTREPCMDataJNI.h"
+#include "hal/simulation/CTREPCMData.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: registerInitializedCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_registerInitializedCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(env, index, callback, initialNotify,
+ &HALSIM_RegisterCTREPCMInitializedCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: cancelInitializedCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_cancelInitializedCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelCTREPCMInitializedCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: getInitialized
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_getInitialized
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetCTREPCMInitialized(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: setInitialized
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_setInitialized
+ (JNIEnv*, jclass, jint index, jboolean value)
+{
+ HALSIM_SetCTREPCMInitialized(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: registerSolenoidOutputCallback
+ * Signature: (IILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_registerSolenoidOutputCallback
+ (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
+ jboolean initialNotify)
+{
+ return sim::AllocateChannelCallback(
+ env, index, channel, callback, initialNotify,
+ &HALSIM_RegisterCTREPCMSolenoidOutputCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: cancelSolenoidOutputCallback
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_cancelSolenoidOutputCallback
+ (JNIEnv* env, jclass, jint index, jint channel, jint handle)
+{
+ return sim::FreeChannelCallback(env, handle, index, channel,
+ &HALSIM_CancelCTREPCMSolenoidOutputCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: getSolenoidOutput
+ * Signature: (II)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_getSolenoidOutput
+ (JNIEnv*, jclass, jint index, jint channel)
+{
+ return HALSIM_GetCTREPCMSolenoidOutput(index, channel);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: setSolenoidOutput
+ * Signature: (IIZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_setSolenoidOutput
+ (JNIEnv*, jclass, jint index, jint channel, jboolean value)
+{
+ HALSIM_SetCTREPCMSolenoidOutput(index, channel, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: registerCompressorOnCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_registerCompressorOnCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(env, index, callback, initialNotify,
+ &HALSIM_RegisterCTREPCMCompressorOnCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: cancelCompressorOnCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_cancelCompressorOnCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelCTREPCMCompressorOnCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: getCompressorOn
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_getCompressorOn
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetCTREPCMCompressorOn(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: setCompressorOn
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_setCompressorOn
+ (JNIEnv*, jclass, jint index, jboolean value)
+{
+ HALSIM_SetCTREPCMCompressorOn(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: registerClosedLoopEnabledCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_registerClosedLoopEnabledCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(
+ env, index, callback, initialNotify,
+ &HALSIM_RegisterCTREPCMClosedLoopEnabledCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: cancelClosedLoopEnabledCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_cancelClosedLoopEnabledCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelCTREPCMClosedLoopEnabledCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: getClosedLoopEnabled
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_getClosedLoopEnabled
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetCTREPCMClosedLoopEnabled(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: setClosedLoopEnabled
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_setClosedLoopEnabled
+ (JNIEnv*, jclass, jint index, jboolean value)
+{
+ HALSIM_SetCTREPCMClosedLoopEnabled(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: registerPressureSwitchCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_registerPressureSwitchCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(env, index, callback, initialNotify,
+ &HALSIM_RegisterCTREPCMPressureSwitchCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: cancelPressureSwitchCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_cancelPressureSwitchCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelCTREPCMPressureSwitchCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_getPressureSwitch
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetCTREPCMPressureSwitch(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: setPressureSwitch
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_setPressureSwitch
+ (JNIEnv*, jclass, jint index, jboolean value)
+{
+ HALSIM_SetCTREPCMPressureSwitch(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: registerCompressorCurrentCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_registerCompressorCurrentCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(
+ env, index, callback, initialNotify,
+ &HALSIM_RegisterCTREPCMCompressorCurrentCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: cancelCompressorCurrentCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_cancelCompressorCurrentCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelCTREPCMCompressorCurrentCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_getCompressorCurrent
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetCTREPCMCompressorCurrent(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: setCompressorCurrent
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_setCompressorCurrent
+ (JNIEnv*, jclass, jint index, jdouble value)
+{
+ HALSIM_SetCTREPCMCompressorCurrent(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: registerAllNonSolenoidCallbacks
+ * Signature: (ILjava/lang/Object;Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_registerAllNonSolenoidCallbacks
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ sim::AllocateCallback(
+ env, index, callback, initialNotify,
+ [](int32_t index, HAL_NotifyCallback cb, void* param, HAL_Bool in) {
+ HALSIM_RegisterCTREPCMAllNonSolenoidCallbacks(index, cb, param, in);
+ return 0;
+ });
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: registerAllSolenoidCallbacks
+ * Signature: (IILjava/lang/Object;Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_registerAllSolenoidCallbacks
+ (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
+ jboolean initialNotify)
+{
+ sim::AllocateChannelCallback(
+ env, index, channel, callback, initialNotify,
+ [](int32_t index, int32_t channel, HAL_NotifyCallback cb, void* param,
+ HAL_Bool in) {
+ HALSIM_RegisterCTREPCMAllSolenoidCallbacks(index, channel, cb, param,
+ in);
+ return 0;
+ });
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_CTREPCMDataJNI
+ * Method: resetData
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_CTREPCMDataJNI_resetData
+ (JNIEnv*, jclass, jint index)
+{
+ HALSIM_ResetCTREPCMData(index);
+}
+
+} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
index 5ce046d..f57dfb3 100644
--- a/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "CallbackStore.h"
#include <jni.h>
+#include <cstdio>
+
#include <wpi/jni_util.h>
#include "SimulatorJNI.h"
@@ -25,16 +24,14 @@
hal::HAL_HandleEnum::SimulationJni>*
callbackHandles;
-namespace hal {
-namespace sim {
+namespace hal::sim {
void InitializeStore() {
static hal::UnlimitedHandleResource<SIM_JniHandle, CallbackStore,
hal::HAL_HandleEnum::SimulationJni>
cb;
callbackHandles = &cb;
}
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
void CallbackStore::create(JNIEnv* env, jobject obj) {
m_call = JGlobal<jobject>(env, obj);
@@ -50,18 +47,39 @@
didAttachThread = true;
if (vm->AttachCurrentThread(reinterpret_cast<void**>(&env), nullptr) != 0) {
// Failed to attach, log and return
- wpi::outs() << "Failed to attach\n";
- wpi::outs().flush();
+ std::puts("Failed to attach");
+ std::fflush(stdout);
return;
}
} else if (tryGetEnv == JNI_EVERSION) {
- wpi::outs() << "Invalid JVM Version requested\n";
- wpi::outs().flush();
+ std::puts("Invalid JVM Version requested");
+ std::fflush(stdout);
+ }
+
+ int64_t longValue = 0;
+
+ switch (value->type) {
+ case HAL_BOOLEAN:
+ longValue = value->data.v_boolean;
+ break;
+ case HAL_ENUM:
+ longValue = value->data.v_enum;
+ break;
+ case HAL_INT:
+ longValue = value->data.v_int;
+ break;
+ case HAL_LONG:
+ longValue = value->data.v_long;
+ break;
+ case HAL_DOUBLE:
+ case HAL_UNASSIGNED:
+ break;
}
env->CallVoidMethod(m_call, sim::GetNotifyCallback(), MakeJString(env, name),
- (jint)value->type, (jlong)value->data.v_long,
- (jdouble)value->data.v_double);
+ static_cast<jint>(value->type),
+ static_cast<jlong>(longValue),
+ static_cast<jdouble>(value->data.v_double));
if (env->ExceptionCheck()) {
env->ExceptionDescribe();
@@ -72,7 +90,9 @@
}
}
-void CallbackStore::free(JNIEnv* env) { m_call.free(env); }
+void CallbackStore::free(JNIEnv* env) {
+ m_call.free(env);
+}
SIM_JniHandle sim::AllocateCallback(JNIEnv* env, jint index, jobject callback,
jboolean initialNotify,
@@ -95,7 +115,9 @@
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
- if (!data) return;
+ if (!data) {
+ return;
+ }
data->performCallback(name, value);
};
@@ -135,7 +157,9 @@
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
- if (!data) return;
+ if (!data) {
+ return;
+ }
data->performCallback(name, value);
};
@@ -177,7 +201,9 @@
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
- if (!data) return;
+ if (!data) {
+ return;
+ }
data->performCallback(name, value);
};
diff --git a/hal/src/main/native/cpp/jni/simulation/CallbackStore.h b/hal/src/main/native/cpp/jni/simulation/CallbackStore.h
index 0ba44d3..59e1018 100644
--- a/hal/src/main/native/cpp/jni/simulation/CallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/CallbackStore.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -17,8 +14,7 @@
#include "hal/handles/UnlimitedHandleResource.h"
#include "hal/simulation/NotifyListener.h"
-namespace hal {
-namespace sim {
+namespace hal::sim {
class CallbackStore {
public:
void create(JNIEnv* env, jobject obj);
@@ -34,20 +30,20 @@
void InitializeStore();
-typedef int32_t (*RegisterCallbackFunc)(int32_t index,
- HAL_NotifyCallback callback,
- void* param, HAL_Bool initialNotify);
-typedef void (*FreeCallbackFunc)(int32_t index, int32_t uid);
-typedef int32_t (*RegisterChannelCallbackFunc)(int32_t index, int32_t channel,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-typedef void (*FreeChannelCallbackFunc)(int32_t index, int32_t channel,
- int32_t uid);
-typedef int32_t (*RegisterCallbackNoIndexFunc)(HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-typedef void (*FreeCallbackNoIndexFunc)(int32_t uid);
+using RegisterCallbackFunc = int32_t (*)(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param, HAL_Bool initialNotify);
+using FreeCallbackFunc = void (*)(int32_t index, int32_t uid);
+using RegisterChannelCallbackFunc = int32_t (*)(int32_t index, int32_t channel,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+using FreeChannelCallbackFunc = void (*)(int32_t index, int32_t channel,
+ int32_t uid);
+using RegisterCallbackNoIndexFunc = int32_t (*)(HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+using FreeCallbackNoIndexFunc = void (*)(int32_t uid);
SIM_JniHandle AllocateCallback(JNIEnv* env, jint index, jobject callback,
jboolean initialNotify,
@@ -64,5 +60,4 @@
jint channel, FreeChannelCallbackFunc freeCallback);
void FreeCallbackNoIndex(JNIEnv* env, SIM_JniHandle handle,
FreeCallbackNoIndexFunc freeCallback);
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
diff --git a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
index b9c9808..cba0a5b 100644
--- a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "ConstBufferCallbackStore.h"
#include <jni.h>
+#include <cstdio>
+
#include <wpi/jni_util.h>
#include "SimulatorJNI.h"
@@ -25,16 +24,14 @@
hal::HAL_HandleEnum::SimulationJni>*
callbackHandles;
-namespace hal {
-namespace sim {
+namespace hal::sim {
void InitializeConstBufferStore() {
static hal::UnlimitedHandleResource<SIM_JniHandle, ConstBufferCallbackStore,
hal::HAL_HandleEnum::SimulationJni>
cb;
callbackHandles = &cb;
}
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
void ConstBufferCallbackStore::create(JNIEnv* env, jobject obj) {
m_call = JGlobal<jobject>(env, obj);
@@ -52,21 +49,22 @@
didAttachThread = true;
if (vm->AttachCurrentThread(reinterpret_cast<void**>(&env), nullptr) != 0) {
// Failed to attach, log and return
- wpi::outs() << "Failed to attach\n";
- wpi::outs().flush();
+ std::puts("Failed to attach");
+ std::fflush(stdout);
return;
}
} else if (tryGetEnv == JNI_EVERSION) {
- wpi::outs() << "Invalid JVM Version requested\n";
- wpi::outs().flush();
+ std::puts("Invalid JVM Version requested");
+ std::fflush(stdout);
}
- auto toCallbackArr =
- MakeJByteArray(env, wpi::StringRef{reinterpret_cast<const char*>(buffer),
- static_cast<size_t>(length)});
+ auto toCallbackArr = MakeJByteArray(
+ env, std::string_view{reinterpret_cast<const char*>(buffer),
+ static_cast<size_t>(length)});
env->CallVoidMethod(m_call, sim::GetConstBufferCallback(),
- MakeJString(env, name), toCallbackArr, (jint)length);
+ MakeJString(env, name), toCallbackArr,
+ static_cast<jint>(length));
if (env->ExceptionCheck()) {
env->ExceptionDescribe();
@@ -77,7 +75,9 @@
}
}
-void ConstBufferCallbackStore::free(JNIEnv* env) { m_call.free(env); }
+void ConstBufferCallbackStore::free(JNIEnv* env) {
+ m_call.free(env);
+}
SIM_JniHandle sim::AllocateConstBufferCallback(
JNIEnv* env, jint index, jobject callback,
@@ -100,7 +100,9 @@
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
- if (!data) return;
+ if (!data) {
+ return;
+ }
data->performCallback(name, buffer, length);
};
diff --git a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h
index b69eccf..0998d3c 100644
--- a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -17,8 +14,7 @@
#include "hal/handles/UnlimitedHandleResource.h"
#include "hal/simulation/NotifyListener.h"
-namespace hal {
-namespace sim {
+namespace hal::sim {
class ConstBufferCallbackStore {
public:
void create(JNIEnv* env, jobject obj);
@@ -35,14 +31,13 @@
void InitializeConstBufferStore();
-typedef int32_t (*RegisterConstBufferCallbackFunc)(
- int32_t index, HAL_ConstBufferCallback callback, void* param);
-typedef void (*FreeConstBufferCallbackFunc)(int32_t index, int32_t uid);
+using RegisterConstBufferCallbackFunc =
+ int32_t (*)(int32_t index, HAL_ConstBufferCallback callback, void* param);
+using FreeConstBufferCallbackFunc = void (*)(int32_t index, int32_t uid);
SIM_JniHandle AllocateConstBufferCallback(
JNIEnv* env, jint index, jobject callback,
RegisterConstBufferCallbackFunc createCallback);
void FreeConstBufferCallback(JNIEnv* env, SIM_JniHandle handle, jint index,
FreeConstBufferCallbackFunc freeCallback);
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
diff --git a/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp
index f757558..e81ad77 100644
--- a/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp
index ea6bee2..3ba3931 100644
--- a/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
index 7868e43..acecacb 100644
--- a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp
index 054fa67..9cda86d 100644
--- a/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
index b97e0fe..69549a1 100644
--- a/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp
index e4c2259..c023754 100644
--- a/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/NotifierDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/NotifierDataJNI.cpp
index 845c164..15b02d7 100644
--- a/hal/src/main/native/cpp/jni/simulation/NotifierDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/NotifierDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "edu_wpi_first_hal_simulation_NotifierDataJNI.h"
#include "hal/simulation/NotifierData.h"
diff --git a/hal/src/main/native/cpp/jni/simulation/PCMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PCMDataJNI.cpp
deleted file mode 100644
index cfcd2c0..0000000
--- a/hal/src/main/native/cpp/jni/simulation/PCMDataJNI.cpp
+++ /dev/null
@@ -1,421 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include <jni.h>
-
-#include "CallbackStore.h"
-#include "edu_wpi_first_hal_simulation_PCMDataJNI.h"
-#include "hal/simulation/PCMData.h"
-
-using namespace hal;
-
-extern "C" {
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: registerSolenoidInitializedCallback
- * Signature: (IILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_registerSolenoidInitializedCallback
- (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
- jboolean initialNotify)
-{
- return sim::AllocateChannelCallback(
- env, index, channel, callback, initialNotify,
- &HALSIM_RegisterPCMSolenoidInitializedCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: cancelSolenoidInitializedCallback
- * Signature: (III)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_cancelSolenoidInitializedCallback
- (JNIEnv* env, jclass, jint index, jint channel, jint handle)
-{
- return sim::FreeChannelCallback(env, handle, index, channel,
- &HALSIM_CancelPCMSolenoidInitializedCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: getSolenoidInitialized
- * Signature: (II)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_getSolenoidInitialized
- (JNIEnv*, jclass, jint index, jint channel)
-{
- return HALSIM_GetPCMSolenoidInitialized(index, channel);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: setSolenoidInitialized
- * Signature: (IIZ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_setSolenoidInitialized
- (JNIEnv*, jclass, jint index, jint channel, jboolean value)
-{
- HALSIM_SetPCMSolenoidInitialized(index, channel, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: registerSolenoidOutputCallback
- * Signature: (IILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_registerSolenoidOutputCallback
- (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
- jboolean initialNotify)
-{
- return sim::AllocateChannelCallback(
- env, index, channel, callback, initialNotify,
- &HALSIM_RegisterPCMSolenoidOutputCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: cancelSolenoidOutputCallback
- * Signature: (III)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_cancelSolenoidOutputCallback
- (JNIEnv* env, jclass, jint index, jint channel, jint handle)
-{
- return sim::FreeChannelCallback(env, handle, index, channel,
- &HALSIM_CancelPCMSolenoidOutputCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: getSolenoidOutput
- * Signature: (II)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_getSolenoidOutput
- (JNIEnv*, jclass, jint index, jint channel)
-{
- return HALSIM_GetPCMSolenoidOutput(index, channel);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: setSolenoidOutput
- * Signature: (IIZ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_setSolenoidOutput
- (JNIEnv*, jclass, jint index, jint channel, jboolean value)
-{
- HALSIM_SetPCMSolenoidOutput(index, channel, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: registerCompressorInitializedCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_registerCompressorInitializedCallback
- (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
- return sim::AllocateCallback(
- env, index, callback, initialNotify,
- &HALSIM_RegisterPCMCompressorInitializedCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: cancelCompressorInitializedCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_cancelCompressorInitializedCallback
- (JNIEnv* env, jclass, jint index, jint handle)
-{
- return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelPCMCompressorInitializedCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: getCompressorInitialized
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_getCompressorInitialized
- (JNIEnv*, jclass, jint index)
-{
- return HALSIM_GetPCMCompressorInitialized(index);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: setCompressorInitialized
- * Signature: (IZ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_setCompressorInitialized
- (JNIEnv*, jclass, jint index, jboolean value)
-{
- HALSIM_SetPCMCompressorInitialized(index, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: registerCompressorOnCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_registerCompressorOnCallback
- (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
- return sim::AllocateCallback(env, index, callback, initialNotify,
- &HALSIM_RegisterPCMCompressorOnCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: cancelCompressorOnCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_cancelCompressorOnCallback
- (JNIEnv* env, jclass, jint index, jint handle)
-{
- return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelPCMCompressorOnCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: getCompressorOn
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_getCompressorOn
- (JNIEnv*, jclass, jint index)
-{
- return HALSIM_GetPCMCompressorOn(index);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: setCompressorOn
- * Signature: (IZ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_setCompressorOn
- (JNIEnv*, jclass, jint index, jboolean value)
-{
- HALSIM_SetPCMCompressorOn(index, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: registerClosedLoopEnabledCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_registerClosedLoopEnabledCallback
- (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
- return sim::AllocateCallback(env, index, callback, initialNotify,
- &HALSIM_RegisterPCMClosedLoopEnabledCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: cancelClosedLoopEnabledCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_cancelClosedLoopEnabledCallback
- (JNIEnv* env, jclass, jint index, jint handle)
-{
- return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelPCMClosedLoopEnabledCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: getClosedLoopEnabled
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_getClosedLoopEnabled
- (JNIEnv*, jclass, jint index)
-{
- return HALSIM_GetPCMClosedLoopEnabled(index);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: setClosedLoopEnabled
- * Signature: (IZ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_setClosedLoopEnabled
- (JNIEnv*, jclass, jint index, jboolean value)
-{
- HALSIM_SetPCMClosedLoopEnabled(index, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: registerPressureSwitchCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_registerPressureSwitchCallback
- (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
- return sim::AllocateCallback(env, index, callback, initialNotify,
- &HALSIM_RegisterPCMPressureSwitchCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: cancelPressureSwitchCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_cancelPressureSwitchCallback
- (JNIEnv* env, jclass, jint index, jint handle)
-{
- return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelPCMPressureSwitchCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: getPressureSwitch
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_getPressureSwitch
- (JNIEnv*, jclass, jint index)
-{
- return HALSIM_GetPCMPressureSwitch(index);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: setPressureSwitch
- * Signature: (IZ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_setPressureSwitch
- (JNIEnv*, jclass, jint index, jboolean value)
-{
- HALSIM_SetPCMPressureSwitch(index, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: registerCompressorCurrentCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_registerCompressorCurrentCallback
- (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
- return sim::AllocateCallback(env, index, callback, initialNotify,
- &HALSIM_RegisterPCMCompressorCurrentCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: cancelCompressorCurrentCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_cancelCompressorCurrentCallback
- (JNIEnv* env, jclass, jint index, jint handle)
-{
- return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelPCMCompressorCurrentCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: getCompressorCurrent
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_getCompressorCurrent
- (JNIEnv*, jclass, jint index)
-{
- return HALSIM_GetPCMCompressorCurrent(index);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: setCompressorCurrent
- * Signature: (ID)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_setCompressorCurrent
- (JNIEnv*, jclass, jint index, jdouble value)
-{
- HALSIM_SetPCMCompressorCurrent(index, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: registerAllNonSolenoidCallbacks
- * Signature: (ILjava/lang/Object;Z)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_registerAllNonSolenoidCallbacks
- (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
- sim::AllocateCallback(
- env, index, callback, initialNotify,
- [](int32_t index, HAL_NotifyCallback cb, void* param, HAL_Bool in) {
- HALSIM_RegisterPCMAllNonSolenoidCallbacks(index, cb, param, in);
- return 0;
- });
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: registerAllSolenoidCallbacks
- * Signature: (IILjava/lang/Object;Z)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_registerAllSolenoidCallbacks
- (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
- jboolean initialNotify)
-{
- sim::AllocateChannelCallback(
- env, index, channel, callback, initialNotify,
- [](int32_t index, int32_t channel, HAL_NotifyCallback cb, void* param,
- HAL_Bool in) {
- HALSIM_RegisterPCMAllSolenoidCallbacks(index, channel, cb, param, in);
- return 0;
- });
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PCMDataJNI
- * Method: resetData
- * Signature: (I)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PCMDataJNI_resetData
- (JNIEnv*, jclass, jint index)
-{
- HALSIM_ResetPCMData(index);
-}
-
-} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/simulation/PDPDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PDPDataJNI.cpp
deleted file mode 100644
index 2ce6cbd..0000000
--- a/hal/src/main/native/cpp/jni/simulation/PDPDataJNI.cpp
+++ /dev/null
@@ -1,232 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include <jni.h>
-
-#include "CallbackStore.h"
-#include "edu_wpi_first_hal_simulation_PDPDataJNI.h"
-#include "hal/simulation/PDPData.h"
-
-using namespace hal;
-
-extern "C" {
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: registerInitializedCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_registerInitializedCallback
- (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
- return sim::AllocateCallback(env, index, callback, initialNotify,
- &HALSIM_RegisterPDPInitializedCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: cancelInitializedCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_cancelInitializedCallback
- (JNIEnv* env, jclass, jint index, jint handle)
-{
- return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelPDPInitializedCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: getInitialized
- * Signature: (I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_getInitialized
- (JNIEnv*, jclass, jint index)
-{
- return HALSIM_GetPDPInitialized(index);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: setInitialized
- * Signature: (IZ)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_setInitialized
- (JNIEnv*, jclass, jint index, jboolean value)
-{
- HALSIM_SetPDPInitialized(index, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: registerTemperatureCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_registerTemperatureCallback
- (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
- return sim::AllocateCallback(env, index, callback, initialNotify,
- &HALSIM_RegisterPDPTemperatureCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: cancelTemperatureCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_cancelTemperatureCallback
- (JNIEnv* env, jclass, jint index, jint handle)
-{
- return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelPDPTemperatureCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: getTemperature
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_getTemperature
- (JNIEnv*, jclass, jint index)
-{
- return HALSIM_GetPDPTemperature(index);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: setTemperature
- * Signature: (ID)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_setTemperature
- (JNIEnv*, jclass, jint index, jdouble value)
-{
- HALSIM_SetPDPTemperature(index, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: registerVoltageCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_registerVoltageCallback
- (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
- return sim::AllocateCallback(env, index, callback, initialNotify,
- &HALSIM_RegisterPDPVoltageCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: cancelVoltageCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_cancelVoltageCallback
- (JNIEnv* env, jclass, jint index, jint handle)
-{
- return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelPDPVoltageCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: getVoltage
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_getVoltage
- (JNIEnv*, jclass, jint index)
-{
- return HALSIM_GetPDPVoltage(index);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: setVoltage
- * Signature: (ID)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_setVoltage
- (JNIEnv*, jclass, jint index, jdouble value)
-{
- HALSIM_SetPDPVoltage(index, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: registerCurrentCallback
- * Signature: (IILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_registerCurrentCallback
- (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
- jboolean initialNotify)
-{
- return sim::AllocateChannelCallback(env, index, channel, callback,
- initialNotify,
- &HALSIM_RegisterPDPCurrentCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: cancelCurrentCallback
- * Signature: (III)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_cancelCurrentCallback
- (JNIEnv* env, jclass, jint index, jint channel, jint handle)
-{
- return sim::FreeChannelCallback(env, handle, index, channel,
- &HALSIM_CancelPDPCurrentCallback);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: getCurrent
- * Signature: (II)D
- */
-JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_getCurrent
- (JNIEnv*, jclass, jint index, jint channel)
-{
- return HALSIM_GetPDPCurrent(index, channel);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: setCurrent
- * Signature: (IID)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_setCurrent
- (JNIEnv*, jclass, jint index, jint channel, jdouble value)
-{
- HALSIM_SetPDPCurrent(index, channel, value);
-}
-
-/*
- * Class: edu_wpi_first_hal_simulation_PDPDataJNI
- * Method: resetData
- * Signature: (I)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PDPDataJNI_resetData
- (JNIEnv*, jclass, jint index)
-{
- HALSIM_ResetPDPData(index);
-}
-
-} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
index 03e61ef..31c79a7 100644
--- a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp
new file mode 100644
index 0000000..517dc09
--- /dev/null
+++ b/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp
@@ -0,0 +1,233 @@
+// 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.
+
+#include <jni.h>
+
+#include "CallbackStore.h"
+#include "edu_wpi_first_hal_simulation_PowerDistributionDataJNI.h"
+#include "hal/simulation/PowerDistributionData.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: registerInitializedCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_registerInitializedCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(
+ env, index, callback, initialNotify,
+ &HALSIM_RegisterPowerDistributionInitializedCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: cancelInitializedCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_cancelInitializedCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelPowerDistributionInitializedCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: getInitialized
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_getInitialized
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetPowerDistributionInitialized(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: setInitialized
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_setInitialized
+ (JNIEnv*, jclass, jint index, jboolean value)
+{
+ HALSIM_SetPowerDistributionInitialized(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: registerTemperatureCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_registerTemperatureCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(
+ env, index, callback, initialNotify,
+ &HALSIM_RegisterPowerDistributionTemperatureCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: cancelTemperatureCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_cancelTemperatureCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelPowerDistributionTemperatureCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: getTemperature
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_getTemperature
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetPowerDistributionTemperature(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: setTemperature
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_setTemperature
+ (JNIEnv*, jclass, jint index, jdouble value)
+{
+ HALSIM_SetPowerDistributionTemperature(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: registerVoltageCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_registerVoltageCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(
+ env, index, callback, initialNotify,
+ &HALSIM_RegisterPowerDistributionVoltageCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: cancelVoltageCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_cancelVoltageCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelPowerDistributionVoltageCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: getVoltage
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_getVoltage
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetPowerDistributionVoltage(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: setVoltage
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_setVoltage
+ (JNIEnv*, jclass, jint index, jdouble value)
+{
+ HALSIM_SetPowerDistributionVoltage(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: registerCurrentCallback
+ * Signature: (IILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_registerCurrentCallback
+ (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
+ jboolean initialNotify)
+{
+ return sim::AllocateChannelCallback(
+ env, index, channel, callback, initialNotify,
+ &HALSIM_RegisterPowerDistributionCurrentCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: cancelCurrentCallback
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_cancelCurrentCallback
+ (JNIEnv* env, jclass, jint index, jint channel, jint handle)
+{
+ return sim::FreeChannelCallback(
+ env, handle, index, channel,
+ &HALSIM_CancelPowerDistributionCurrentCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: getCurrent
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_getCurrent
+ (JNIEnv*, jclass, jint index, jint channel)
+{
+ return HALSIM_GetPowerDistributionCurrent(index, channel);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: setCurrent
+ * Signature: (IID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_setCurrent
+ (JNIEnv*, jclass, jint index, jint channel, jdouble value)
+{
+ HALSIM_SetPowerDistributionCurrent(index, channel, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_PowerDistributionDataJNI
+ * Method: resetData
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_PowerDistributionDataJNI_resetData
+ (JNIEnv*, jclass, jint index)
+{
+ HALSIM_ResetPowerDistributionData(index);
+}
+
+} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
new file mode 100644
index 0000000..da473de
--- /dev/null
+++ b/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
@@ -0,0 +1,365 @@
+// 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.
+
+#include <jni.h>
+
+#include "CallbackStore.h"
+#include "edu_wpi_first_hal_simulation_REVPHDataJNI.h"
+#include "hal/simulation/REVPHData.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: registerInitializedCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerInitializedCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(env, index, callback, initialNotify,
+ &HALSIM_RegisterREVPHInitializedCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: cancelInitializedCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelInitializedCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelREVPHInitializedCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: getInitialized
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getInitialized
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetREVPHInitialized(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: setInitialized
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setInitialized
+ (JNIEnv*, jclass, jint index, jboolean value)
+{
+ HALSIM_SetREVPHInitialized(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: registerSolenoidOutputCallback
+ * Signature: (IILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerSolenoidOutputCallback
+ (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
+ jboolean initialNotify)
+{
+ return sim::AllocateChannelCallback(
+ env, index, channel, callback, initialNotify,
+ &HALSIM_RegisterREVPHSolenoidOutputCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: cancelSolenoidOutputCallback
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelSolenoidOutputCallback
+ (JNIEnv* env, jclass, jint index, jint channel, jint handle)
+{
+ return sim::FreeChannelCallback(env, handle, index, channel,
+ &HALSIM_CancelREVPHSolenoidOutputCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: getSolenoidOutput
+ * Signature: (II)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getSolenoidOutput
+ (JNIEnv*, jclass, jint index, jint channel)
+{
+ return HALSIM_GetREVPHSolenoidOutput(index, channel);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: setSolenoidOutput
+ * Signature: (IIZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setSolenoidOutput
+ (JNIEnv*, jclass, jint index, jint channel, jboolean value)
+{
+ HALSIM_SetREVPHSolenoidOutput(index, channel, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: registerCompressorOnCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerCompressorOnCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(env, index, callback, initialNotify,
+ &HALSIM_RegisterREVPHCompressorOnCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: cancelCompressorOnCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelCompressorOnCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelREVPHCompressorOnCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: getCompressorOn
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getCompressorOn
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetREVPHCompressorOn(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: setCompressorOn
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setCompressorOn
+ (JNIEnv*, jclass, jint index, jboolean value)
+{
+ HALSIM_SetREVPHCompressorOn(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: registerClosedLoopEnabledCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerClosedLoopEnabledCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(env, index, callback, initialNotify,
+ &HALSIM_RegisterREVPHClosedLoopEnabledCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: cancelClosedLoopEnabledCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelClosedLoopEnabledCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelREVPHClosedLoopEnabledCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: getClosedLoopEnabled
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getClosedLoopEnabled
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetREVPHClosedLoopEnabled(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: setClosedLoopEnabled
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setClosedLoopEnabled
+ (JNIEnv*, jclass, jint index, jboolean value)
+{
+ HALSIM_SetREVPHClosedLoopEnabled(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: registerPressureSwitchCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerPressureSwitchCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(env, index, callback, initialNotify,
+ &HALSIM_RegisterREVPHPressureSwitchCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: cancelPressureSwitchCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelPressureSwitchCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelREVPHPressureSwitchCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getPressureSwitch
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetREVPHPressureSwitch(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: setPressureSwitch
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setPressureSwitch
+ (JNIEnv*, jclass, jint index, jboolean value)
+{
+ HALSIM_SetREVPHPressureSwitch(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: registerCompressorCurrentCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerCompressorCurrentCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(env, index, callback, initialNotify,
+ &HALSIM_RegisterREVPHCompressorCurrentCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: cancelCompressorCurrentCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelCompressorCurrentCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelREVPHCompressorCurrentCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getCompressorCurrent
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetREVPHCompressorCurrent(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: setCompressorCurrent
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setCompressorCurrent
+ (JNIEnv*, jclass, jint index, jdouble value)
+{
+ HALSIM_SetREVPHCompressorCurrent(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: registerAllNonSolenoidCallbacks
+ * Signature: (ILjava/lang/Object;Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerAllNonSolenoidCallbacks
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ sim::AllocateCallback(
+ env, index, callback, initialNotify,
+ [](int32_t index, HAL_NotifyCallback cb, void* param, HAL_Bool in) {
+ HALSIM_RegisterREVPHAllNonSolenoidCallbacks(index, cb, param, in);
+ return 0;
+ });
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: registerAllSolenoidCallbacks
+ * Signature: (IILjava/lang/Object;Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerAllSolenoidCallbacks
+ (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
+ jboolean initialNotify)
+{
+ sim::AllocateChannelCallback(
+ env, index, channel, callback, initialNotify,
+ [](int32_t index, int32_t channel, HAL_NotifyCallback cb, void* param,
+ HAL_Bool in) {
+ HALSIM_RegisterREVPHAllSolenoidCallbacks(index, channel, cb, param, in);
+ return 0;
+ });
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method: resetData
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_resetData
+ (JNIEnv*, jclass, jint index)
+{
+ HALSIM_ResetREVPHData(index);
+}
+
+} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/simulation/RelayDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/RelayDataJNI.cpp
index 7abe7cb..7a59327 100644
--- a/hal/src/main/native/cpp/jni/simulation/RelayDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/RelayDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
index 1ff6044..03bb0c5 100644
--- a/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
@@ -779,6 +776,57 @@
/*
* Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: registerBrownoutVoltageCallback
+ * Signature: (Ljava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_registerBrownoutVoltageCallback
+ (JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallbackNoIndex(
+ env, callback, initialNotify,
+ &HALSIM_RegisterRoboRioBrownoutVoltageCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: cancelBrownoutVoltageCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_cancelBrownoutVoltageCallback
+ (JNIEnv* env, jclass, jint handle)
+{
+ return sim::FreeCallbackNoIndex(env, handle,
+ &HALSIM_CancelRoboRioBrownoutVoltageCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: getBrownoutVoltage
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_getBrownoutVoltage
+ (JNIEnv*, jclass)
+{
+ return HALSIM_GetRoboRioBrownoutVoltage();
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: setBrownoutVoltage
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setBrownoutVoltage
+ (JNIEnv*, jclass, jdouble value)
+{
+ HALSIM_SetRoboRioBrownoutVoltage(value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
* Method: resetData
* Signature: ()V
*/
diff --git a/hal/src/main/native/cpp/jni/simulation/SPIAccelerometerDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SPIAccelerometerDataJNI.cpp
index fe0c410..51bb320 100644
--- a/hal/src/main/native/cpp/jni/simulation/SPIAccelerometerDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SPIAccelerometerDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/SPIDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SPIDataJNI.cpp
index 3709984..977f25b 100644
--- a/hal/src/main/native/cpp/jni/simulation/SPIDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SPIDataJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <jni.h>
diff --git a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
index 0b43d24..60ce0f7 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
@@ -1,23 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "SimDeviceDataJNI.h"
#include <jni.h>
-#include <functional>
-#include <string>
+#include <cstdio>
#include <utility>
-#include <wpi/UidVector.h>
#include <wpi/jni_util.h>
#include "SimulatorJNI.h"
#include "edu_wpi_first_hal_simulation_SimDeviceDataJNI.h"
+#include "hal/SimDevice.h"
+#include "hal/handles/UnlimitedHandleResource.h"
#include "hal/simulation/SimDeviceData.h"
using namespace hal;
@@ -39,23 +36,18 @@
HAL_SimValueHandle handle;
jobject MakeJava(JNIEnv* env) const;
- void CallJava(JNIEnv* env, jobject callobj) const;
};
struct ValueInfo {
- ValueInfo(const char* name_, HAL_SimValueHandle handle_, bool readonly_,
+ ValueInfo(const char* name_, HAL_SimValueHandle handle_, int32_t direction_,
const HAL_Value& value_)
- : name{name_}, handle{handle_}, readonly{readonly_}, value{value_} {}
+ : name{name_}, handle{handle_}, direction{direction_}, value{value_} {}
std::string name;
HAL_SimValueHandle handle;
- bool readonly;
+ int32_t direction;
HAL_Value value;
jobject MakeJava(JNIEnv* env) const;
- void CallJava(JNIEnv* env, jobject callobj) const;
-
- private:
- std::pair<jlong, jdouble> ToValue12() const;
};
} // namespace
@@ -64,15 +56,10 @@
static jmethodID func =
env->GetMethodID(simDeviceInfoCls, "<init>", "(Ljava/lang/String;I)V");
return env->NewObject(simDeviceInfoCls, func, MakeJString(env, name),
- (jint)handle);
+ static_cast<jint>(handle));
}
-void DeviceInfo::CallJava(JNIEnv* env, jobject callobj) const {
- env->CallVoidMethod(callobj, simDeviceCallbackCallback,
- MakeJString(env, name), (jint)handle);
-}
-
-std::pair<jlong, jdouble> ValueInfo::ToValue12() const {
+static std::pair<jlong, jdouble> ToValue12(const HAL_Value& value) {
jlong value1 = 0;
jdouble value2 = 0.0;
switch (value.type) {
@@ -99,194 +86,268 @@
jobject ValueInfo::MakeJava(JNIEnv* env) const {
static jmethodID func =
- env->GetMethodID(simValueInfoCls, "<init>", "(Ljava/lang/String;IZIJD)V");
- auto [value1, value2] = ToValue12();
+ env->GetMethodID(simValueInfoCls, "<init>", "(Ljava/lang/String;IIIJD)V");
+ auto [value1, value2] = ToValue12(value);
return env->NewObject(simValueInfoCls, func, MakeJString(env, name),
- (jint)handle, (jboolean)readonly, (jint)value.type,
- value1, value2);
-}
-
-void ValueInfo::CallJava(JNIEnv* env, jobject callobj) const {
- auto [value1, value2] = ToValue12();
- env->CallVoidMethod(callobj, simValueCallbackCallback, MakeJString(env, name),
- (jint)handle, (jboolean)readonly, (jint)value.type,
- value1, value2);
+ static_cast<jint>(handle), static_cast<jint>(direction),
+ static_cast<jint>(value.type), value1, value2);
}
namespace {
-class CallbackStore {
+class DeviceCallbackStore {
public:
- explicit CallbackStore(JNIEnv* env, jobject obj) : m_call{env, obj} {}
- ~CallbackStore() {
- if (m_cancelCallback) m_cancelCallback();
- }
-
- void SetCancel(std::function<void()> cancelCallback) {
- m_cancelCallback = std::move(cancelCallback);
- }
- void Free(JNIEnv* env) { m_call.free(env); }
- jobject Get() const { return m_call; }
+ void create(JNIEnv* env, jobject obj) { m_call = JGlobal<jobject>(env, obj); }
+ void performCallback(const char* name, HAL_SimDeviceHandle handle);
+ void free(JNIEnv* env) { m_call.free(env); }
+ void setCallbackId(int32_t id) { callbackId = id; }
+ int32_t getCallbackId() { return callbackId; }
private:
wpi::java::JGlobal<jobject> m_call;
- std::function<void()> m_cancelCallback;
+ int32_t callbackId;
};
-class CallbackThreadJNI : public wpi::SafeThread {
+class ValueCallbackStore {
public:
- void Main();
-
- using DeviceCalls =
- std::vector<std::pair<std::weak_ptr<CallbackStore>, DeviceInfo>>;
- DeviceCalls m_deviceCalls;
- using ValueCalls =
- std::vector<std::pair<std::weak_ptr<CallbackStore>, ValueInfo>>;
- ValueCalls m_valueCalls;
-
- wpi::UidVector<std::shared_ptr<CallbackStore>, 4> m_callbacks;
-};
-
-class CallbackJNI {
- public:
- static CallbackJNI& GetInstance() {
- static CallbackJNI inst;
- return inst;
- }
- void SendDevice(int32_t callback, DeviceInfo info);
- void SendValue(int32_t callback, ValueInfo info);
-
- std::pair<int32_t, std::shared_ptr<CallbackStore>> AllocateCallback(
- JNIEnv* env, jobject obj);
-
- void FreeCallback(JNIEnv* env, int32_t uid);
+ void create(JNIEnv* env, jobject obj) { m_call = JGlobal<jobject>(env, obj); }
+ void performCallback(const char* name, HAL_SimValueHandle handle,
+ int32_t direction, const HAL_Value& value);
+ void free(JNIEnv* env) { m_call.free(env); }
+ void setCallbackId(int32_t id) { m_callbackId = id; }
+ int32_t getCallbackId() { return m_callbackId; }
private:
- CallbackJNI() { m_owner.Start(); }
-
- wpi::SafeThreadOwner<CallbackThreadJNI> m_owner;
+ wpi::java::JGlobal<jobject> m_call;
+ int32_t m_callbackId;
};
} // namespace
-void CallbackThreadJNI::Main() {
+void DeviceCallbackStore::performCallback(const char* name,
+ HAL_SimDeviceHandle handle) {
JNIEnv* env;
- JavaVMAttachArgs args;
- args.version = JNI_VERSION_1_2;
- args.name = const_cast<char*>("SimDeviceCallback");
- args.group = nullptr;
- jint rs = sim::GetJVM()->AttachCurrentThreadAsDaemon(
- reinterpret_cast<void**>(&env), &args);
- if (rs != JNI_OK) return;
-
- DeviceCalls deviceCalls;
- ValueCalls valueCalls;
-
- std::unique_lock lock(m_mutex);
- while (m_active) {
- m_cond.wait(lock, [&] { return !m_active; });
- if (!m_active) break;
-
- deviceCalls.swap(m_deviceCalls);
- valueCalls.swap(m_valueCalls);
-
- lock.unlock(); // don't hold mutex during callback execution
-
- for (auto&& call : deviceCalls) {
- if (auto store = call.first.lock()) {
- if (jobject callobj = store->Get()) {
- call.second.CallJava(env, callobj);
- if (env->ExceptionCheck()) {
- env->ExceptionDescribe();
- env->ExceptionClear();
- }
- }
- }
+ JavaVM* vm = sim::GetJVM();
+ bool didAttachThread = false;
+ int tryGetEnv = vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6);
+ if (tryGetEnv == JNI_EDETACHED) {
+ // Thread not attached
+ didAttachThread = true;
+ if (vm->AttachCurrentThread(reinterpret_cast<void**>(&env), nullptr) != 0) {
+ // Failed to attach, log and return
+ std::puts("Failed to attach");
+ std::fflush(stdout);
+ return;
}
-
- for (auto&& call : valueCalls) {
- if (auto store = call.first.lock()) {
- if (jobject callobj = store->Get()) {
- call.second.CallJava(env, callobj);
- if (env->ExceptionCheck()) {
- env->ExceptionDescribe();
- env->ExceptionClear();
- }
- }
- }
- }
-
- deviceCalls.clear();
- valueCalls.clear();
-
- lock.lock();
+ } else if (tryGetEnv == JNI_EVERSION) {
+ std::puts("Invalid JVM Version requested");
+ std::fflush(stdout);
}
- // free global references
- for (auto&& callback : m_callbacks) callback->Free(env);
+ env->CallVoidMethod(m_call, simDeviceCallbackCallback, MakeJString(env, name),
+ static_cast<jint>(handle));
- sim::GetJVM()->DetachCurrentThread();
+ if (env->ExceptionCheck()) {
+ env->ExceptionDescribe();
+ }
+
+ if (didAttachThread) {
+ vm->DetachCurrentThread();
+ }
}
-void CallbackJNI::SendDevice(int32_t callback, DeviceInfo info) {
- auto thr = m_owner.GetThread();
- if (!thr) return;
- thr->m_deviceCalls.emplace_back(thr->m_callbacks[callback], std::move(info));
- thr->m_cond.notify_one();
+void ValueCallbackStore::performCallback(const char* name,
+ HAL_SimValueHandle handle,
+ int32_t direction,
+ const HAL_Value& value) {
+ JNIEnv* env;
+ JavaVM* vm = sim::GetJVM();
+ bool didAttachThread = false;
+ int tryGetEnv = vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6);
+ if (tryGetEnv == JNI_EDETACHED) {
+ // Thread not attached
+ didAttachThread = true;
+ if (vm->AttachCurrentThread(reinterpret_cast<void**>(&env), nullptr) != 0) {
+ // Failed to attach, log and return
+ std::puts("Failed to attach");
+ std::fflush(stdout);
+ return;
+ }
+ } else if (tryGetEnv == JNI_EVERSION) {
+ std::puts("Invalid JVM Version requested");
+ std::fflush(stdout);
+ }
+
+ auto [value1, value2] = ToValue12(value);
+ env->CallVoidMethod(m_call, simValueCallbackCallback, MakeJString(env, name),
+ static_cast<jint>(handle), static_cast<jint>(direction),
+ static_cast<jint>(value.type), value1, value2);
+
+ if (env->ExceptionCheck()) {
+ env->ExceptionDescribe();
+ }
+
+ if (didAttachThread) {
+ vm->DetachCurrentThread();
+ }
}
-void CallbackJNI::SendValue(int32_t callback, ValueInfo info) {
- auto thr = m_owner.GetThread();
- if (!thr) return;
- thr->m_valueCalls.emplace_back(thr->m_callbacks[callback], std::move(info));
- thr->m_cond.notify_one();
+static hal::UnlimitedHandleResource<SIM_JniHandle, DeviceCallbackStore,
+ hal::HAL_HandleEnum::SimulationJni>*
+ deviceCallbackHandles;
+
+namespace {
+using RegisterDeviceCallbackFunc =
+ int32_t (*)(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback, HAL_Bool initialNotify);
+using FreeDeviceCallbackFunc = void (*)(int32_t uid);
+} // namespace
+
+static SIM_JniHandle AllocateDeviceCallback(
+ JNIEnv* env, const char* prefix, jobject callback, jboolean initialNotify,
+ RegisterDeviceCallbackFunc createCallback) {
+ auto callbackStore = std::make_shared<DeviceCallbackStore>();
+
+ auto handle = deviceCallbackHandles->Allocate(callbackStore);
+
+ if (handle == HAL_kInvalidHandle) {
+ return -1;
+ }
+
+ uintptr_t handleAsPtr = static_cast<uintptr_t>(handle);
+ void* handleAsVoidPtr = reinterpret_cast<void*>(handleAsPtr);
+
+ callbackStore->create(env, callback);
+
+ auto callbackFunc = [](const char* name, void* param,
+ HAL_SimDeviceHandle handle) {
+ uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
+ SIM_JniHandle jnihandle = static_cast<SIM_JniHandle>(handleTmp);
+ auto data = deviceCallbackHandles->Get(jnihandle);
+ if (!data) {
+ return;
+ }
+
+ data->performCallback(name, handle);
+ };
+
+ auto id =
+ createCallback(prefix, handleAsVoidPtr, callbackFunc, initialNotify);
+
+ callbackStore->setCallbackId(id);
+
+ return handle;
}
-std::pair<int32_t, std::shared_ptr<CallbackStore>>
-CallbackJNI::AllocateCallback(JNIEnv* env, jobject obj) {
- auto thr = m_owner.GetThread();
- if (!thr) return std::pair(0, nullptr);
- auto store = std::make_shared<CallbackStore>(env, obj);
- return std::pair(thr->m_callbacks.emplace_back(store) + 1, store);
+static void FreeDeviceCallback(JNIEnv* env, SIM_JniHandle handle,
+ FreeDeviceCallbackFunc freeCallback) {
+ auto callback = deviceCallbackHandles->Free(handle);
+ freeCallback(callback->getCallbackId());
+ callback->free(env);
}
-void CallbackJNI::FreeCallback(JNIEnv* env, int32_t uid) {
- auto thr = m_owner.GetThread();
- if (!thr) return;
- if (uid <= 0 || static_cast<uint32_t>(uid) >= thr->m_callbacks.size()) return;
- --uid;
- auto store = std::move(thr->m_callbacks[uid]);
- thr->m_callbacks.erase(uid);
- store->Free(env);
+static hal::UnlimitedHandleResource<SIM_JniHandle, ValueCallbackStore,
+ hal::HAL_HandleEnum::SimulationJni>*
+ valueCallbackHandles;
+
+namespace {
+using FreeValueCallbackFunc = void (*)(int32_t uid);
+} // namespace
+
+template <typename THandle>
+static SIM_JniHandle AllocateValueCallback(
+ JNIEnv* env, THandle h, jobject callback, jboolean initialNotify,
+ int32_t (*createCallback)(THandle handle, void* param,
+ HALSIM_SimValueCallback callback,
+ HAL_Bool initialNotify)) {
+ auto callbackStore = std::make_shared<ValueCallbackStore>();
+
+ auto handle = valueCallbackHandles->Allocate(callbackStore);
+
+ if (handle == HAL_kInvalidHandle) {
+ return -1;
+ }
+
+ uintptr_t handleAsPtr = static_cast<uintptr_t>(handle);
+ void* handleAsVoidPtr = reinterpret_cast<void*>(handleAsPtr);
+
+ callbackStore->create(env, callback);
+
+ auto callbackFunc = [](const char* name, void* param,
+ HAL_SimValueHandle handle, int32_t direction,
+ const HAL_Value* value) {
+ uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
+ SIM_JniHandle jnihandle = static_cast<SIM_JniHandle>(handleTmp);
+ auto data = valueCallbackHandles->Get(jnihandle);
+ if (!data) {
+ return;
+ }
+
+ data->performCallback(name, handle, direction, *value);
+ };
+
+ auto id = createCallback(h, handleAsVoidPtr, callbackFunc, initialNotify);
+
+ callbackStore->setCallbackId(id);
+
+ return handle;
}
-namespace hal {
-namespace sim {
+static void FreeValueCallback(JNIEnv* env, SIM_JniHandle handle,
+ FreeValueCallbackFunc freeCallback) {
+ auto callback = valueCallbackHandles->Free(handle);
+ freeCallback(callback->getCallbackId());
+ callback->free(env);
+}
+
+namespace hal::sim {
bool InitializeSimDeviceDataJNI(JNIEnv* env) {
simDeviceInfoCls = JClass(
env, "edu/wpi/first/hal/simulation/SimDeviceDataJNI$SimDeviceInfo");
- if (!simDeviceInfoCls) return false;
+ if (!simDeviceInfoCls) {
+ return false;
+ }
simValueInfoCls =
JClass(env, "edu/wpi/first/hal/simulation/SimDeviceDataJNI$SimValueInfo");
- if (!simValueInfoCls) return false;
+ if (!simValueInfoCls) {
+ return false;
+ }
simDeviceCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/SimDeviceCallback");
- if (!simDeviceCallbackCls) return false;
+ if (!simDeviceCallbackCls) {
+ return false;
+ }
simDeviceCallbackCallback = env->GetMethodID(simDeviceCallbackCls, "callback",
"(Ljava/lang/String;I)V");
- if (!simDeviceCallbackCallback) return false;
+ if (!simDeviceCallbackCallback) {
+ return false;
+ }
simValueCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/SimValueCallback");
- if (!simValueCallbackCls) return false;
+ if (!simValueCallbackCls) {
+ return false;
+ }
simValueCallbackCallback = env->GetMethodID(
- simValueCallbackCls, "callbackNative", "(Ljava/lang/String;IZIJD)V");
- if (!simValueCallbackCallback) return false;
+ simValueCallbackCls, "callbackNative", "(Ljava/lang/String;IIIJD)V");
+ if (!simValueCallbackCallback) {
+ return false;
+ }
+
+ static hal::UnlimitedHandleResource<SIM_JniHandle, DeviceCallbackStore,
+ hal::HAL_HandleEnum::SimulationJni>
+ cbDevice;
+ deviceCallbackHandles = &cbDevice;
+
+ static hal::UnlimitedHandleResource<SIM_JniHandle, ValueCallbackStore,
+ hal::HAL_HandleEnum::SimulationJni>
+ cbValue;
+ valueCallbackHandles = &cbValue;
return true;
}
@@ -298,8 +359,7 @@
simValueCallbackCls.free(env);
}
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
extern "C" {
@@ -337,18 +397,9 @@
(JNIEnv* env, jclass, jstring prefix, jobject callback,
jboolean initialNotify)
{
- auto [uid, store] =
- CallbackJNI::GetInstance().AllocateCallback(env, callback);
- int32_t cuid = HALSIM_RegisterSimDeviceCreatedCallback(
- JStringRef{env, prefix}.c_str(),
- reinterpret_cast<void*>(static_cast<intptr_t>(uid)),
- [](const char* name, void* param, HAL_SimDeviceHandle handle) {
- int32_t uid = reinterpret_cast<intptr_t>(param);
- CallbackJNI::GetInstance().SendDevice(uid, DeviceInfo{name, handle});
- },
- initialNotify);
- store->SetCancel([cuid] { HALSIM_CancelSimDeviceCreatedCallback(cuid); });
- return uid;
+ return AllocateDeviceCallback(env, JStringRef{env, prefix}.c_str(), callback,
+ initialNotify,
+ &HALSIM_RegisterSimDeviceCreatedCallback);
}
/*
@@ -360,29 +411,22 @@
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_cancelSimDeviceCreatedCallback
(JNIEnv* env, jclass, jint uid)
{
- CallbackJNI::GetInstance().FreeCallback(env, uid);
+ FreeDeviceCallback(env, uid, &HALSIM_CancelSimDeviceCreatedCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
* Method: registerSimDeviceFreedCallback
- * Signature: (Ljava/lang/String;Ljava/lang/Object;)I
+ * Signature: (Ljava/lang/String;Ljava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_registerSimDeviceFreedCallback
- (JNIEnv* env, jclass, jstring prefix, jobject callback)
+ (JNIEnv* env, jclass, jstring prefix, jobject callback,
+ jboolean initialNotify)
{
- auto [uid, store] =
- CallbackJNI::GetInstance().AllocateCallback(env, callback);
- int32_t cuid = HALSIM_RegisterSimDeviceFreedCallback(
- JStringRef{env, prefix}.c_str(),
- reinterpret_cast<void*>(static_cast<intptr_t>(uid)),
- [](const char* name, void* param, HAL_SimDeviceHandle handle) {
- int32_t uid = reinterpret_cast<intptr_t>(param);
- CallbackJNI::GetInstance().SendDevice(uid, DeviceInfo{name, handle});
- });
- store->SetCancel([cuid] { HALSIM_CancelSimDeviceFreedCallback(cuid); });
- return uid;
+ return AllocateDeviceCallback(env, JStringRef{env, prefix}.c_str(), callback,
+ initialNotify,
+ &HALSIM_RegisterSimDeviceFreedCallback);
}
/*
@@ -394,7 +438,7 @@
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_cancelSimDeviceFreedCallback
(JNIEnv* env, jclass, jint uid)
{
- CallbackJNI::GetInstance().FreeCallback(env, uid);
+ FreeDeviceCallback(env, uid, &HALSIM_CancelSimDeviceFreedCallback);
}
/*
@@ -411,6 +455,18 @@
/*
* Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
+ * Method: getSimDeviceName
+ * Signature: (I)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_getSimDeviceName
+ (JNIEnv* env, jclass, jint handle)
+{
+ return MakeJString(env, HALSIM_GetSimDeviceName(handle));
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
* Method: getSimValueDeviceHandle
* Signature: (I)I
*/
@@ -443,7 +499,9 @@
size_t numElems = arr.size();
jobjectArray jarr =
env->NewObjectArray(arr.size(), simDeviceInfoCls, nullptr);
- if (!jarr) return nullptr;
+ if (!jarr) {
+ return nullptr;
+ }
for (size_t i = 0; i < numElems; ++i) {
JLocal<jobject> elem{env, arr[i].MakeJava(env)};
env->SetObjectArrayElement(jarr, i, elem.obj());
@@ -460,19 +518,9 @@
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_registerSimValueCreatedCallback
(JNIEnv* env, jclass, jint device, jobject callback, jboolean initialNotify)
{
- auto [uid, store] =
- CallbackJNI::GetInstance().AllocateCallback(env, callback);
- int32_t cuid = HALSIM_RegisterSimValueCreatedCallback(
- device, reinterpret_cast<void*>(static_cast<intptr_t>(uid)),
- [](const char* name, void* param, HAL_SimValueHandle handle,
- HAL_Bool readonly, const HAL_Value* value) {
- int32_t uid = reinterpret_cast<intptr_t>(param);
- CallbackJNI::GetInstance().SendValue(
- uid, ValueInfo{name, handle, static_cast<bool>(readonly), *value});
- },
- initialNotify);
- store->SetCancel([cuid] { HALSIM_CancelSimValueCreatedCallback(cuid); });
- return uid;
+ return AllocateValueCallback(env, static_cast<HAL_SimDeviceHandle>(device),
+ callback, initialNotify,
+ &HALSIM_RegisterSimValueCreatedCallback);
}
/*
@@ -484,7 +532,7 @@
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_cancelSimValueCreatedCallback
(JNIEnv* env, jclass, jint uid)
{
- CallbackJNI::GetInstance().FreeCallback(env, uid);
+ FreeValueCallback(env, uid, &HALSIM_CancelSimValueCreatedCallback);
}
/*
@@ -496,19 +544,9 @@
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_registerSimValueChangedCallback
(JNIEnv* env, jclass, jint handle, jobject callback, jboolean initialNotify)
{
- auto [uid, store] =
- CallbackJNI::GetInstance().AllocateCallback(env, callback);
- int32_t cuid = HALSIM_RegisterSimValueChangedCallback(
- handle, reinterpret_cast<void*>(static_cast<intptr_t>(uid)),
- [](const char* name, void* param, HAL_SimValueHandle handle,
- HAL_Bool readonly, const HAL_Value* value) {
- int32_t uid = reinterpret_cast<intptr_t>(param);
- CallbackJNI::GetInstance().SendValue(
- uid, ValueInfo{name, handle, static_cast<bool>(readonly), *value});
- },
- initialNotify);
- store->SetCancel([cuid] { HALSIM_CancelSimValueChangedCallback(cuid); });
- return uid;
+ return AllocateValueCallback(env, static_cast<HAL_SimValueHandle>(handle),
+ callback, initialNotify,
+ &HALSIM_RegisterSimValueChangedCallback);
}
/*
@@ -520,7 +558,33 @@
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_cancelSimValueChangedCallback
(JNIEnv* env, jclass, jint uid)
{
- CallbackJNI::GetInstance().FreeCallback(env, uid);
+ FreeValueCallback(env, uid, &HALSIM_CancelSimValueChangedCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
+ * Method: registerSimValueResetCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_registerSimValueResetCallback
+ (JNIEnv* env, jclass, jint handle, jobject callback, jboolean initialNotify)
+{
+ return AllocateValueCallback(env, static_cast<HAL_SimValueHandle>(handle),
+ callback, initialNotify,
+ &HALSIM_RegisterSimValueResetCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
+ * Method: cancelSimValueResetCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_cancelSimValueResetCallback
+ (JNIEnv* env, jclass, jint uid)
+{
+ FreeValueCallback(env, uid, &HALSIM_CancelSimValueResetCallback);
}
/*
@@ -557,7 +621,9 @@
// convert to java
size_t numElems = arr.size();
jobjectArray jarr = env->NewObjectArray(arr.size(), simValueInfoCls, nullptr);
- if (!jarr) return nullptr;
+ if (!jarr) {
+ return nullptr;
+ }
for (size_t i = 0; i < numElems; ++i) {
JLocal<jobject> elem{env, arr[i].MakeJava(env)};
env->SetObjectArrayElement(jarr, i, elem.obj());
@@ -575,11 +641,15 @@
(JNIEnv* env, jclass, jint handle)
{
static JClass stringCls{env, "java/lang/String"};
- if (!stringCls) return nullptr;
+ if (!stringCls) {
+ return nullptr;
+ }
int32_t numElems = 0;
const char** elems = HALSIM_GetSimValueEnumOptions(handle, &numElems);
jobjectArray jarr = env->NewObjectArray(numElems, stringCls, nullptr);
- if (!jarr) return nullptr;
+ if (!jarr) {
+ return nullptr;
+ }
for (int32_t i = 0; i < numElems; ++i) {
JLocal<jstring> elem{env, MakeJString(env, elems[i])};
env->SetObjectArrayElement(jarr, i, elem.obj());
@@ -589,6 +659,20 @@
/*
* Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
+ * Method: getSimValueEnumDoubleValues
+ * Signature: (I)[D
+ */
+JNIEXPORT jdoubleArray JNICALL
+Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_getSimValueEnumDoubleValues
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t numElems = 0;
+ const double* elems = HALSIM_GetSimValueEnumDoubleValues(handle, &numElems);
+ return MakeJDoubleArray(env, wpi::span(elems, numElems));
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_SimDeviceDataJNI
* Method: resetSimDeviceData
* Signature: ()V
*/
diff --git a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.h b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.h
index 44fc27f..08c47b9 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.h
+++ b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.h
@@ -1,17 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <jni.h>
-namespace hal {
-namespace sim {
+namespace hal::sim {
bool InitializeSimDeviceDataJNI(JNIEnv* env);
void FreeSimDeviceDataJNI(JNIEnv* env);
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
diff --git a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
index b6336e8..859c7f5 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "SimulatorJNI.h"
@@ -31,61 +28,80 @@
static jmethodID constBufferCallbackCallback;
static jmethodID spiReadAutoReceiveBufferCallbackCallback;
-namespace hal {
-namespace sim {
+namespace hal::sim {
jint SimOnLoad(JavaVM* vm, void* reserved) {
jvm = vm;
JNIEnv* env;
- if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
+ if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return JNI_ERR;
+ }
notifyCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/NotifyCallback");
- if (!notifyCallbackCls) return JNI_ERR;
+ if (!notifyCallbackCls) {
+ return JNI_ERR;
+ }
notifyCallbackCallback = env->GetMethodID(notifyCallbackCls, "callbackNative",
"(Ljava/lang/String;IJD)V");
- if (!notifyCallbackCallback) return JNI_ERR;
+ if (!notifyCallbackCallback) {
+ return JNI_ERR;
+ }
bufferCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/BufferCallback");
- if (!bufferCallbackCls) return JNI_ERR;
+ if (!bufferCallbackCls) {
+ return JNI_ERR;
+ }
bufferCallbackCallback = env->GetMethodID(bufferCallbackCls, "callback",
"(Ljava/lang/String;[BI)V");
- if (!bufferCallbackCallback) return JNI_ERR;
+ if (!bufferCallbackCallback) {
+ return JNI_ERR;
+ }
constBufferCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/ConstBufferCallback");
- if (!constBufferCallbackCls) return JNI_ERR;
+ if (!constBufferCallbackCls) {
+ return JNI_ERR;
+ }
constBufferCallbackCallback = env->GetMethodID(
constBufferCallbackCls, "callback", "(Ljava/lang/String;[BI)V");
- if (!constBufferCallbackCallback) return JNI_ERR;
+ if (!constBufferCallbackCallback) {
+ return JNI_ERR;
+ }
spiReadAutoReceiveBufferCallbackCls = JClass(
env, "edu/wpi/first/hal/simulation/SpiReadAutoReceiveBufferCallback");
- if (!spiReadAutoReceiveBufferCallbackCls) return JNI_ERR;
+ if (!spiReadAutoReceiveBufferCallbackCls) {
+ return JNI_ERR;
+ }
spiReadAutoReceiveBufferCallbackCallback =
env->GetMethodID(spiReadAutoReceiveBufferCallbackCls, "callback",
"(Ljava/lang/String;[II)I");
- if (!spiReadAutoReceiveBufferCallbackCallback) return JNI_ERR;
+ if (!spiReadAutoReceiveBufferCallbackCallback) {
+ return JNI_ERR;
+ }
InitializeStore();
InitializeBufferStore();
InitializeConstBufferStore();
InitializeSpiBufferStore();
- if (!InitializeSimDeviceDataJNI(env)) return JNI_ERR;
+ if (!InitializeSimDeviceDataJNI(env)) {
+ return JNI_ERR;
+ }
return JNI_VERSION_1_6;
}
void SimOnUnload(JavaVM* vm, void* reserved) {
JNIEnv* env;
- if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
+ if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return;
+ }
notifyCallbackCls.free(env);
bufferCallbackCls.free(env);
@@ -95,19 +111,26 @@
jvm = nullptr;
}
-JavaVM* GetJVM() { return jvm; }
+JavaVM* GetJVM() {
+ return jvm;
+}
-jmethodID GetNotifyCallback() { return notifyCallbackCallback; }
+jmethodID GetNotifyCallback() {
+ return notifyCallbackCallback;
+}
-jmethodID GetBufferCallback() { return bufferCallbackCallback; }
+jmethodID GetBufferCallback() {
+ return bufferCallbackCallback;
+}
-jmethodID GetConstBufferCallback() { return constBufferCallbackCallback; }
+jmethodID GetConstBufferCallback() {
+ return constBufferCallbackCallback;
+}
jmethodID GetSpiReadAutoReceiveBufferCallback() {
return spiReadAutoReceiveBufferCallbackCallback;
}
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
extern "C" {
/*
diff --git a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h
index d6710e8..3e71acd 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h
+++ b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h
@@ -1,24 +1,19 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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 "jni.h"
-typedef HAL_Handle SIM_JniHandle;
+using SIM_JniHandle = HAL_Handle; // NOLINT
-namespace hal {
-namespace sim {
+namespace hal::sim {
JavaVM* GetJVM();
jmethodID GetNotifyCallback();
jmethodID GetBufferCallback();
jmethodID GetConstBufferCallback();
jmethodID GetSpiReadAutoReceiveBufferCallback();
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
diff --git a/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp
index 5432840..c20f607 100644
--- a/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "SpiReadAutoReceiveBufferCallbackStore.h"
#include <jni.h>
+#include <cstdio>
+
#include <wpi/jni_util.h>
#include "SimulatorJNI.h"
@@ -25,8 +24,7 @@
SIM_JniHandle, SpiReadAutoReceiveBufferCallbackStore,
hal::HAL_HandleEnum::SimulationJni>* callbackHandles;
-namespace hal {
-namespace sim {
+namespace hal::sim {
void InitializeSpiBufferStore() {
static hal::UnlimitedHandleResource<SIM_JniHandle,
SpiReadAutoReceiveBufferCallbackStore,
@@ -34,8 +32,7 @@
cb;
callbackHandles = &cb;
}
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
void SpiReadAutoReceiveBufferCallbackStore::create(JNIEnv* env, jobject obj) {
m_call = JGlobal<jobject>(env, obj);
@@ -52,21 +49,21 @@
didAttachThread = true;
if (vm->AttachCurrentThread(reinterpret_cast<void**>(&env), nullptr) != 0) {
// Failed to attach, log and return
- wpi::outs() << "Failed to attach\n";
- wpi::outs().flush();
+ std::puts("Failed to attach");
+ std::fflush(stdout);
return -1;
}
} else if (tryGetEnv == JNI_EVERSION) {
- wpi::outs() << "Invalid JVM Version requested\n";
- wpi::outs().flush();
+ std::puts("Invalid JVM Version requested");
+ std::fflush(stdout);
}
auto toCallbackArr = MakeJIntArray(
- env, wpi::ArrayRef<uint32_t>{buffer, static_cast<size_t>(numToRead)});
+ env, wpi::span<const uint32_t>{buffer, static_cast<size_t>(numToRead)});
jint ret = env->CallIntMethod(m_call, sim::GetBufferCallback(),
MakeJString(env, name), toCallbackArr,
- (jint)numToRead);
+ static_cast<jint>(numToRead));
jint* fromCallbackArr = reinterpret_cast<jint*>(
env->GetPrimitiveArrayCritical(toCallbackArr, nullptr));
@@ -113,7 +110,9 @@
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
- if (!data) return;
+ if (!data) {
+ return;
+ }
*outputCount = data->performCallback(name, buffer, numToRead);
};
diff --git a/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.h b/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.h
index 6a457de..18e8a44 100644
--- a/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -18,8 +15,7 @@
#include "hal/simulation/NotifyListener.h"
#include "hal/simulation/SPIData.h"
-namespace hal {
-namespace sim {
+namespace hal::sim {
class SpiReadAutoReceiveBufferCallbackStore {
public:
void create(JNIEnv* env, jobject obj);
@@ -36,14 +32,13 @@
void InitializeSpiBufferStore();
-typedef int32_t (*RegisterSpiBufferCallbackFunc)(
+using RegisterSpiBufferCallbackFunc = int32_t (*)(
int32_t index, HAL_SpiReadAutoReceiveBufferCallback callback, void* param);
-typedef void (*FreeSpiBufferCallbackFunc)(int32_t index, int32_t uid);
+using FreeSpiBufferCallbackFunc = void (*)(int32_t index, int32_t uid);
SIM_JniHandle AllocateSpiBufferCallback(
JNIEnv* env, jint index, jobject callback,
RegisterSpiBufferCallbackFunc createCallback);
void FreeSpiBufferCallback(JNIEnv* env, SIM_JniHandle handle, jint index,
FreeSpiBufferCallbackFunc freeCallback);
-} // namespace sim
-} // namespace hal
+} // namespace hal::sim
diff --git a/hal/src/main/native/include/hal/.clang-tidy b/hal/src/main/native/include/hal/.clang-tidy
new file mode 100644
index 0000000..4f4edda
--- /dev/null
+++ b/hal/src/main/native/include/hal/.clang-tidy
@@ -0,0 +1,75 @@
+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-dcl58-cpp,
+ 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,
+ llvm-twine-local,
+ 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'
diff --git a/hal/src/main/native/include/hal/Accelerometer.h b/hal/src/main/native/include/hal/Accelerometer.h
index 9dc488b..9131e83 100644
--- a/hal/src/main/native/include/hal/Accelerometer.h
+++ b/hal/src/main/native/include/hal/Accelerometer.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/AddressableLED.h b/hal/src/main/native/include/hal/AddressableLED.h
index 68383ef..7674979 100644
--- a/hal/src/main/native/include/hal/AddressableLED.h
+++ b/hal/src/main/native/include/hal/AddressableLED.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/AddressableLEDTypes.h b/hal/src/main/native/include/hal/AddressableLEDTypes.h
index bdcd742..dbaa776 100644
--- a/hal/src/main/native/include/hal/AddressableLEDTypes.h
+++ b/hal/src/main/native/include/hal/AddressableLEDTypes.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/AnalogAccumulator.h b/hal/src/main/native/include/hal/AnalogAccumulator.h
index 9e49e90..c0c928d 100644
--- a/hal/src/main/native/include/hal/AnalogAccumulator.h
+++ b/hal/src/main/native/include/hal/AnalogAccumulator.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -24,7 +21,8 @@
/**
* Is the channel attached to an accumulator.
*
- * @param analogPortHandle Handle to the analog port.
+ * @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,
@@ -33,7 +31,8 @@
/**
* Initialize the accumulator.
*
- * @param analogPortHandle Handle to the analog port.
+ * @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);
@@ -41,7 +40,8 @@
/**
* Resets the accumulator to the initial value.
*
- * @param analogPortHandle Handle to the analog port.
+ * @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);
@@ -58,8 +58,9 @@
* source from channel 1. Because of this, any non-zero oversample bits will
* affect the size of the value for this field.
*
- * @param analogPortHandle Handle to the analog port.
- * @param center The center value of the accumulator.
+ * @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);
@@ -67,8 +68,9 @@
/**
* Set the accumulator's deadband.
*
- * @param analogPortHandle Handle to the analog port.
- * @param deadband The deadband of the accumulator.
+ * @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);
@@ -79,7 +81,8 @@
* Read the value that has been accumulating on channel 1.
* The accumulator is attached after the oversample and average engine.
*
- * @param analogPortHandle Handle to the analog port.
+ * @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,
@@ -91,7 +94,8 @@
* Read the count of the accumulated values since the accumulator was last
* Reset().
*
- * @param analogPortHandle Handle to the analog port.
+ * @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,
@@ -103,9 +107,10 @@
* This function reads the value and count from the FPGA atomically.
* This can be used for averaging.
*
- * @param analogPortHandle Handle to the analog port.
- * @param value Pointer to the 64-bit accumulated output.
- * @param count Pointer to the number of accumulation cycles.
+ * @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);
diff --git a/hal/src/main/native/include/hal/AnalogGyro.h b/hal/src/main/native/include/hal/AnalogGyro.h
index 54030bd..6e5a9c2 100644
--- a/hal/src/main/native/include/hal/AnalogGyro.h
+++ b/hal/src/main/native/include/hal/AnalogGyro.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -24,17 +21,22 @@
/**
* Initializes an analog gyro.
*
- * @param handle handle to the analog port
- * @return the initialized gyro handle
+ * @param[in] handle handle to the analog port
+ * @param[in] allocationLocation the location where the allocation is occuring
+ * (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 handle the gyro handle
+ * @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);
@@ -51,10 +53,11 @@
* This is meant to be used if you want to reuse the values from a previous
* calibration.
*
- * @param handle the gyro handle
- * @param voltsPerDegreePerSecond the gyro volts scaling
- * @param offset the gyro offset
- * @param center the gyro center
+ * @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,
@@ -63,8 +66,9 @@
/**
* Sets the analog gyro volts per degrees per second scaling.
*
- * @param handle the gyro handle
- * @param voltsPerDegreePerSecond the gyro volts 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,
@@ -73,7 +77,8 @@
/**
* Resets the analog gyro value to 0.
*
- * @param handle the gyro handle
+ * @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);
@@ -84,15 +89,17 @@
* setting that as the center. Note that this call blocks for 5 seconds to
* perform this.
*
- * @param handle the gyro handle
+ * @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 handle the gyro handle
- * @param volts the voltage deadband
+ * @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);
@@ -100,7 +107,8 @@
/**
* Gets the gyro angle in degrees.
*
- * @param handle the gyro handle
+ * @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);
@@ -108,7 +116,8 @@
/**
* Gets the gyro rate in degrees/second.
*
- * @param handle the gyro handle
+ * @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);
@@ -118,7 +127,8 @@
*
* Can be used to not repeat a calibration but reconstruct the gyro object.
*
- * @param handle the gyro handle
+ * @param[in] handle the gyro handle
+ * @param[out] status Error status variable. 0 on success.
* @return the gryo offset
*/
double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
@@ -128,7 +138,8 @@
*
* Can be used to not repeat a calibration but reconstruct the gyro object.
*
- * @param handle the gyro handle
+ * @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);
diff --git a/hal/src/main/native/include/hal/AnalogInput.h b/hal/src/main/native/include/hal/AnalogInput.h
index 95ba4e0..956cd21 100644
--- a/hal/src/main/native/include/hal/AnalogInput.h
+++ b/hal/src/main/native/include/hal/AnalogInput.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -24,11 +21,14 @@
/**
* Initializes the analog input port using the given port object.
*
- * @param portHandle Handle to the port to initialize.
- * @return the created analog input handle
+ * @param[in] portHandle Handle to the port to initialize.
+ * @param[in] allocationLocation the location where the allocation is occuring
+ * (can be null)
+ * @param[out] status the error code, or 0 for success
+ * @return the created analog input handle
*/
-HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
- int32_t* status);
+HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
+ HAL_PortHandle portHandle, const char* allocationLocation, int32_t* status);
/**
* Frees an analog input port.
@@ -69,7 +69,8 @@
*
* This is a global setting for the Athena and effects all channels.
*
- * @param samplesPerSecond The number of samples per channel per second.
+ * @param[in] samplesPerSecond The number of samples per channel per second.
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status);
@@ -79,6 +80,7 @@
* This assumes one entry in the scan list.
* This is a global setting for the Athena and effects all channels.
*
+ * @param[out] status the error code, or 0 for success
* @return Sample rate.
*/
double HAL_GetAnalogSampleRate(int32_t* status);
@@ -90,8 +92,9 @@
* is 2**bits. Use averaging to improve the stability of your measurement at the
* expense of sampling rate. The averaging is done automatically in the FPGA.
*
- * @param analogPortHandle Handle to the analog port to configure.
- * @param bits Number of bits to average.
+ * @param[in] analogPortHandle Handle to the analog port to configure.
+ * @param[in] bits Number of bits to average.
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status);
@@ -102,7 +105,8 @@
* This gets the number of averaging bits from the FPGA. The actual number of
* averaged samples is 2**bits. The averaging is done automatically in the FPGA.
*
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
* @return Bits to average.
*/
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
@@ -116,8 +120,9 @@
* measurements at the expense of sampling rate. The oversampling is done
* automatically in the FPGA.
*
- * @param analogPortHandle Handle to the analog port to use.
- * @param bits Number of bits to oversample.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[in] bits Number of bits to oversample.
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status);
@@ -129,7 +134,8 @@
* oversampled values is 2**bits. The oversampling is done automatically in the
* FPGA.
*
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
* @return Bits to oversample.
*/
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
@@ -142,7 +148,8 @@
* converter in the module. The units are in A/D converter codes. Use
* GetVoltage() to get the analog value in calibrated units.
*
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
* @return A sample straight from the channel on this module.
*/
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
@@ -159,7 +166,8 @@
* the module on this channel. Use GetAverageVoltage() to get the analog value
* in calibrated units.
*
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
* @return A sample from the oversample and average engine for the channel.
*/
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
@@ -173,8 +181,9 @@
*
* @todo This assumes raw values. Oversampling not supported as is.
*
- * @param analogPortHandle Handle to the analog port to use.
- * @param voltage The voltage to convert.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[in] voltage The voltage to convert.
+ * @param[out] status the error code, or 0 for success
* @return The raw value for the channel.
*/
int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
@@ -186,7 +195,8 @@
* The value is scaled to units of Volts using the calibrated scaling data from
* GetLSBWeight() and GetOffset().
*
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
* @return A scaled sample straight from the channel on this module.
*/
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
@@ -201,7 +211,8 @@
* be higher resolution, but it will update more slowly. Using averaging will
* cause this value to be more stable, but it will update more slowly.
*
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
* @return A scaled sample from the output of the oversample and average engine
* for the channel.
*/
@@ -215,7 +226,8 @@
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status the error code, or 0 for success
* @return Least significant bit weight.
*/
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
@@ -228,7 +240,8 @@
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
- * @param analogPortHandle Handle to the analog port to use.
+ * @param[in] analogPortHandle Handle to the analog port to use.
+ * @param[out] status Error status variable. 0 on success.
* @return Offset constant.
*/
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
@@ -237,9 +250,11 @@
/**
* Get the analog voltage from a raw value.
*
- * @param analogPortHandle Handle to the analog port the values were read from.
- * @param rawValue The raw analog value
- * @return The voltage relating to the value
+ * @param[in] analogPortHandle Handle to the analog port the values were read
+ * from.
+ * @param[in] rawValue The raw analog value
+ * @param[out] status Error status variable. 0 on success.
+ * @return The voltage relating to the value
*/
double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,
int32_t rawValue, int32_t* status);
diff --git a/hal/src/main/native/include/hal/AnalogOutput.h b/hal/src/main/native/include/hal/AnalogOutput.h
index ba0d93b..26e5231 100644
--- a/hal/src/main/native/include/hal/AnalogOutput.h
+++ b/hal/src/main/native/include/hal/AnalogOutput.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -24,11 +21,14 @@
/**
* Initializes the analog output port using the given port object.
*
- * @param handle handle to the port
- * @return the created analog output handle
+ * @param[in] portHandle handle to the port
+ * @param[in] allocationLocation the location where the allocation is occuring
+ * (can be null)
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created analog output handle
*/
-HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
- int32_t* status);
+HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
+ HAL_PortHandle portHandle, const char* allocationLocation, int32_t* status);
/**
* Frees an analog output port.
@@ -40,8 +40,9 @@
/**
* Sets an analog output value.
*
- * @param analogOutputHandle the analog output handle
- * @param voltage the voltage (0-5v) to output
+ * @param[in] analogOutputHandle the analog output handle
+ * @param[in] voltage the voltage (0-5v) to output
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
double voltage, int32_t* status);
@@ -49,8 +50,9 @@
/**
* Gets the current analog output value.
*
- * @param analogOutputHandle the analog output handle
- * @return the current output voltage (0-5v)
+ * @param[in] analogOutputHandle the analog output handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the current output voltage (0-5v)
*/
double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
int32_t* status);
diff --git a/hal/src/main/native/include/hal/AnalogTrigger.h b/hal/src/main/native/include/hal/AnalogTrigger.h
index 85d7680..72727a8 100644
--- a/hal/src/main/native/include/hal/AnalogTrigger.h
+++ b/hal/src/main/native/include/hal/AnalogTrigger.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -36,8 +33,9 @@
/**
* Initializes an analog trigger.
*
- * @param portHandle the analog input to use for triggering
- * @return the created analog trigger handle
+ * @param[in] portHandle the analog input to use for triggering
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created analog trigger handle
*/
HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
HAL_AnalogInputHandle portHandle, int32_t* status);
@@ -45,6 +43,8 @@
/**
* Initializes an analog trigger with a Duty Cycle input
*
+ * @param[in] dutyCycleHandle the analog input to use for duty cycle
+ * @param[out] status Error status variable. 0 on success.
*/
HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
HAL_DutyCycleHandle dutyCycleHandle, int32_t* status);
@@ -52,7 +52,8 @@
/**
* Frees an analog trigger.
*
- * @param analogTriggerHandle the trigger handle
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
int32_t* status);
@@ -63,9 +64,10 @@
* HAL_SetAnalogTriggerLimitsVoltage or HAL_SetAnalogTriggerLimitsDutyCycle
* is likely better in most cases.
*
- * @param analogTriggerHandle the trigger handle
- * @param lower the lower ADC value
- * @param upper the upper ADC value
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] lower the lower ADC value
+ * @param[in] upper the upper ADC value
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
int32_t lower, int32_t upper,
@@ -76,14 +78,25 @@
*
* The limits are given as floating point voltage values.
*
- * @param analogTriggerHandle the trigger handle
- * @param lower the lower voltage value
- * @param upper the upper voltage value
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] lower the lower voltage value
+ * @param[in] upper the upper voltage value
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetAnalogTriggerLimitsVoltage(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status);
+/**
+ * Sets the upper and lower limits of the analog trigger.
+ *
+ * The limits are given as floating point duty cycle values.
+ *
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] lower the lower duty cycle value
+ * @param[in] upper the upper duty cycle value
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetAnalogTriggerLimitsDutyCycle(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status);
@@ -97,8 +110,9 @@
* This is not allowed to be used if filtered mode is set.
* This is not allowed to be used with Duty Cycle based inputs.
*
- * @param analogTriggerHandle the trigger handle
- * @param useAveragedValue true to use averaged values, false for raw
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] useAveragedValue true to use averaged values, false for raw
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useAveragedValue, int32_t* status);
@@ -112,9 +126,10 @@
*
* This is not allowed to be used if averaged mode is set.
*
- * @param analogTriggerHandle the trigger handle
- * @param useFilteredValue true to use filtered values, false for average or
- * raw
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] useFilteredValue true to use filtered values, false for average
+ * or raw
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useFilteredValue, int32_t* status);
@@ -124,8 +139,9 @@
*
* True if the analog input is between the upper and lower limits.
*
- * @param analogTriggerHandle the trigger handle
- * @return the InWindow output of the analog trigger
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the InWindow output of the analog trigger
*/
HAL_Bool HAL_GetAnalogTriggerInWindow(
HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status);
@@ -137,8 +153,9 @@
* False if below lower limit.
* If in Hysteresis, maintain previous state.
*
- * @param analogTriggerHandle the trigger handle
- * @return the TriggerState output of the analog trigger
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the TriggerState output of the analog trigger
*/
HAL_Bool HAL_GetAnalogTriggerTriggerState(
HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status);
@@ -146,9 +163,10 @@
/**
* Gets the state of the analog trigger output.
*
- * @param analogTriggerHandle the trigger handle
- * @param type the type of trigger to trigger on
- * @return the state of the analog trigger output
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[in] type the type of trigger to trigger on
+ * @param[out] status Error status variable. 0 on success.
+ * @return the state of the analog trigger output
*/
HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_AnalogTriggerType type,
@@ -157,7 +175,8 @@
/**
* Get the FPGA index for the AnlogTrigger.
*
- * @param analogTriggerHandle the trigger handle
+ * @param[in] analogTriggerHandle the trigger handle
+ * @param[out] status Error status variable. 0 on success.
* @return the FPGA index
*/
int32_t HAL_GetAnalogTriggerFPGAIndex(
diff --git a/hal/src/main/native/include/hal/CAN.h b/hal/src/main/native/include/hal/CAN.h
index 4f91bc1..77a6239 100644
--- a/hal/src/main/native/include/hal/CAN.h
+++ b/hal/src/main/native/include/hal/CAN.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -48,11 +45,12 @@
/**
* Sends a CAN message.
*
- * @param messageID the CAN ID to send
- * @param data the data to send (0-8 bytes)
- * @param dataSize the size of the data to send (0-8 bytes)
- * @param periodMs the period to repeat the packet at. Use
- * HAL_CAN_SEND_PERIOD_NO_REPEAT to not repeat.
+ * @param[in] messageID the CAN ID to send
+ * @param[in] data the data to send (0-8 bytes)
+ * @param[in] dataSize the size of the data to send (0-8 bytes)
+ * @param[in] periodMs the period to repeat the packet at. Use
+ * HAL_CAN_SEND_PERIOD_NO_REPEAT to not repeat.
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status);
@@ -60,12 +58,13 @@
/**
* Receives a CAN message.
*
- * @param messageID store for the received message ID
- * @param messageIDMask the message ID mask to look for
- * @param data data output (8 bytes)
- * @param dataSize data length (0-8 bytes)
- * @param timeStamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
+ * @param[out] messageID store for the received message ID
+ * @param[in] messageIDMask the message ID mask to look for
+ * @param[out] data data output (8 bytes)
+ * @param[out] dataSize data length (0-8 bytes)
+ * @param[out] timeStamp the packet received timestamp (based off of
+ * CLOCK_MONOTONIC)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
uint8_t* data, uint8_t* dataSize,
@@ -74,10 +73,11 @@
/**
* Opens a CAN stream.
*
- * @param sessionHandle output for the session handle
- * @param messageID the message ID to read
- * @param messageIDMask the mssage ID mask
- * @param maxMessages the maximum number of messages to stream
+ * @param[out] sessionHandle output for the session handle
+ * @param[in] messageID the message ID to read
+ * @param[in] messageIDMask the mssage ID mask
+ * @param[in] maxMessages the maximum number of messages to stream
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
uint32_t messageIDMask, uint32_t maxMessages,
@@ -93,10 +93,11 @@
/**
* Reads a CAN stream message.
*
- * @param sessionHandle the session handle
- * @param messages array of messages
- * @param messagesToRead the max number of messages to read
- * @param messageRead the number of messages actually read
+ * @param[in] sessionHandle the session handle
+ * @param[in] messages array of messages
+ * @param[in] messagesToRead the max number of messages to read
+ * @param[out] messagesRead the number of messages actually read
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
struct HAL_CANStreamMessage* messages,
@@ -106,11 +107,12 @@
/**
* Gets CAN status information.
*
- * @param percentBusUtilization the bus utilization
- * @param busOffCount the number of bus off errors
- * @param txFullCount the number of tx full errors
- * @param receiveErrorCount the number of receive errors
- * @param transmitErrorCount the number of transmit errors
+ * @param[out] percentBusUtilization the bus utilization
+ * @param[out] busOffCount the number of bus off errors
+ * @param[out] txFullCount the number of tx full errors
+ * @param[out] receiveErrorCount the number of receive errors
+ * @param[out] transmitErrorCount the number of transmit errors
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
uint32_t* txFullCount, uint32_t* receiveErrorCount,
diff --git a/hal/src/main/native/include/hal/CANAPI.h b/hal/src/main/native/include/hal/CANAPI.h
index 7a6bd88..29859cf 100644
--- a/hal/src/main/native/include/hal/CANAPI.h
+++ b/hal/src/main/native/include/hal/CANAPI.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -27,10 +24,11 @@
*
* These follow the FIRST standard CAN layout. Link TBD
*
- * @param manufacturer the can manufacturer
- * @param deviceId the device ID (0-63)
- * @param deviceType the device type
- * @return the created CAN handle
+ * @param[in] manufacturer the can manufacturer
+ * @param[in] deviceId the device ID (0-63)
+ * @param[in] deviceType the device type
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created CAN handle
*/
HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer manufacturer,
int32_t deviceId, HAL_CANDeviceType deviceType,
@@ -48,10 +46,11 @@
*
* This ID is 10 bits.
*
- * @param handle the CAN handle
- * @param data the data to write (0-8 bytes)
- * @param length the length of data (0-8)
- * @param apiId the ID to write (0-1023 bits)
+ * @param[in] handle the CAN handle
+ * @param[in] data the data to write (0-8 bytes)
+ * @param[in] length the length of data (0-8)
+ * @param[in] apiId the ID to write (0-1023 bits)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_WriteCANPacket(HAL_CANHandle handle, const uint8_t* data,
int32_t length, int32_t apiId, int32_t* status);
@@ -63,11 +62,12 @@
*
* The RoboRIO will automatically repeat the packet at the specified interval
*
- * @param handle the CAN handle
- * @param data the data to write (0-8 bytes)
- * @param length the length of data (0-8)
- * @param apiId the ID to write (0-1023)
- * @param repeatMs the period to repeat in ms
+ * @param[in] handle the CAN handle
+ * @param[in] data the data to write (0-8 bytes)
+ * @param[in] length the length of data (0-8)
+ * @param[in] apiId the ID to write (0-1023)
+ * @param[in] repeatMs the period to repeat in ms
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
int32_t length, int32_t apiId,
@@ -80,9 +80,10 @@
* By spec, the length must be equal to the length sent by the other device,
* otherwise behavior is unspecified.
*
- * @param handle the CAN handle
- * @param length the length of data to request (0-8)
- * @param apiId the ID to write (0-1023)
+ * @param[in] handle the CAN handle
+ * @param[in] length the length of data to request (0-8)
+ * @param[in] apiId the ID to write (0-1023)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
int32_t* status);
@@ -92,8 +93,9 @@
*
* This ID is 10 bits.
*
- * @param handle the CAN handle
- * @param apiId the ID to stop repeating (0-1023)
+ * @param[in] handle the CAN handle
+ * @param[in] apiId the ID to stop repeating (0-1023)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
int32_t* status);
@@ -104,12 +106,13 @@
* This will only return properly once per packet received. Multiple calls
* without receiving another packet will return an error code.
*
- * @param handle the CAN handle
- * @param apiId the ID to read (0-1023)
- * @param data the packet data (8 bytes)
- * @param length the received length (0-8 bytes)
- * @param receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
+ * @param[in] handle the CAN handle
+ * @param[in] apiId the ID to read (0-1023)
+ * @param[out] data the packet data (8 bytes)
+ * @param[out] length the received length (0-8 bytes)
+ * @param[out] receivedTimestamp the packet received timestamp (based off of
+ * CLOCK_MONOTONIC)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
int32_t* length, uint64_t* receivedTimestamp,
@@ -119,12 +122,13 @@
* Reads a CAN packet. The will continuously return the last packet received,
* without accounting for packet age.
*
- * @param handle the CAN handle
- * @param apiId the ID to read (0-1023)
- * @param data the packet data (8 bytes)
- * @param length the received length (0-8 bytes)
- * @param receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
+ * @param[in] handle the CAN handle
+ * @param[in] apiId the ID to read (0-1023)
+ * @param[out] data the packet data (8 bytes)
+ * @param[out] length the received length (0-8 bytes)
+ * @param[out] receivedTimestamp the packet received timestamp (based off of
+ * CLOCK_MONOTONIC)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
int32_t* length, uint64_t* receivedTimestamp,
@@ -135,13 +139,14 @@
* packet is older then the requested timeout. Then it will return an error
* code.
*
- * @param handle the CAN handle
- * @param apiId the ID to read (0-1023)
- * @param data the packet data (8 bytes)
- * @param length the received length (0-8 bytes)
- * @param receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
- * @param timeoutMs the timeout time for the packet
+ * @param[in] handle the CAN handle
+ * @param[in] apiId the ID to read (0-1023)
+ * @param[out] data the packet data (8 bytes)
+ * @param[out] length the received length (0-8 bytes)
+ * @param[out] receivedTimestamp the packet received timestamp (based off of
+ * CLOCK_MONOTONIC)
+ * @param[out] timeoutMs the timeout time for the packet
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
uint8_t* data, int32_t* length,
diff --git a/hal/src/main/native/include/hal/CANAPITypes.h b/hal/src/main/native/include/hal/CANAPITypes.h
index 5155d93..1be672e 100644
--- a/hal/src/main/native/include/hal/CANAPITypes.h
+++ b/hal/src/main/native/include/hal/CANAPITypes.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/CTREPCM.h b/hal/src/main/native/include/hal/CTREPCM.h
new file mode 100644
index 0000000..1bed928
--- /dev/null
+++ b/hal/src/main/native/include/hal/CTREPCM.h
@@ -0,0 +1,72 @@
+// 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_ctre_pcm CTRE PCM Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
+ const char* allocationLocation,
+ int32_t* status);
+void HAL_FreeCTREPCM(HAL_CTREPCMHandle handle);
+
+HAL_Bool HAL_CheckCTREPCMSolenoidChannel(int32_t channel);
+
+HAL_Bool HAL_GetCTREPCMCompressor(HAL_CTREPCMHandle handle, int32_t* status);
+void HAL_SetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle, HAL_Bool enabled,
+ int32_t* status);
+HAL_Bool HAL_GetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle,
+ int32_t* status);
+HAL_Bool HAL_GetCTREPCMPressureSwitch(HAL_CTREPCMHandle handle,
+ int32_t* status);
+double HAL_GetCTREPCMCompressorCurrent(HAL_CTREPCMHandle handle,
+ int32_t* status);
+
+HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighFault(HAL_CTREPCMHandle handle,
+ int32_t* status);
+HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(
+ HAL_CTREPCMHandle handle, int32_t* status);
+HAL_Bool HAL_GetCTREPCMCompressorShortedStickyFault(HAL_CTREPCMHandle handle,
+ int32_t* status);
+HAL_Bool HAL_GetCTREPCMCompressorShortedFault(HAL_CTREPCMHandle handle,
+ int32_t* status);
+HAL_Bool HAL_GetCTREPCMCompressorNotConnectedStickyFault(
+ HAL_CTREPCMHandle handle, int32_t* status);
+HAL_Bool HAL_GetCTREPCMCompressorNotConnectedFault(HAL_CTREPCMHandle handle,
+ int32_t* status);
+
+int32_t HAL_GetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t* status);
+void HAL_SetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t mask,
+ int32_t values, int32_t* status);
+
+int32_t HAL_GetCTREPCMSolenoidDisabledList(HAL_CTREPCMHandle handle,
+ int32_t* status);
+HAL_Bool HAL_GetCTREPCMSolenoidVoltageStickyFault(HAL_CTREPCMHandle handle,
+ int32_t* status);
+HAL_Bool HAL_GetCTREPCMSolenoidVoltageFault(HAL_CTREPCMHandle handle,
+ int32_t* status);
+
+void HAL_ClearAllCTREPCMStickyFaults(HAL_CTREPCMHandle handle, int32_t* status);
+
+void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
+ int32_t* status);
+void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
+ int32_t durMs, int32_t* status);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+/** @} */
diff --git a/hal/src/main/native/include/hal/ChipObject.h b/hal/src/main/native/include/hal/ChipObject.h
index d891ced..4526a1a 100644
--- a/hal/src/main/native/include/hal/ChipObject.h
+++ b/hal/src/main/native/include/hal/ChipObject.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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
#pragma GCC diagnostic push
diff --git a/hal/src/main/native/include/hal/Compressor.h b/hal/src/main/native/include/hal/Compressor.h
deleted file mode 100644
index cb58e46..0000000
--- a/hal/src/main/native/include/hal/Compressor.h
+++ /dev/null
@@ -1,143 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <stdint.h>
-
-#include "hal/Types.h"
-
-/**
- * @defgroup hal_compressor Compressor Functions
- * @ingroup hal_capi
- * @{
- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * Initializes a compressor on the given PCM module.
- *
- * @param module the module number
- * @return the created handle
- */
-HAL_CompressorHandle HAL_InitializeCompressor(int32_t module, int32_t* status);
-
-/**
- * Gets if a compressor module is valid.
- *
- * @param module the module number
- * @return true if the module is valid, otherwise false
- */
-HAL_Bool HAL_CheckCompressorModule(int32_t module);
-
-/**
- * Gets the compressor state (on or off).
- *
- * @param compressorHandle the compressor handle
- * @return true if the compressor is on, otherwise false
- */
-HAL_Bool HAL_GetCompressor(HAL_CompressorHandle compressorHandle,
- int32_t* status);
-
-/**
- * Sets the compressor to closed loop mode.
- *
- * @param compressorHandle the compressor handle
- * @param value true for closed loop mode, false for off
- */
-void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressorHandle,
- HAL_Bool value, int32_t* status);
-
-/**
- * Gets if the compressor is in closed loop mode.
- *
- * @param compressorHandle the compressor handle
- * @return true if the compressor is in closed loop mode,
- * otherwise false
- */
-HAL_Bool HAL_GetCompressorClosedLoopControl(
- HAL_CompressorHandle compressorHandle, int32_t* status);
-
-/**
- * Gets the compressor pressure switch state.
- *
- * @param compressorHandle the compressor handle
- * @return true if the pressure switch is triggered, otherwise
- * false
- */
-HAL_Bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressorHandle,
- int32_t* status);
-
-/**
- * Gets the compressor current.
- *
- * @param compressorHandle the compressor handle
- * @return the compressor current in amps
- */
-double HAL_GetCompressorCurrent(HAL_CompressorHandle compressorHandle,
- int32_t* status);
-
-/**
- * Gets if the compressor is faulted because of too high of current.
- *
- * @param compressorHandle the compressor handle
- * @return true if falted, otherwise false
- */
-HAL_Bool HAL_GetCompressorCurrentTooHighFault(
- HAL_CompressorHandle compressorHandle, int32_t* status);
-
-/**
- * Gets if a sticky fauly is triggered because of too high of current.
- *
- * @param compressorHandle the compressor handle
- * @return true if falted, otherwise false
- */
-HAL_Bool HAL_GetCompressorCurrentTooHighStickyFault(
- HAL_CompressorHandle compressorHandle, int32_t* status);
-
-/**
- * Gets if a sticky fauly is triggered because of a short.
- *
- * @param compressorHandle the compressor handle
- * @return true if falted, otherwise false
- */
-HAL_Bool HAL_GetCompressorShortedStickyFault(
- HAL_CompressorHandle compressorHandle, int32_t* status);
-
-/**
- * Gets if the compressor is faulted because of a short.
- *
- * @param compressorHandle the compressor handle
- * @return true if shorted, otherwise false
- */
-HAL_Bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressorHandle,
- int32_t* status);
-
-/**
- * Gets if a sticky fault is triggered of the compressor not connected.
- *
- * @param compressorHandle the compressor handle
- * @return true if falted, otherwise false
- */
-HAL_Bool HAL_GetCompressorNotConnectedStickyFault(
- HAL_CompressorHandle compressorHandle, int32_t* status);
-
-/**
- * Gets if the compressor is not connected.
- *
- * @param compressorHandle the compressor handle
- * @return true if not connected, otherwise false
- */
-HAL_Bool HAL_GetCompressorNotConnectedFault(
- HAL_CompressorHandle compressorHandle, int32_t* status);
-#ifdef __cplusplus
-} // extern "C"
-#endif
-/** @} */
diff --git a/hal/src/main/native/include/hal/Constants.h b/hal/src/main/native/include/hal/Constants.h
index 2a4d409..c8c731c 100644
--- a/hal/src/main/native/include/hal/Constants.h
+++ b/hal/src/main/native/include/hal/Constants.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/Counter.h b/hal/src/main/native/include/hal/Counter.h
index c0dd057..cc2d776 100644
--- a/hal/src/main/native/include/hal/Counter.h
+++ b/hal/src/main/native/include/hal/Counter.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -37,9 +34,10 @@
/**
* Initializes a counter.
*
- * @param mode the counter mode
- * @param index the compressor index (output)
- * @return the created handle
+ * @param[in] mode the counter mode
+ * @param[in] index the compressor index (output)
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created handle
*/
HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
int32_t* status);
@@ -47,15 +45,17 @@
/**
* Frees a counter.
*
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status);
/**
* Sets the average sample size of a counter.
*
- * @param counterHandle the counter handle
- * @param size the size of samples to average
+ * @param[in] counterHandle the counter handle
+ * @param[in] size the size of samples to average
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size,
int32_t* status);
@@ -63,11 +63,13 @@
/**
* Sets the source object that causes the counter to count up.
*
- * @param counterHandle the counter handle
- * @param digitalSourceHandle the digital source handle (either a
- * HAL_AnalogTriggerHandle of a HAL_DigitalHandle)
- * @param analogTriggerType the analog trigger type if the source is an analog
- * trigger
+ * @param[in] counterHandle the counter handle
+ * @param[in] digitalSourceHandle the digital source handle (either a
+ * HAL_AnalogTriggerHandle or a
+ * HAL_DigitalHandle)
+ * @param[in] analogTriggerType the analog trigger type if the source is an
+ * analog trigger
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
@@ -79,9 +81,10 @@
*
* Note that both are allowed to be set true at the same time without issues.
*
- * @param counterHandle the counter handle
- * @param risingEdge true to trigger on rising
- * @param fallingEdge true to trigger on falling
+ * @param[in] counterHandle the counter handle
+ * @param[in] risingEdge true to trigger on rising
+ * @param[in] fallingEdge true to trigger on falling
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
@@ -90,18 +93,21 @@
/**
* Disables the up counting source to the counter.
*
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle, int32_t* status);
/**
* Sets the source object that causes the counter to count down.
*
- * @param counterHandle the counter handle
- * @param digitalSourceHandle the digital source handle (either a
- * HAL_AnalogTriggerHandle of a HAL_DigitalHandle)
- * @param analogTriggerType the analog trigger type if the source is an analog
- * trigger
+ * @param[in] counterHandle the counter handle
+ * @param[in] digitalSourceHandle the digital source handle (either a
+ * HAL_AnalogTriggerHandle or a
+ * HAL_DigitalHandle)
+ * @param[in] analogTriggerType the analog trigger type if the source is an
+ * analog trigger
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
@@ -112,9 +118,10 @@
* Sets the down source to either detect rising edges or falling edges.
* Note that both are allowed to be set true at the same time without issues.
*
- * @param counterHandle the counter handle
- * @param risingEdge true to trigger on rising
- * @param fallingEdge true to trigger on falling
+ * @param[in] counterHandle the counter handle
+ * @param[in] risingEdge true to trigger on rising
+ * @param[in] fallingEdge true to trigger on falling
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
@@ -123,7 +130,8 @@
/**
* Disables the down counting source to the counter.
*
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle,
int32_t* status);
@@ -133,7 +141,8 @@
*
* Up and down counts are sourced independently from two inputs.
*
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle, int32_t* status);
@@ -143,7 +152,8 @@
* The direction is determined by the B input, with counting happening with the
* A input.
*
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle,
int32_t* status);
@@ -154,8 +164,10 @@
* The counter counts up based on the time the input is triggered. High or Low
* depends on the highSemiPeriod parameter.
*
- * @param counterHandle the counter handle
- * @param highSemiPeriod true for counting when the input is high, false for low
+ * @param[in] counterHandle the counter handle
+ * @param[in] highSemiPeriod true for counting when the input is high, false for
+ * low
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle,
HAL_Bool highSemiPeriod, int32_t* status);
@@ -166,9 +178,10 @@
*
* This mode is most useful for direction sensitive gear tooth sensors.
*
- * @param counterHandle the counter handle
- * @param threshold The pulse length beyond which the counter counts the
- * opposite direction (seconds)
+ * @param[in] counterHandle the counter handle
+ * @param[in] threshold The pulse length beyond which the counter counts the
+ * opposite direction (seconds)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle,
double threshold, int32_t* status);
@@ -178,7 +191,8 @@
* timer to average when calculating the period. Perform averaging to account
* for mechanical imperfections or as oversampling to increase resolution.
*
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
*/
int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
@@ -189,8 +203,9 @@
* timer to average when calculating the period. Perform averaging to account
* for mechanical imperfections or as oversampling to increase resolution.
*
- * @param counterHandle the counter handle
- * @param samplesToAverage The number of samples to average from 1 to 127
+ * @param[in] counterHandle the counter handle
+ * @param[in] samplesToAverage The number of samples to average from 1 to 127
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
int32_t samplesToAverage, int32_t* status);
@@ -201,7 +216,8 @@
* Sets the counter value to zero. This does not effect the running state of the
* counter, just sets the current value to zero.
*
- * @param counterHandle the counter handle
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status);
@@ -211,8 +227,9 @@
* Reads the value at this instant. It may still be running, so it reflects the
* current value. Next time it is read, it might have a different value.
*
- * @param counterHandle the counter handle
- * @return the current counter value
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the current counter value
*/
int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status);
@@ -222,8 +239,9 @@
* Returns the time interval of the most recent count. This can be used for
* velocity calculations to determine shaft speed.
*
- * @param counterHandle the counter handle
- * @returns the period of the last two pulses in units of seconds
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the period of the last two pulses in units of seconds
*/
double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status);
@@ -234,9 +252,10 @@
* used to determine the "stopped" state of the counter using the
* HAL_GetCounterStopped method.
*
- * @param counterHandle the counter handle
- * @param maxPeriod the maximum period where the counted device is
- * considered moving in seconds
+ * @param[in] counterHandle the counter handle
+ * @param[in] maxPeriod the maximum period where the counted device is
+ * considered moving in seconds
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
int32_t* status);
@@ -261,8 +280,9 @@
* (since it is updated at the end of an average and there are no samples to
* average).
*
- * @param counterHandle the counter handle
- * @param enabled true to enable counter updating with no samples
+ * @param[in] counterHandle the counter handle
+ * @param[in] enabled true to enable counter updating with no samples
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle,
HAL_Bool enabled, int32_t* status);
@@ -274,9 +294,10 @@
* using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the
* device (and counter) are assumed to be stopped and it returns true.
*
- * @param counterHandle the counter handle
- * @return true if the most recent counter period exceeds the
- * MaxPeriod value set by SetMaxPeriod
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return true if the most recent counter period exceeds the MaxPeriod value
+ * set by SetMaxPeriod
*/
HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
int32_t* status);
@@ -284,8 +305,9 @@
/**
* Gets the last direction the counter value changed.
*
- * @param counterHandle the counter handle
- * @return the last direction the counter value changed
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the last direction the counter value changed
*/
HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
int32_t* status);
@@ -296,8 +318,9 @@
* This allows counters to change the direction they are counting in the case of
* 1X and 2X quadrature encoding only. Any other counter mode isn't supported.
*
- * @param counterHandle the counter handle
- * @param reverseDirection true if the value counted should be negated.
+ * @param[in] counterHandle the counter handle
+ * @param[in] reverseDirection true if the value counted should be negated.
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle,
HAL_Bool reverseDirection, int32_t* status);
diff --git a/hal/src/main/native/include/hal/DIO.h b/hal/src/main/native/include/hal/DIO.h
index 6ffc71f..e094a0d 100644
--- a/hal/src/main/native/include/hal/DIO.h
+++ b/hal/src/main/native/include/hal/DIO.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -24,21 +21,31 @@
/**
* Creates a new instance of a digital port.
*
- * @param portHandle the port handle to create from
- * @param input true for input, false for output
- * @return the created digital handle
+ * @param[in] portHandle the port handle to create from
+ * @param[in] input true for input, false for output
+ * @param[in] allocationLocation the location where the allocation is occuring
+ * (can be null)
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created digital handle
*/
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
- HAL_Bool input, int32_t* status);
+ HAL_Bool input,
+ const char* allocationLocation,
+ int32_t* status);
/**
* Checks if a DIO channel is valid.
*
* @param channel the channel number to check
- * @return true if the channel is correct, otherwise false
+ * @return true if the channel is correct, otherwise false
*/
HAL_Bool HAL_CheckDIOChannel(int32_t channel);
+/**
+ * Frees a DIO port.
+ *
+ * @param dioPortHandle the DIO channel handle
+ */
void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle);
/**
@@ -52,6 +59,7 @@
/**
* Allocates a DO PWM Generator.
*
+ * @param[out] status Error status variable. 0 on success.
* @return the allocated digital PWM handle
*/
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status);
@@ -59,7 +67,8 @@
/**
* Frees the resource associated with a DO PWM generator.
*
- * @param pwmGenerator the digital PWM handle
+ * @param[in] pwmGenerator the digital PWM handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status);
@@ -70,15 +79,17 @@
*
* The frequency resolution is logarithmic.
*
- * @param rate the frequency to output all digital output PWM signals
+ * @param[in] rate the frequency to output all digital output PWM signals
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetDigitalPWMRate(double rate, int32_t* status);
/**
* Configures the duty-cycle of the PWM generator.
*
- * @param pwmGenerator the digital PWM handle
- * @param dutyCycle the percent duty cycle to output [0..1]
+ * @param[in] pwmGenerator the digital PWM handle
+ * @param[in] dutyCycle the percent duty cycle to output [0..1]
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
double dutyCycle, int32_t* status);
@@ -86,8 +97,9 @@
/**
* Configures which DO channel the PWM signal is output on.
*
- * @param pwmGenerator the digital PWM handle
- * @param channel the channel to output on
+ * @param[in] pwmGenerator the digital PWM handle
+ * @param[in] channel the channel to output on
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
int32_t channel, int32_t* status);
@@ -95,9 +107,10 @@
/**
* Writes a digital value to a DIO channel.
*
- * @param dioPortHandle the digital port handle
- * @param value the state to set the digital channel (if it is
- * configured as an output)
+ * @param[in] dioPortHandle the digital port handle
+ * @param[in] value the state to set the digital channel (if it is
+ * configured as an output)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
int32_t* status);
@@ -105,8 +118,9 @@
/**
* Sets the direction of a DIO channel.
*
- * @param dioPortHandle the digital port handle
- * @param input true to set input, false for output
+ * @param[in] dioPortHandle the digital port handle
+ * @param[in] input true to set input, false for output
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
int32_t* status);
@@ -114,16 +128,18 @@
/**
* Reads a digital value from a DIO channel.
*
- * @param dioPortHandle the digital port handle
- * @return the state of the specified channel
+ * @param[in] dioPortHandle the digital port handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the state of the specified channel
*/
HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status);
/**
* Reads the direction of a DIO channel.
*
- * @param dioPortHandle the digital port handle
- * @return true for input, false for output
+ * @param[in] dioPortHandle the digital port handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return true for input, false for output
*/
HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status);
@@ -133,8 +149,9 @@
* Write a pulse to the specified digital output channel. There can only be a
* single pulse going at any time.
*
- * @param dioPortHandle the digital port handle
- * @param pulseLength the active length of the pulse (in seconds)
+ * @param[in] dioPortHandle the digital port handle
+ * @param[in] pulseLength the active length of the pulse (in seconds)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
int32_t* status);
@@ -142,6 +159,8 @@
/**
* Checks a DIO line to see if it is currently generating a pulse.
*
+ * @param[in] dioPortHandle the digital port handle
+ * @param[out] status Error status variable. 0 on success.
* @return true if a pulse is in progress, otherwise false
*/
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status);
@@ -149,6 +168,7 @@
/**
* Checks if any DIO line is currently generating a pulse.
*
+ * @param[out] status Error status variable. 0 on success.
* @return true if a pulse on some line is in progress
*/
HAL_Bool HAL_IsAnyPulsing(int32_t* status);
@@ -158,9 +178,11 @@
*
* Set the filter index used to filter out short pulses.
*
- * @param dioPortHandle the digital port handle
- * @param filterIndex the filter index (Must be in the range 0 - 3, where 0
- * means "none" and 1 - 3 means filter # filterIndex - 1)
+ * @param[in] dioPortHandle the digital port handle
+ * @param[in] filterIndex the filter index (Must be in the range 0 - 3, where
+ * 0 means "none" and 1 - 3 means filter # filterIndex
+ * - 1)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
int32_t* status);
@@ -170,9 +192,10 @@
*
* Gets the filter index used to filter out short pulses.
*
- * @param dioPortHandle the digital port handle
- * @return filterIndex the filter index (Must be in the range 0 - 3,
- * where 0 means "none" and 1 - 3 means filter # filterIndex - 1)
+ * @param[in] dioPortHandle the digital port handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return filterIndex the filter index (Must be in the range 0 - 3, where 0
+ * means "none" and 1 - 3 means filter # filterIndex - 1)
*/
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status);
@@ -183,9 +206,10 @@
* filter index domains (MXP vs HDR), ignore that distinction for now since it
* compilicates the interface. That can be changed later.
*
- * @param filterIndex the filter index, 0 - 2
- * @param value the number of cycles that the signal must not transition
- * to be counted as a transition.
+ * @param[in] filterIndex the filter index, 0 - 2
+ * @param[in] value the number of cycles that the signal must not
+ * transition to be counted as a transition.
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status);
@@ -197,9 +221,8 @@
* compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the
* filter values miss-match.
*
- * @param filterIndex the filter index, 0 - 2
- * @param value the number of cycles that the signal must not transition
- * to be counted as a transition.
+ * @param[in] filterIndex the filter index, 0 - 2
+ * @param[out] status Error status variable. 0 on success.
*/
int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status);
#ifdef __cplusplus
diff --git a/hal/src/main/native/include/hal/DMA.h b/hal/src/main/native/include/hal/DMA.h
index 38aaca2..7610d9b 100644
--- a/hal/src/main/native/include/hal/DMA.h
+++ b/hal/src/main/native/include/hal/DMA.h
@@ -1,28 +1,32 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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/AnalogTrigger.h"
#include "hal/Types.h"
+/**
+ * @defgroup hal_dma DMA Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
// clang-format off
/**
* The DMA Read Status.
*/
-HAL_ENUM(HAL_DMAReadStatus ) {
+HAL_ENUM(HAL_DMAReadStatus) {
HAL_DMA_OK = 1,
HAL_DMA_TIMEOUT = 2,
HAL_DMA_ERROR = 3,
};
// clang-format on
+/**
+ * Buffer for containing all DMA data for a specific sample.
+ */
struct HAL_DMASample {
uint32_t readBuffer[74];
int32_t channelOffsets[22];
@@ -35,91 +39,415 @@
extern "C" {
#endif
+/**
+ * Initializes an object for peforming DMA transfers.
+ *
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created dma handle
+ */
HAL_DMAHandle HAL_InitializeDMA(int32_t* status);
+
+/**
+ * Frees a DMA object.
+ *
+ * @param handle the dma handle
+ */
void HAL_FreeDMA(HAL_DMAHandle handle);
+/**
+ * Pauses or unpauses a DMA transfer.
+ *
+ * This can only be called while DMA is running.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] pause true to pause transfers, false to resume.
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status);
-void HAL_SetDMARate(HAL_DMAHandle handle, int32_t cycles, int32_t* status);
+/**
+ * Sets DMA transfers to occur at a specific timed interval.
+ *
+ * This will remove any external triggers. Only timed or external is supported.
+ *
+ * Only 1 timed period is supported.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] periodSeconds the period to trigger in seconds
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_SetDMATimedTrigger(HAL_DMAHandle handle, double periodSeconds,
+ int32_t* status);
+
+/**
+ * Sets DMA transfers to occur at a specific timed interval in FPGA cycles.
+ *
+ * This will remove any external triggers. Only timed or external is supported.
+ *
+ * Only 1 timed period is supported
+ *
+ * The FPGA currently runs at 40 MHz, but this can change.
+ * HAL_GetSystemClockTicksPerMicrosecond can be used to get a computable value
+ * for this.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] cycles the period to trigger in FPGA cycles
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_SetDMATimedTriggerCycles(HAL_DMAHandle handle, uint32_t cycles,
+ int32_t* status);
+
+/**
+ * Adds position data for an encoder to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] encoderHandle the encoder to add
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_AddDMAEncoder(HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle,
int32_t* status);
+
+/**
+ * Adds timer data for an encoder to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] encoderHandle the encoder to add
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_AddDMAEncoderPeriod(HAL_DMAHandle handle,
HAL_EncoderHandle encoderHandle, int32_t* status);
+
+/**
+ * Adds position data for an counter to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] counterHandle the counter to add
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_AddDMACounter(HAL_DMAHandle handle, HAL_CounterHandle counterHandle,
int32_t* status);
+
+/**
+ * Adds timer data for an counter to be collected by DMA.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] counterHandle the counter to add
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_AddDMACounterPeriod(HAL_DMAHandle handle,
HAL_CounterHandle counterHandle, int32_t* status);
+
+/**
+ * Adds a digital source to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] digitalSourceHandle the digital source to add
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_AddDMADigitalSource(HAL_DMAHandle handle,
HAL_Handle digitalSourceHandle, int32_t* status);
+
+/**
+ * Adds an analog input to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] aInHandle the analog input to add
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_AddDMAAnalogInput(HAL_DMAHandle handle,
HAL_AnalogInputHandle aInHandle, int32_t* status);
+/**
+ * Adds averaged data of an analog input to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] aInHandle the analog input to add
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_AddDMAAveragedAnalogInput(HAL_DMAHandle handle,
HAL_AnalogInputHandle aInHandle,
int32_t* status);
+/**
+ * Adds acuumulator data of an analog input to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] aInHandle the analog input to add
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_AddDMAAnalogAccumulator(HAL_DMAHandle handle,
HAL_AnalogInputHandle aInHandle,
int32_t* status);
+/**
+ * Adds a duty cycle input to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] dutyCycleHandle the duty cycle input to add
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_AddDMADutyCycle(HAL_DMAHandle handle,
HAL_DutyCycleHandle dutyCycleHandle, int32_t* status);
-void HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
- HAL_Handle digitalSourceHandle,
- HAL_AnalogTriggerType analogTriggerType,
- HAL_Bool rising, HAL_Bool falling,
- int32_t* status);
+/**
+ * Sets DMA transfers to occur on an external trigger.
+ *
+ * This will remove any timed trigger set. Only timed or external is supported.
+ *
+ * Up to 8 external triggers are currently supported.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] digitalSourceHandle the digital source handle (either a
+ * HAL_AnalogTriggerHandle or a
+ * HAL_DigitalHandle)
+ * @param[in] analogTriggerType the analog trigger type if the source is an
+ * analog trigger
+ * @param[in] rising true to trigger on rising edge
+ * @param[in] falling true to trigger on falling edge
+ * @param[out] status Error status variable. 0 on success.
+ * @return the index of the trigger
+ */
+int32_t HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
+ HAL_Handle digitalSourceHandle,
+ HAL_AnalogTriggerType analogTriggerType,
+ HAL_Bool rising, HAL_Bool falling,
+ int32_t* status);
+/**
+ * Clear all sensors from the DMA collection list.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_ClearDMASensors(HAL_DMAHandle handle, int32_t* status);
+
+/**
+ * Clear all external triggers from the DMA trigger list.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param[in] handle the dma handle
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_ClearDMAExternalTriggers(HAL_DMAHandle handle, int32_t* status);
+
+/**
+ * Starts DMA Collection.
+ *
+ * @param[in] handle the dma handle
+ * @param[in] queueDepth the number of objects to be able to queue
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_StartDMA(HAL_DMAHandle handle, int32_t queueDepth, int32_t* status);
+
+/**
+ * Stops DMA Collection.
+ *
+ * @param[in] handle the dma handle
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_StopDMA(HAL_DMAHandle handle, int32_t* status);
+/**
+ * Gets the direct pointer to the DMA object.
+ *
+ * This is only to be used if absolute maximum performance is required. This
+ * will only be valid until the handle is freed.
+ *
+ * @param handle the dma handle
+ */
void* HAL_GetDMADirectPointer(HAL_DMAHandle handle);
+/**
+ * Reads a DMA sample using a direct DMA pointer.
+ *
+ * See HAL_ReadDMA for full documentation.
+ *
+ * @param[in] dmaPointer direct DMA pointer
+ * @param[in] dmaSample the sample object to place data into
+ * @param[in] timeoutSeconds the time to wait for data to be queued before
+ * timing out
+ * @param[in] remainingOut the number of samples remaining in the queue
+ * @param[out] status Error status variable. 0 on success.
+ */
enum HAL_DMAReadStatus HAL_ReadDMADirect(void* dmaPointer,
HAL_DMASample* dmaSample,
- int32_t timeoutMs,
+ double timeoutSeconds,
int32_t* remainingOut,
int32_t* status);
+/**
+ * Reads a DMA sample from the queue.
+ *
+ *
+ * @param[in] handle the dma handle
+ * @param[in] dmaSample the sample object to place data into
+ * @param[in] timeoutSeconds the time to wait for data to be queued before
+ * timing out
+ * @param[in] remainingOut the number of samples remaining in the queue
+ * @param[out] status Error status variable. 0 on success.
+ * @return the succes result of the sample read
+ */
enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
- HAL_DMASample* dmaSample, int32_t timeoutMs,
- int32_t* remainingOut, int32_t* status);
+ HAL_DMASample* dmaSample,
+ double timeoutSeconds, int32_t* remainingOut,
+ int32_t* status);
-// Sampling Code
+// The following are helper functions for reading data from samples
+
+/**
+ * Returns the timestamp of the sample.
+ * This is in the same time domain as HAL_GetFPGATime().
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[out] status Error status variable. 0 on success.
+ * @return timestamp in microseconds since FPGA Initialization
+ */
uint64_t HAL_GetDMASampleTime(const HAL_DMASample* dmaSample, int32_t* status);
+/**
+ * Returns the raw distance data for an encoder from the sample.
+ *
+ * This can be scaled with DistancePerPulse and DecodingScaleFactor to match the
+ * result of GetDistance()
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return raw encoder ticks
+ */
int32_t HAL_GetDMASampleEncoderRaw(const HAL_DMASample* dmaSample,
HAL_EncoderHandle encoderHandle,
int32_t* status);
+/**
+ * Returns the distance data for an counter from the sample.
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return counter ticks
+ */
int32_t HAL_GetDMASampleCounter(const HAL_DMASample* dmaSample,
HAL_CounterHandle counterHandle,
int32_t* status);
+/**
+ * Returns the raw period data for an encoder from the sample.
+ *
+ * This can be scaled with DistancePerPulse and DecodingScaleFactor to match the
+ * result of GetRate()
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return raw encoder period
+ */
int32_t HAL_GetDMASampleEncoderPeriodRaw(const HAL_DMASample* dmaSample,
HAL_EncoderHandle encoderHandle,
int32_t* status);
+/**
+ * Returns the period data for an counter from the sample.
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[in] counterHandle the counter handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return counter period
+ */
int32_t HAL_GetDMASampleCounterPeriod(const HAL_DMASample* dmaSample,
HAL_CounterHandle counterHandle,
int32_t* status);
+
+/**
+ * Returns the state of a digital source from the sample.
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[in] dSourceHandle the digital source handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return digital source state
+ */
HAL_Bool HAL_GetDMASampleDigitalSource(const HAL_DMASample* dmaSample,
HAL_Handle dSourceHandle,
int32_t* status);
+
+/**
+ * Returns the raw analog data for an analog input from the sample.
+ *
+ * This can be scaled with HAL_GetAnalogValueToVolts to match GetVoltage().
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[in] aInHandle the analog input handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return raw analog data
+ */
int32_t HAL_GetDMASampleAnalogInputRaw(const HAL_DMASample* dmaSample,
HAL_AnalogInputHandle aInHandle,
int32_t* status);
+/**
+ * Returns the raw averaged analog data for an analog input from the sample.
+ *
+ * This can be scaled with HAL_GetAnalogValueToVolts to match
+ * GetAveragedVoltage().
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[in] aInHandle the analog input handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return raw averaged analog data
+ */
int32_t HAL_GetDMASampleAveragedAnalogInputRaw(const HAL_DMASample* dmaSample,
HAL_AnalogInputHandle aInHandle,
int32_t* status);
+/**
+ * Returns the analog accumulator data for an analog input from the sample.
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[in] aInHandle the analog input handle
+ * @param[in] count the accumulator count
+ * @param[in] value the accumulator value
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_GetDMASampleAnalogAccumulator(const HAL_DMASample* dmaSample,
HAL_AnalogInputHandle aInHandle,
int64_t* count, int64_t* value,
int32_t* status);
+/**
+ * Returns the raw duty cycle input ratio data from the sample.
+ *
+ * Use HAL_GetDutyCycleOutputScaleFactor to scale this to a percentage.
+ *
+ * @param[in] dmaSample the sample to read from
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return raw duty cycle input data
+ */
int32_t HAL_GetDMASampleDutyCycleOutputRaw(const HAL_DMASample* dmaSample,
HAL_DutyCycleHandle dutyCycleHandle,
int32_t* status);
@@ -127,3 +455,4 @@
#ifdef __cplusplus
} // extern "C"
#endif
+/** @} */
diff --git a/hal/src/main/native/include/hal/DriverStation.h b/hal/src/main/native/include/hal/DriverStation.h
index 23595db..1839cfc 100644
--- a/hal/src/main/native/include/hal/DriverStation.h
+++ b/hal/src/main/native/include/hal/DriverStation.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2013-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -30,7 +27,7 @@
* @param isLVCode true for a LV error code, false for a standard error code
* @param details the details of the error
* @param location the file location of the errror
- * @param callstack the callstack of the error
+ * @param callStack the callstack of the error
* @param printMsg true to print the error message to stdout as well as to the
* DS
*/
@@ -50,15 +47,15 @@
* The control work contains the robot state.
*
* @param controlWord the control word (out)
- * @return the error code, or 0 for success
+ * @return the error code, or 0 for success
*/
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord);
/**
* Gets the current alliance station ID.
*
- * @param status the error code, or 0 for success
- * @return the alliance station ID
+ * @param[out] status the error code, or 0 for success
+ * @return the alliance station ID
*/
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status);
@@ -67,7 +64,7 @@
*
* @param joystickNum the joystick number
* @param axes the axes values (output)
- * @return the error code, or 0 for success
+ * @return the error code, or 0 for success
*/
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
@@ -76,7 +73,7 @@
*
* @param joystickNum the joystick number
* @param povs the POV values (output)
- * @return the error code, or 0 for success
+ * @return the error code, or 0 for success
*/
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
@@ -85,7 +82,7 @@
*
* @param joystickNum the joystick number
* @param buttons the button values (output)
- * @return the error code, or 0 for success
+ * @return the error code, or 0 for success
*/
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons);
@@ -93,14 +90,15 @@
/**
* Retrieves the Joystick Descriptor for particular slot.
*
- * @param desc [out] descriptor (data transfer object) to fill in. desc is
- * filled in regardless of success. In other words, if descriptor is not
- * available, desc is filled in with default values matching the init-values in
- * Java and C++ Driverstation for when caller requests a too-large joystick
- * index.
- *
+ * @param joystickNum the joystick number
+ * @param[out] desc descriptor (data transfer object) to fill in. desc is
+ * filled in regardless of success. In other words, if
+ * descriptor is not available, desc is filled in with
+ * default values matching the init-values in Java and C++
+ * Driver Station for when caller requests a too-large
+ * joystick index.
* @return error code reported from Network Comm back-end. Zero is good,
- * nonzero is bad.
+ * nonzero is bad.
*/
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc);
@@ -109,7 +107,7 @@
* Gets is a specific joystick is considered to be an XBox controller.
*
* @param joystickNum the joystick number
- * @return true if xbox, false otherwise
+ * @return true if xbox, false otherwise
*/
HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum);
@@ -120,7 +118,7 @@
* the joystick uses.
*
* @param joystickNum the joystick number
- * @return the enumerated joystick type
+ * @return the enumerated joystick type
*/
int32_t HAL_GetJoystickType(int32_t joystickNum);
@@ -132,7 +130,7 @@
* Will be null terminated.
*
* @param joystickNum the joystick number
- * @return the joystick name
+ * @return the joystick name
*/
char* HAL_GetJoystickName(int32_t joystickNum);
@@ -151,18 +149,18 @@
*
* @param joystickNum the joystick number
* @param axis the axis number
- * @return the enumerated axis type
+ * @return the enumerated axis type
*/
int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis);
/**
* Set joystick outputs.
*
- * @param joystickNum the joystick numer
+ * @param joystickNum the joystick number
* @param outputs bitmask of outputs, 1 for on 0 for off
* @param leftRumble the left rumble value (0-FFFF)
* @param rightRumble the right rumble value (0-FFFF)
- * @return the error code, or 0 for success
+ * @return the error code, or 0 for success
*/
int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble);
@@ -180,7 +178,7 @@
* The Practice Match function of the DS approximates the behavior seen on
* the field.
*
- * @param status the error code, or 0 for success
+ * @param[out] status the error code, or 0 for success
* @return time remaining in current match period (auto or teleop)
*/
double HAL_GetMatchTime(int32_t* status);
@@ -188,8 +186,8 @@
/**
* Gets info about a specific match.
*
- * @param info the match info (output)
- * @return the error code, or 0 for success
+ * @param[in] info the match info (output)
+ * @return the error code, or 0 for success
*/
int32_t HAL_GetMatchInfo(HAL_MatchInfo* info);
@@ -220,8 +218,8 @@
* forever. Otherwise, it will wait until either a new packet, or the timeout
* time has passed.
*
- * @param timeout timeout in seconds
- * @return true for new data, false for timeout
+ * @param[in] timeout timeout in seconds
+ * @return true for new data, false for timeout
*/
HAL_Bool HAL_WaitForDSDataTimeout(double timeout);
@@ -243,7 +241,7 @@
* Sets the disabled flag in the DS.
*
* This is used for the DS to ensure the robot is properly responding to its
- * state request. Ensure this get called about every 50ms, or the robot will be
+ * state request. Ensure this gets called about every 50ms, or the robot will be
* disabled by the DS.
*/
void HAL_ObserveUserProgramDisabled(void);
@@ -252,7 +250,7 @@
* Sets the autonomous enabled flag in the DS.
*
* This is used for the DS to ensure the robot is properly responding to its
- * state request. Ensure this get called about every 50ms, or the robot will be
+ * state request. Ensure this gets called about every 50ms, or the robot will be
* disabled by the DS.
*/
void HAL_ObserveUserProgramAutonomous(void);
@@ -261,7 +259,7 @@
* Sets the teleoperated enabled flag in the DS.
*
* This is used for the DS to ensure the robot is properly responding to its
- * state request. Ensure this get called about every 50ms, or the robot will be
+ * state request. Ensure this gets called about every 50ms, or the robot will be
* disabled by the DS.
*/
void HAL_ObserveUserProgramTeleop(void);
@@ -270,7 +268,7 @@
* Sets the test mode flag in the DS.
*
* This is used for the DS to ensure the robot is properly responding to its
- * state request. Ensure this get called about every 50ms, or the robot will be
+ * state request. Ensure this gets called about every 50ms, or the robot will be
* disabled by the DS.
*/
void HAL_ObserveUserProgramTest(void);
diff --git a/hal/src/main/native/include/hal/DriverStationTypes.h b/hal/src/main/native/include/hal/DriverStationTypes.h
index 7c5d6f6..21f9088 100644
--- a/hal/src/main/native/include/hal/DriverStationTypes.h
+++ b/hal/src/main/native/include/hal/DriverStationTypes.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/DutyCycle.h b/hal/src/main/native/include/hal/DutyCycle.h
index 357d8f3..05b654b 100644
--- a/hal/src/main/native/include/hal/DutyCycle.h
+++ b/hal/src/main/native/include/hal/DutyCycle.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -23,10 +20,12 @@
/**
* Initialize a DutyCycle input.
*
- * @param digitalSourceHandle the digital source to use (either a
- * HAL_DigitalHandle or a HAL_AnalogTriggerHandle)
- * @param triggerType the analog trigger type of the source if it is
- * an analog trigger
+ * @param[in] digitalSourceHandle the digital source to use (either a
+ * HAL_DigitalHandle or a
+ * HAL_AnalogTriggerHandle)
+ * @param[in] triggerType the analog trigger type of the source if it is
+ * an analog trigger
+ * @param[out] status Error status variable. 0 on success.
* @return thre created duty cycle handle
*/
HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
@@ -52,7 +51,8 @@
/**
* Get the frequency of the duty cycle signal.
*
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
* @return frequency in Hertz
*/
int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
@@ -63,7 +63,8 @@
*
* <p> 0 means always low, 1 means always high.
*
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
* @return output ratio between 0 and 1
*/
double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
@@ -75,7 +76,8 @@
* <p> 0 means always low, an output equal to
* GetOutputScaleFactor() means always high.
*
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
* @return output ratio in raw units
*/
int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
@@ -88,7 +90,8 @@
* down to 0. Divide the result of getOutputRaw by this in order to get the
* percentage between 0 and 1.
*
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
* @return the output scale factor
*/
int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
@@ -97,7 +100,8 @@
/**
* Get the FPGA index for the DutyCycle.
*
- * @param dutyCycleHandle the duty cycle handle
+ * @param[in] dutyCycleHandle the duty cycle handle
+ * @param[out] status Error status variable. 0 on success.
* @return the FPGA index
*/
int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle,
diff --git a/hal/src/main/native/include/hal/Encoder.h b/hal/src/main/native/include/hal/Encoder.h
index 9d2b5d0..a6bf4af 100644
--- a/hal/src/main/native/include/hal/Encoder.h
+++ b/hal/src/main/native/include/hal/Encoder.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -46,18 +43,19 @@
/**
* Initializes an encoder.
*
- * @param digitalSourceHandleA the A source (either a HAL_DigitalHandle or a
- * HAL_AnalogTriggerHandle)
- * @param analogTriggerTypeA the analog trigger type of the A source if it is
- * an analog trigger
- * @param digitalSourceHandleB the B source (either a HAL_DigitalHandle or a
- * HAL_AnalogTriggerHandle)
- * @param analogTriggerTypeB the analog trigger type of the B source if it is
- * an analog trigger
- * @param reverseDirection true to reverse the counting direction from
- * standard, otherwise false
- * @param encodingType the encoding type
- @return the created encoder handle
+ * @param[in] digitalSourceHandleA the A source (either a HAL_DigitalHandle or a
+ * HAL_AnalogTriggerHandle)
+ * @param[in] analogTriggerTypeA the analog trigger type of the A source if it
+ * is an analog trigger
+ * @param[in] digitalSourceHandleB the B source (either a HAL_DigitalHandle or a
+ * HAL_AnalogTriggerHandle)
+ * @param[in] analogTriggerTypeB the analog trigger type of the B source if it
+ * is an analog trigger
+ * @param[in] reverseDirection true to reverse the counting direction from
+ * standard, otherwise false
+ * @param[in] encodingType the encoding type
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created encoder handle
*/
HAL_EncoderHandle HAL_InitializeEncoder(
HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
@@ -68,7 +66,8 @@
/**
* Frees an encoder.
*
- * @param encoderHandle the encoder handle
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
@@ -86,7 +85,8 @@
*
* This is scaled by the value passed duing initialization to encodingType.
*
- * @param encoderHandle the encoder handle
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
* @return the current scaled count
*/
int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
@@ -96,8 +96,9 @@
*
* This is not scaled by any values.
*
- * @param encoderHandle the encoder handle
- * @return the raw encoder count
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the raw encoder count
*/
int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status);
@@ -106,8 +107,9 @@
*
* This is set by the value passed during initialization to encodingType.
*
- * @param encoderHandle the encoder handle
- * @return the encoder scale value
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the encoder scale value
*/
int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
int32_t* status);
@@ -118,8 +120,8 @@
* Read the value at this instant. It may still be running, so it reflects the
* current value. Next time it is read, it might have a different value.
*
- * @param encoderHandle the encoder handle
- * @return the current encoder value
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
@@ -129,8 +131,9 @@
* Returns the time interval of the most recent count. This can be used for
* velocity calculations to determine shaft speed.
*
- * @param encoderHandle the encoder handle
- * @returns the period of the last two pulses in units of seconds
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @returns the period of the last two pulses in units of seconds
*/
double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status);
@@ -141,9 +144,10 @@
* used to determine the "stopped" state of the encoder using the
* HAL_GetEncoderStopped method.
*
- * @param encoderHandle the encoder handle
- * @param maxPeriod the maximum period where the counted device is
- * considered moving in seconds
+ * @param[in] encoderHandle the encoder handle
+ * @param[in] maxPeriod the maximum period where the counted device is
+ * considered moving in seconds
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
int32_t* status);
@@ -155,9 +159,10 @@
* using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the
* device (and encoder) are assumed to be stopped and it returns true.
*
- * @param encoderHandle the encoder handle
- * @return true if the most recent encoder period exceeds the
- * MaxPeriod value set by SetMaxPeriod
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return true if the most recent encoder period exceeds the MaxPeriod value
+ * set by SetMaxPeriod
*/
HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
int32_t* status);
@@ -165,8 +170,9 @@
/**
* Gets the last direction the encoder value changed.
*
- * @param encoderHandle the encoder handle
- * @return the last direction the encoder value changed
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the last direction the encoder value changed
*/
HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
int32_t* status);
@@ -177,9 +183,10 @@
* This is the encoder count scaled by the distance per pulse set for the
* encoder.
*
- * @param encoderHandle the encoder handle
- * @return the encoder distance (units are determined by the units
- * passed to HAL_SetEncoderDistancePerPulse)
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the encoder distance (units are determined by the units
+ * passed to HAL_SetEncoderDistancePerPulse)
*/
double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle, int32_t* status);
@@ -189,9 +196,10 @@
* This is the encoder period scaled by the distance per pulse set for the
* encoder.
*
- * @param encoderHandle the encoder handle
- * @return the encoder rate (units are determined by the units
- * passed to HAL_SetEncoderDistancePerPulse, time value is seconds)
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the encoder rate (units are determined by the units passed to
+ * HAL_SetEncoderDistancePerPulse, time value is seconds)
*/
double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status);
@@ -201,10 +209,12 @@
* Units need to match what is set by HAL_SetEncoderDistancePerPulse, with time
* as seconds.
*
- * @param encoderHandle the encoder handle
- * @param minRate the minimum rate to be considered moving (units are
- * determined by the units passed to HAL_SetEncoderDistancePerPulse, time value
- * is seconds)
+ * @param[in] encoderHandle the encoder handle
+ * @param[in] minRate the minimum rate to be considered moving (units are
+ * determined by the units passed to
+ * HAL_SetEncoderDistancePerPulse, time value is
+ * seconds)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
int32_t* status);
@@ -213,9 +223,10 @@
* Sets the distance traveled per encoder pulse. This is used as a scaling
* factor for the rate and distance calls.
*
- * @param encoderHandle the encoder handle
- * @param distancePerPulse the distance traveled per encoder pulse (units user
- * defined)
+ * @param[in] encoderHandle the encoder handle
+ * @param[in] distancePerPulse the distance traveled per encoder pulse (units
+ * user defined)
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
double distancePerPulse, int32_t* status);
@@ -225,8 +236,9 @@
*
* Note that this is not a toggle. It is an absolute set.
*
- * @param encoderHandle the encoder handle
- * @param reverseDirection true to reverse the direction, false to not.
+ * @param[in] encoderHandle the encoder handle
+ * @param[in] reverseDirection true to reverse the direction, false to not.
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
HAL_Bool reverseDirection, int32_t* status);
@@ -234,8 +246,9 @@
/**
* Sets the number of encoder samples to average when calculating encoder rate.
*
- * @param encoderHandle the encoder handle
- * @param samplesToAverage the number of samples to average
+ * @param[in] encoderHandle the encoder handle
+ * @param[in] samplesToAverage the number of samples to average
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
int32_t samplesToAverage, int32_t* status);
@@ -243,8 +256,9 @@
/**
* Gets the current samples to average value.
*
- * @param encoderHandle the encoder handle
- * @return the current samples to average value
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the current samples to average value
*/
int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
int32_t* status);
@@ -255,12 +269,14 @@
* The index pulse can be used to cause an encoder to reset based on an external
* input.
*
- * @param encoderHandle the encoder handle
- * @param digitalSourceHandle the index source handle (either a
- * HAL_AnalogTriggerHandle of a HAL_DigitalHandle)
- * @param analogTriggerType the analog trigger type if the source is an analog
- * trigger
- * @param type the index triggering type
+ * @param[in] encoderHandle the encoder handle
+ * @param[in] digitalSourceHandle the index source handle (either a
+ * HAL_AnalogTriggerHandle or a
+ * HAL_DigitalHandle)
+ * @param[in] analogTriggerType the analog trigger type if the source is an
+ * analog trigger
+ * @param[in] type the index triggering type
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
HAL_Handle digitalSourceHandle,
@@ -270,8 +286,9 @@
/**
* Gets the FPGA index of the encoder.
*
- * @param encoderHandle the encoder handle
- * @return the FPGA index of the encoder
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the FPGA index of the encoder
*/
int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
int32_t* status);
@@ -281,8 +298,9 @@
*
* This is used to perform the scaling from raw to type scaled values.
*
- * @param encoderHandle the encoder handle
- * @return the scale value for the encoder
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the scale value for the encoder
*/
double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
int32_t* status);
@@ -290,8 +308,9 @@
/**
* Gets the user set distance per pulse of the encoder.
*
- * @param encoderHandle the encoder handle
- * @return the set distance per pulse
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the set distance per pulse
*/
double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
int32_t* status);
@@ -299,8 +318,9 @@
/**
* Gets the encoding type of the encoder.
*
- * @param encoderHandle the encoder handle
- * @return the encoding type
+ * @param[in] encoderHandle the encoder handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the encoding type
*/
HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
HAL_EncoderHandle encoderHandle, int32_t* status);
diff --git a/hal/src/main/native/include/hal/Errors.h b/hal/src/main/native/include/hal/Errors.h
index 9f74f8c..b24bfb7 100644
--- a/hal/src/main/native/include/hal/Errors.h
+++ b/hal/src/main/native/include/hal/Errors.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -44,6 +41,8 @@
#define ERR_FRCSystem_NoDSConnection_MESSAGE \
"FRCSystem: No driver station connected"
+#define HAL_SUCCESS 0
+
#define SAMPLE_RATE_TOO_HIGH 1001
#define SAMPLE_RATE_TOO_HIGH_MESSAGE \
"HAL: Analog module sample rate is too high"
@@ -102,6 +101,10 @@
#define HAL_INVALID_DMA_ADDITION_MESSAGE \
"HAL_AddDMA() only works before HAL_StartDMA()"
+#define HAL_INVALID_DMA_STATE -1103
+#define HAL_INVALID_DMA_STATE_MESSAGE \
+ "HAL_SetPause() only works before HAL_StartDMA()"
+
#define HAL_SERIAL_PORT_NOT_FOUND -1123
#define HAL_SERIAL_PORT_NOT_FOUND_MESSAGE \
"HAL: The specified serial port device was not found"
@@ -116,7 +119,7 @@
#define HAL_THREAD_PRIORITY_ERROR -1152
#define HAL_THREAD_PRIORITY_ERROR_MESSAGE \
- "HAL: Getting or setting the priority of a thread has failed";
+ "HAL: Getting or setting the priority of a thread has failed"
#define HAL_THREAD_PRIORITY_RANGE_ERROR -1153
#define HAL_THREAD_PRIORITY_RANGE_ERROR_MESSAGE \
@@ -128,11 +131,20 @@
#define HAL_SIM_NOT_SUPPORTED -1155
#define HAL_SIM_NOT_SUPPORTED_MESSAGE "HAL: Method not supported in sim"
+#define HAL_USE_LAST_ERROR -1156
+#define HAL_USE_LAST_ERROR_MESSAGE \
+ "HAL: Use HAL_GetLastError(status) to get last error"
+
+#define HAL_CONSOLE_OUT_ENABLED_ERROR -1157
+#define HAL_CONSOLE_OUT_ENABLED_ERROR_MESSAGE \
+ "HAL: Onboard serial port is requested, but Console Out is enabled. " \
+ "Disable Console Out using imaging tool"
+
#define HAL_CAN_BUFFER_OVERRUN -35007
#define HAL_CAN_BUFFER_OVERRUN_MESSAGE \
"HAL: CAN Output Buffer Full. Ensure a device is attached"
-#define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
+#define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error"
#define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"
#define VI_ERROR_RSRC_LOCKED_MESSAGE "HAL - VISA: Resource Locked"
#define VI_ERROR_RSRC_NFOUND_MESSAGE "HAL - VISA: Resource Not Found"
diff --git a/hal/src/main/native/include/hal/Extensions.h b/hal/src/main/native/include/hal/Extensions.h
index 13de7f8..ad3f733 100644
--- a/hal/src/main/native/include/hal/Extensions.h
+++ b/hal/src/main/native/include/hal/Extensions.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -35,7 +32,7 @@
* Expected to be called internally, not by users.
*
* @param library the library path
- * @return the succes state of the initialization
+ * @return the succes state of the initialization
*/
int HAL_LoadOneExtension(const char* library);
@@ -43,7 +40,7 @@
* Loads any extra halsim libraries provided in the HALSIM_EXTENSIONS
* environment variable.
*
- * @return the succes state of the initialization
+ * @return the succes state of the initialization
*/
int HAL_LoadExtensions(void);
diff --git a/hal/src/main/native/include/hal/HAL.h b/hal/src/main/native/include/hal/HAL.h
index 4412886..0d60237 100644
--- a/hal/src/main/native/include/hal/HAL.h
+++ b/hal/src/main/native/include/hal/HAL.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2013-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -17,7 +14,7 @@
#include "hal/AnalogTrigger.h"
#include "hal/CAN.h"
#include "hal/CANAPI.h"
-#include "hal/Compressor.h"
+#include "hal/CTREPCM.h"
#include "hal/Constants.h"
#include "hal/Counter.h"
#include "hal/DIO.h"
@@ -30,7 +27,6 @@
#include "hal/Interrupts.h"
#include "hal/Main.h"
#include "hal/Notifier.h"
-#include "hal/PDP.h"
#include "hal/PWM.h"
#include "hal/Ports.h"
#include "hal/Power.h"
@@ -38,7 +34,6 @@
#include "hal/SPI.h"
#include "hal/SerialPort.h"
#include "hal/SimDevice.h"
-#include "hal/Solenoid.h"
#include "hal/Threads.h"
#include "hal/Types.h"
#include "hal/Value.h"
diff --git a/hal/src/main/native/include/hal/HALBase.h b/hal/src/main/native/include/hal/HALBase.h
index ee5b054..b31ec75 100644
--- a/hal/src/main/native/include/hal/HALBase.h
+++ b/hal/src/main/native/include/hal/HALBase.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -18,7 +15,7 @@
*/
// clang-format off
-HAL_ENUM(HAL_RuntimeType) { HAL_Athena, HAL_Mock };
+HAL_ENUM(HAL_RuntimeType) { HAL_Runtime_RoboRIO, HAL_Runtime_RoboRIO2, HAL_Runtime_Simulation };
// clang-format on
#ifdef __cplusplus
@@ -26,10 +23,23 @@
#endif
/**
+ * Gets the last error set on this thread, or the message for the status code.
+ *
+ * If passed HAL_USE_LAST_ERROR, the last error set on the thread will be
+ * returned.
+ *
+ * @param[out] status the status code, set to the error status code if input is
+ * HAL_USE_LAST_ERROR
+ * @return the error message for the code. This does not need to be freed,
+ * but can be overwritten by another hal call on the same thread.
+ */
+const char* HAL_GetLastError(int32_t* status);
+
+/**
* Gets the error message for a specific status code.
*
* @param code the status code
- * @return the error message for the code. This does not need to be freed.
+ * @return the error message for the code. This does not need to be freed.
*/
const char* HAL_GetErrorMessage(int32_t code);
@@ -38,6 +48,7 @@
*
* For now, expect this to be competition year.
*
+ * @param[out] status the error code, or 0 for success
* @return FPGA Version number.
*/
int32_t HAL_GetFPGAVersion(int32_t* status);
@@ -50,15 +61,22 @@
* the next 8 bits are the Minor Revision.
* The 12 least significant bits are the Build Number.
*
+ * @param[out] status the error code, or 0 for success
* @return FPGA Revision number.
*/
int64_t HAL_GetFPGARevision(int32_t* status);
+/**
+ * Returns the runtime type of the HAL.
+ *
+ * @return HAL Runtime Type
+ */
HAL_RuntimeType HAL_GetRuntimeType(void);
/**
* Gets the state of the "USER" button on the roboRIO.
*
+ * @param[out] status the error code, or 0 for success
* @return true if the button is currently pressed down
*/
HAL_Bool HAL_GetFPGAButton(int32_t* status);
@@ -66,6 +84,7 @@
/**
* Gets if the system outputs are currently active
*
+ * @param[out] status the error code, or 0 for success
* @return true if the system outputs are active, false if disabled
*/
HAL_Bool HAL_GetSystemActive(int32_t* status);
@@ -73,6 +92,7 @@
/**
* Gets if the system is in a browned out state.
*
+ * @param[out] status the error code, or 0 for success
* @return true if the system is in a low voltage brown out, false otherwise
*/
HAL_Bool HAL_GetBrownedOut(int32_t* status);
@@ -83,7 +103,7 @@
* The created handle does not need to be freed.
*
* @param channel the channel number
- * @return the created port
+ * @return the created port
*/
HAL_PortHandle HAL_GetPort(int32_t channel);
@@ -97,13 +117,14 @@
*
* @param module the module number
* @param channel the channel number
- * @return the created port
+ * @return the created port
*/
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
/**
* Reads the microsecond-resolution timer on the FPGA.
*
+ * @param[out] status the error code, or 0 for success
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
@@ -118,10 +139,12 @@
* bottom 32 bits of the timestamp and expanding it, you will be off by
* multiples of 1<<32 microseconds.
*
+ * @param[in] unexpandedLower 32 bit FPGA time
+ * @param[out] status the error code, or 0 for success
* @return The current time in microseconds according to the FPGA (since FPGA
- * reset) as a 64 bit number.
+ * reset) as a 64 bit number.
*/
-uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status);
+uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status);
/**
* Call this to start up HAL. This is required for robot programs.
@@ -145,7 +168,7 @@
*
* @param timeout the initialization timeout (ms)
* @param mode the initialization mode (see remarks)
- * @return true if initialization was successful, otherwise false.
+ * @return true if initialization was successful, otherwise false.
*/
HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
@@ -157,6 +180,18 @@
*/
void HAL_Shutdown(void);
+/**
+ * Calls registered SimPeriodic "before" callbacks (only in simulation mode).
+ * This should be called prior to user code periodic simulation functions.
+ */
+void HAL_SimPeriodicBefore(void);
+
+/**
+ * Calls registered SimPeriodic "after" callbacks (only in simulation mode).
+ * This should be called after user code periodic simulation functions.
+ */
+void HAL_SimPeriodicAfter(void);
+
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/hal/src/main/native/include/hal/I2C.h b/hal/src/main/native/include/hal/I2C.h
index 4147cbb..4e5c007 100644
--- a/hal/src/main/native/include/hal/I2C.h
+++ b/hal/src/main/native/include/hal/I2C.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -27,7 +24,8 @@
* Opens the port if necessary and saves the handle.
* If opening the MXP port, also sets up the channel functions appropriately.
*
- * @param port The port to open, 0 for the on-board, 1 for the MXP.
+ * @param[in] port The port to open, 0 for the on-board, 1 for the MXP.
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status);
@@ -38,6 +36,8 @@
* over each transaction.
*
* @param port The I2C port, 0 for the on-board, 1 for the MXP.
+ * @param deviceAddress The address of the register on the device to be
+ * read/written.
* @param dataToSend Buffer of data to send as part of the transaction.
* @param sendSize Number of bytes to send as part of the transaction.
* @param dataReceived Buffer to read data into.
@@ -55,9 +55,10 @@
* transaction is complete.
*
* @param port The I2C port, 0 for the on-board, 1 for the MXP.
- * @param registerAddress The address of the register on the device to be
- * written.
- * @param data The byte to write to the register on the device.
+ * @param deviceAddress The address of the register on the device to be
+ * written.
+ * @param dataToSend The byte to write to the register on the device.
+ * @param sendSize Number of bytes to send.
* @return >= 0 on success or -1 on transfer abort.
*/
int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
@@ -71,7 +72,7 @@
* you to read consecutive registers on a device in a single transaction.
*
* @param port The I2C port, 0 for the on-board, 1 for the MXP.
- * @param registerAddress The register to read first in the transaction.
+ * @param deviceAddress The register to read first in the transaction.
* @param count The number of bytes to read in the transaction.
* @param buffer A pointer to the array of bytes to store the data read from the
* device.
diff --git a/hal/src/main/native/include/hal/I2CTypes.h b/hal/src/main/native/include/hal/I2CTypes.h
index b5e8235..6aac0fb 100644
--- a/hal/src/main/native/include/hal/I2CTypes.h
+++ b/hal/src/main/native/include/hal/I2CTypes.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/Interrupts.h b/hal/src/main/native/include/hal/Interrupts.h
index ff68d48..def800c 100644
--- a/hal/src/main/native/include/hal/Interrupts.h
+++ b/hal/src/main/native/include/hal/Interrupts.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -22,67 +19,45 @@
extern "C" {
#endif
-typedef void (*HAL_InterruptHandlerFunction)(uint32_t interruptAssertedMask,
- void* param);
-
/**
* Initializes an interrupt.
*
- * @param watcher true for synchronous interrupts, false for asynchronous
- * @return the created interrupt handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created interrupt handle
*/
-HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher, int32_t* status);
+HAL_InterruptHandle HAL_InitializeInterrupts(int32_t* status);
/**
* Frees an interrupt.
*
* @param interruptHandle the interrupt handle
- * @return the param passed to the interrupt, or nullptr if one
- * wasn't passed.
*/
-void* HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status);
+void HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle);
/**
* In synchronous mode, waits for the defined interrupt to occur.
*
- * @param interruptHandle the interrupt handle
- * @param timeout timeout in seconds
- * @param ignorePrevious if true, ignore interrupts that happened before
- * waitForInterrupt was called
- * @return the mask of interrupts that fired
+ * @param[in] interruptHandle the interrupt handle
+ * @param[in] timeout timeout in seconds
+ * @param[in] ignorePrevious if true, ignore interrupts that happened before
+ * waitForInterrupt was called
+ * @param[out] status Error status variable. 0 on success.
+ * @return the mask of interrupts that fired
*/
int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle,
double timeout, HAL_Bool ignorePrevious,
int32_t* status);
/**
- * Enables interrupts to occur on this input.
- *
- * Interrupts are disabled when the RequestInterrupt call is made. This gives
- * time to do the setup of the other options before starting to field
- * interrupts.
- *
- * @param interruptHandle the interrupt handle
- */
-void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status);
-
-/**
- * Disables interrupts without without deallocating structures.
- *
- * @param interruptHandle the interrupt handle
- */
-void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
- int32_t* status);
-
-/**
* Returns the timestamp for the rising interrupt that occurred most recently.
*
* This is in the same time domain as HAL_GetFPGATime(). It only contains the
* bottom 32 bits of the timestamp. If your robot has been running for over 1
* hour, you will need to fill in the upper 32 bits yourself.
*
- * @param interruptHandle the interrupt handle
- * @return timestamp in microseconds since FPGA Initialization
+ * @param[in] interruptHandle the interrupt handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return timestamp in microseconds since FPGA Initialization
*/
int64_t HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status);
@@ -94,8 +69,9 @@
* bottom 32 bits of the timestamp. If your robot has been running for over 1
* hour, you will need to fill in the upper 32 bits yourself.
*
- * @param interruptHandle the interrupt handle
- * @return timestamp in microseconds since FPGA Initialization
+ * @param[in] interruptHandle the interrupt handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return timestamp in microseconds since FPGA Initialization
*/
int64_t HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status);
@@ -103,10 +79,13 @@
/**
* Requests interrupts on a specific digital source.
*
- * @param interruptHandle the interrupt handle
- * @param digitalSourceHandle the digital source handle (either a
- * HAL_AnalogTriggerHandle of a HAL_DigitalHandle)
- * @param analogTriggerType the trigger type if the source is an AnalogTrigger
+ * @param[in] interruptHandle the interrupt handle
+ * @param[in] digitalSourceHandle the digital source handle (either a
+ * HAL_AnalogTriggerHandle or a
+ * HAL_DigitalHandle)
+ * @param[in] analogTriggerType the trigger type if the source is an
+ * AnalogTrigger
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_RequestInterrupts(HAL_InterruptHandle interruptHandle,
HAL_Handle digitalSourceHandle,
@@ -114,41 +93,14 @@
int32_t* status);
/**
- * Attaches an asynchronous interrupt handler to the interrupt.
- *
- * This interrupt gets called directly on the FPGA interrupt thread, so will
- * block other interrupts while running.
- *
- * @param interruptHandle the interrupt handle
- * @param handler the handler function for the interrupt to call
- * @param param a parameter to be passed to the handler
- */
-void HAL_AttachInterruptHandler(HAL_InterruptHandle interruptHandle,
- HAL_InterruptHandlerFunction handler,
- void* param, int32_t* status);
-
-/**
- * Attaches an asynchronous interrupt handler to the interrupt.
- *
- * This interrupt gets called on a thread specific to the interrupt, so will not
- * block other interrupts.
- *
- * @param interruptHandle the interrupt handle
- * @param handler the handler function for the interrupt to call
- * @param param a parameter to be passed to the handler
- */
-void HAL_AttachInterruptHandlerThreaded(HAL_InterruptHandle interruptHandle,
- HAL_InterruptHandlerFunction handler,
- void* param, int32_t* status);
-
-/**
* Sets the edges to trigger the interrupt on.
*
* Note that both edges triggered is a valid configuration.
*
- * @param interruptHandle the interrupt handle
- * @param risingEdge true for triggering on rising edge
- * @param fallingEdge true for triggering on falling edge
+ * @param[in] interruptHandle the interrupt handle
+ * @param[in] risingEdge true for triggering on rising edge
+ * @param[in] fallingEdge true for triggering on falling edge
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
@@ -159,7 +111,8 @@
*
* This will release both rising and falling waiters.
*
- * @param interruptHandle the interrupt handle to release
+ * @param[in] interruptHandle the interrupt handle to release
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_ReleaseWaitingInterrupt(HAL_InterruptHandle interruptHandle,
int32_t* status);
diff --git a/hal/src/main/native/include/hal/Main.h b/hal/src/main/native/include/hal/Main.h
index 097f819..712ad01 100644
--- a/hal/src/main/native/include/hal/Main.h
+++ b/hal/src/main/native/include/hal/Main.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/Notifier.h b/hal/src/main/native/include/hal/Notifier.h
index 6b8e39f..96452f4 100644
--- a/hal/src/main/native/include/hal/Notifier.h
+++ b/hal/src/main/native/include/hal/Notifier.h
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <wpi/nodiscard.h>
+
#include "hal/Types.h"
/**
@@ -27,15 +26,36 @@
* A notifier is an FPGA controller timer that triggers at requested intervals
* based on the FPGA time. This can be used to make precise control loops.
*
+ * @param[out] status Error status variable. 0 on success.
* @return the created notifier
*/
HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status);
/**
+ * Sets the HAL notifier thread priority.
+ *
+ * The HAL notifier thread is responsible for managing the FPGA's notifier
+ * interrupt and waking up user's Notifiers when it's their time to run.
+ * Giving the HAL notifier thread real-time priority helps ensure the user's
+ * real-time Notifiers, if any, are notified to run in a timely manner.
+ *
+ * @param[in] realTime Set to true to set a real-time priority, false for
+ * standard priority.
+ * @param[in] priority Priority to set the thread to. For real-time, this is
+ * 1-99 with 99 being highest. For non-real-time, this is
+ * forced to 0. See "man 7 sched" for more details.
+ * @param[out] status Error status variable. 0 on success.
+ * @return True on success.
+ */
+HAL_Bool HAL_SetNotifierThreadPriority(HAL_Bool realTime, int32_t priority,
+ int32_t* status);
+
+/**
* Sets the name of a notifier.
*
- * @param notifierHandle the notifier handle
- * @param name name
+ * @param[in] notifierHandle the notifier handle
+ * @param[in] name name
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
int32_t* status);
@@ -45,7 +65,8 @@
*
* This will cause any call into HAL_WaitForNotifierAlarm to return.
*
- * @param notifierHandle the notifier handle
+ * @param[in] notifierHandle the notifier handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status);
@@ -54,7 +75,8 @@
*
* Note this also stops a notifier if it is already running.
*
- * @param notifierHandle the notifier handle
+ * @param[in] notifierHandle the notifier handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status);
@@ -63,8 +85,9 @@
*
* Note that this time is an absolute time relative to HAL_GetFPGATime()
*
- * @param notifierHandle the notifier handle
- * @param triggerTime the updated trigger time
+ * @param[in] notifierHandle the notifier handle
+ * @param[in] triggerTime the updated trigger time
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle,
uint64_t triggerTime, int32_t* status);
@@ -74,7 +97,8 @@
*
* This does not cause HAL_WaitForNotifierAlarm to return.
*
- * @param notifierHandle the notifier handle
+ * @param[in] notifierHandle the notifier handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
int32_t* status);
@@ -83,11 +107,15 @@
* Waits for the next alarm for the specific notifier.
*
* This is a blocking call until either the time elapses or HAL_StopNotifier
- * gets called.
+ * gets called. If the latter occurs, this function will return zero and any
+ * loops using this function should exit. Failing to do so can lead to
+ * use-after-frees.
*
- * @param notifierHandle the notifier handle
- * @return the FPGA time the notifier returned
+ * @param[in] notifierHandle the notifier handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the FPGA time the notifier returned
*/
+WPI_NODISCARD
uint64_t HAL_WaitForNotifierAlarm(HAL_NotifierHandle notifierHandle,
int32_t* status);
diff --git a/hal/src/main/native/include/hal/PWM.h b/hal/src/main/native/include/hal/PWM.h
index 7267823..7fd125e 100644
--- a/hal/src/main/native/include/hal/PWM.h
+++ b/hal/src/main/native/include/hal/PWM.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -24,16 +21,21 @@
/**
* Initializes a PWM port.
*
- * @param portHandle the port to initialize
- * @return the created pwm handle
+ * @param[in] portHandle the port to initialize
+ * @param[in] allocationLocation the location where the allocation is occuring
+ * (can be null)
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created pwm handle
*/
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
+ const char* allocationLocation,
int32_t* status);
/**
* Frees a PWM port.
*
- * @param pwmPortHandle the pwm handle
+ * @param[in] pwmPortHandle the pwm handle
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status);
@@ -41,7 +43,7 @@
* Checks if a pwm channel is valid.
*
* @param channel the channel to check
- * @return true if the channel is valid, otherwise false
+ * @return true if the channel is valid, otherwise false
*/
HAL_Bool HAL_CheckPWMChannel(int32_t channel);
@@ -50,12 +52,13 @@
*
* All values are in milliseconds.
*
- * @param pwmPortHandle the PWM handle
- * @param maxPwm the maximum PWM value
- * @param deadbandMaxPwm the high range of the center deadband
- * @param centerPwm the center PWM value
- * @param deadbandMinPwm the low range of the center deadband
- * @param minPwm the minimum PWM value
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] maxPwm the maximum PWM value
+ * @param[in] deadbandMaxPwm the high range of the center deadband
+ * @param[in] centerPwm the center PWM value
+ * @param[in] deadbandMinPwm the low range of the center deadband
+ * @param[in] minPwm the minimum PWM value
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double maxPwm,
double deadbandMaxPwm, double centerPwm,
@@ -69,12 +72,13 @@
*
* Values are in raw FPGA units.
*
- * @param pwmPortHandle the PWM handle
- * @param maxPwm the maximum PWM value
- * @param deadbandMaxPwm the high range of the center deadband
- * @param centerPwm the center PWM value
- * @param deadbandMinPwm the low range of the center deadband
- * @param minPwm the minimum PWM value
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] maxPwm the maximum PWM value
+ * @param[in] deadbandMaxPwm the high range of the center deadband
+ * @param[in] centerPwm the center PWM value
+ * @param[in] deadbandMinPwm the low range of the center deadband
+ * @param[in] minPwm the minimum PWM value
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
@@ -87,12 +91,13 @@
* Values are in raw FPGA units. These units have the potential to change for
* any FPGA release.
*
- * @param pwmPortHandle the PWM handle
- * @param maxPwm the maximum PWM value
- * @param deadbandMaxPwm the high range of the center deadband
- * @param centerPwm the center PWM value
- * @param deadbandMinPwm the low range of the center deadband
- * @param minPwm the minimum PWM value
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] maxPwm the maximum PWM value
+ * @param[in] deadbandMaxPwm the high range of the center deadband
+ * @param[in] centerPwm the center PWM value
+ * @param[in] deadbandMinPwm the low range of the center deadband
+ * @param[in] minPwm the minimum PWM value
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
int32_t* deadbandMaxPwm, int32_t* centerPwm,
@@ -103,8 +108,9 @@
* Sets if the FPGA should output the center value if the input value is within
* the deadband.
*
- * @param pwmPortHandle the PWM handle
- * @param eliminateDeadband true to eliminate deadband, otherwise false
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] eliminateDeadband true to eliminate deadband, otherwise false
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
HAL_Bool eliminateDeadband, int32_t* status);
@@ -112,8 +118,9 @@
/**
* Gets the current eliminate deadband value.
*
- * @param pwmPortHandle the PWM handle
- * @return true if set, otherwise false
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return true if set, otherwise false
*/
HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
int32_t* status);
@@ -124,8 +131,9 @@
* The values are in raw FPGA units, and have the potential to change with any
* FPGA release.
*
- * @param pwmPortHandle the PWM handle
- * @param value the PWM value to set
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] value the PWM value to set
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
int32_t* status);
@@ -136,8 +144,9 @@
* The values range from -1 to 1 and the period is controlled by the PWM Period
* and MinHigh registers.
*
- * @param pwmPortHandle the PWM handle
- * @param value the scaled PWM value to set
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] speed the scaled PWM value to set
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
int32_t* status);
@@ -148,8 +157,9 @@
* The values range from 0 to 1 and the period is controlled by the PWM Period
* and MinHigh registers.
*
- * @param pwmPortHandle the PWM handle
- * @param value the positional PWM value to set
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[in] position the positional PWM value to set
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position,
int32_t* status);
@@ -161,7 +171,8 @@
* from just setting a 0 speed, as this will actively stop all signaling on the
* channel.
*
- * @param pwmPortHandle the PWM handle.
+ * @param[in] pwmPortHandle the PWM handle.
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status);
@@ -171,8 +182,9 @@
* The values are in raw FPGA units, and have the potential to change with any
* FPGA release.
*
- * @param pwmPortHandle the PWM handle
- * @return the current raw PWM value
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the current raw PWM value
*/
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status);
@@ -181,8 +193,9 @@
*
* The values range from -1 to 1.
*
- * @param pwmPortHandle the PWM handle
- * @return the current speed PWM value
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the current speed PWM value
*/
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status);
@@ -191,23 +204,26 @@
*
* The values range from 0 to 1.
*
- * @param pwmPortHandle the PWM handle
- * @return the current positional PWM value
+ * @param[in] pwmPortHandle the PWM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the current positional PWM value
*/
double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Forces a PWM signal to go to 0 temporarily.
*
- * @param pwmPortHandle the PWM handle.
+ * @param[in] pwmPortHandle the PWM handle.
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
* Sets how how often the PWM signal is squelched, thus scaling the period.
*
- * @param pwmPortHandle the PWM handle.
- * @param squelchMask the 2-bit mask of outputs to squelch
+ * @param[in] pwmPortHandle the PWM handle.
+ * @param[in] squelchMask the 2-bit mask of outputs to squelch
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status);
@@ -215,6 +231,7 @@
/**
* Gets the loop timing of the PWM system.
*
+ * @param[out] status Error status variable. 0 on success.
* @return the loop time
*/
int32_t HAL_GetPWMLoopTiming(int32_t* status);
@@ -224,6 +241,7 @@
*
* This time is relative to the FPGA time.
*
+ * @param[out] status Error status variable. 0 on success.
* @return the pwm cycle start time
*/
uint64_t HAL_GetPWMCycleStartTime(int32_t* status);
diff --git a/hal/src/main/native/include/hal/Ports.h b/hal/src/main/native/include/hal/Ports.h
index 584bc4f..a212446 100644
--- a/hal/src/main/native/include/hal/Ports.h
+++ b/hal/src/main/native/include/hal/Ports.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -122,28 +119,56 @@
*
* @return the number of PCM modules
*/
-int32_t HAL_GetNumPCMModules(void);
+int32_t HAL_GetNumCTREPCMModules(void);
/**
* Gets the number of solenoid channels in the current system.
*
* @return the number of solenoid channels
*/
-int32_t HAL_GetNumSolenoidChannels(void);
+int32_t HAL_GetNumCTRESolenoidChannels(void);
/**
* Gets the number of PDP modules in the current system.
*
* @return the number of PDP modules
*/
-int32_t HAL_GetNumPDPModules(void);
+int32_t HAL_GetNumCTREPDPModules(void);
/**
* Gets the number of PDP channels in the current system.
*
* @return the number of PDP channels
*/
-int32_t HAL_GetNumPDPChannels(void);
+int32_t HAL_GetNumCTREPDPChannels(void);
+
+/**
+ * Gets the number of PDH modules in the current system.
+ *
+ * @return the number of PDH modules
+ */
+int32_t HAL_GetNumREVPDHModules(void);
+
+/**
+ * Gets the number of PDH channels in the current system.
+ *
+ * @return the number of PDH channels
+ */
+int32_t HAL_GetNumREVPDHChannels(void);
+
+/**
+ * Gets the number of PH modules in the current system.
+ *
+ * @return the number of PH modules
+ */
+int32_t HAL_GetNumREVPHModules(void);
+
+/**
+ * Gets the number of PH channels in the current system.
+ *
+ * @return the number of PH channels
+ */
+int32_t HAL_GetNumREVPHChannels(void);
/**
* Gets the number of duty cycle inputs in the current system.
diff --git a/hal/src/main/native/include/hal/Power.h b/hal/src/main/native/include/hal/Power.h
index 7ac7991..2bd983a 100644
--- a/hal/src/main/native/include/hal/Power.h
+++ b/hal/src/main/native/include/hal/Power.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -24,6 +21,7 @@
/**
* Gets the roboRIO input voltage.
*
+ * @param[out] status the error code, or 0 for success
* @return the input voltage (volts)
*/
double HAL_GetVinVoltage(int32_t* status);
@@ -31,6 +29,7 @@
/**
* Gets the roboRIO input current.
*
+ * @param[out] status the error code, or 0 for success
* @return the input current (amps)
*/
double HAL_GetVinCurrent(int32_t* status);
@@ -38,6 +37,7 @@
/**
* Gets the 6V rail voltage.
*
+ * @param[out] status the error code, or 0 for success
* @return the 6V rail voltage (volts)
*/
double HAL_GetUserVoltage6V(int32_t* status);
@@ -45,6 +45,7 @@
/**
* Gets the 6V rail current.
*
+ * @param[out] status the error code, or 0 for success
* @return the 6V rail current (amps)
*/
double HAL_GetUserCurrent6V(int32_t* status);
@@ -52,6 +53,7 @@
/**
* Gets the active state of the 6V rail.
*
+ * @param[out] status the error code, or 0 for success
* @return true if the rail is active, otherwise false
*/
HAL_Bool HAL_GetUserActive6V(int32_t* status);
@@ -59,6 +61,7 @@
/**
* Gets the fault count for the 6V rail.
*
+ * @param[out] status the error code, or 0 for success
* @return the number of 6V fault counts
*/
int32_t HAL_GetUserCurrentFaults6V(int32_t* status);
@@ -66,6 +69,7 @@
/**
* Gets the 5V rail voltage.
*
+ * @param[out] status the error code, or 0 for success
* @return the 5V rail voltage (volts)
*/
double HAL_GetUserVoltage5V(int32_t* status);
@@ -73,6 +77,7 @@
/**
* Gets the 5V rail current.
*
+ * @param[out] status the error code, or 0 for success
* @return the 5V rail current (amps)
*/
double HAL_GetUserCurrent5V(int32_t* status);
@@ -80,6 +85,7 @@
/**
* Gets the active state of the 5V rail.
*
+ * @param[out] status the error code, or 0 for success
* @return true if the rail is active, otherwise false
*/
HAL_Bool HAL_GetUserActive5V(int32_t* status);
@@ -87,6 +93,7 @@
/**
* Gets the fault count for the 5V rail.
*
+ * @param[out] status the error code, or 0 for success
* @return the number of 5V fault counts
*/
int32_t HAL_GetUserCurrentFaults5V(int32_t* status);
@@ -94,6 +101,7 @@
/**
* Gets the 3V3 rail voltage.
*
+ * @param[out] status the error code, or 0 for success
* @return the 3V3 rail voltage (volts)
*/
double HAL_GetUserVoltage3V3(int32_t* status);
@@ -101,6 +109,7 @@
/**
* Gets the 3V3 rail current.
*
+ * @param[out] status the error code, or 0 for success
* @return the 3V3 rail current (amps)
*/
double HAL_GetUserCurrent3V3(int32_t* status);
@@ -108,6 +117,7 @@
/**
* Gets the active state of the 3V3 rail.
*
+ * @param[out] status the error code, or 0 for success
* @return true if the rail is active, otherwise false
*/
HAL_Bool HAL_GetUserActive3V3(int32_t* status);
@@ -115,9 +125,30 @@
/**
* Gets the fault count for the 3V3 rail.
*
+ * @param[out] status the error code, or 0 for success
* @return the number of 3V3 fault counts
*/
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
+
+/**
+ * Get the current brownout voltage setting.
+ *
+ * @param[out] status the error code, or 0 for success
+ * @return The brownout voltage
+ */
+double HAL_GetBrownoutVoltage(int32_t* status);
+
+/**
+ * Set the voltage the roboRIO will brownout and disable all outputs.
+ *
+ * Note that this only does anything on the roboRIO 2.
+ * On the roboRIO it is a no-op.
+ *
+ * @param[in] voltage The brownout voltage
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetBrownoutVoltage(double voltage, int32_t* status);
+
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/hal/src/main/native/include/hal/PowerDistribution.h b/hal/src/main/native/include/hal/PowerDistribution.h
new file mode 100644
index 0000000..fabb8b7
--- /dev/null
+++ b/hal/src/main/native/include/hal/PowerDistribution.h
@@ -0,0 +1,224 @@
+// 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_pd Power Distribution Functions
+ * @ingroup hal_capi
+ * Functions to control Power Distribution devices.
+ * @{
+ */
+
+// clang-format off
+/**
+ * The acceptable accelerometer ranges.
+ */
+HAL_ENUM(HAL_PowerDistributionType) {
+ HAL_PowerDistributionType_kAutomatic = 0,
+ HAL_PowerDistributionType_kCTRE = 1,
+ HAL_PowerDistributionType_kRev = 2,
+};
+// clang-format on
+
+#define HAL_DEFAULT_POWER_DISTRIBUTION_MODULE -1
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Initializes a Power Distribution Panel.
+ *
+ * @param[in] moduleNumber the module number to initialize
+ * @param[in] type the type of module to intialize
+ * @param[in] allocationLocation the location where the allocation is occuring
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created PowerDistribution
+ */
+HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
+ int32_t moduleNumber, HAL_PowerDistributionType type,
+ const char* allocationLocation, int32_t* status);
+
+/**
+ * Gets the module number for a specific handle.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the module number
+ */
+int32_t HAL_GetPowerDistributionModuleNumber(HAL_PowerDistributionHandle handle,
+ int32_t* status);
+
+/**
+ * Cleans a PowerDistribution module.
+ *
+ * @param handle the module handle
+ */
+void HAL_CleanPowerDistribution(HAL_PowerDistributionHandle handle);
+
+/**
+ * Checks if a PowerDistribution channel is valid.
+ *
+ * @param handle the module handle
+ * @param channel the channel to check
+ * @return true if the channel is valid, otherwise false
+ */
+HAL_Bool HAL_CheckPowerDistributionChannel(HAL_PowerDistributionHandle handle,
+ int32_t channel);
+
+/**
+ * Checks if a PowerDistribution module is valid.
+ *
+ * @param module the module to check
+ * @param type the type of module
+ * @return true if the module is valid, otherwise false
+ */
+HAL_Bool HAL_CheckPowerDistributionModule(int32_t module,
+ HAL_PowerDistributionType type);
+
+/**
+ * Gets the type of PowerDistribution module.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the type of module
+ */
+HAL_PowerDistributionType HAL_GetPowerDistributionType(
+ HAL_PowerDistributionHandle handle, int32_t* status);
+
+/**
+ * Gets the number of channels for this handle.
+ *
+ * @param[in] handle the handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return number of channels
+ */
+int32_t HAL_GetPowerDistributionNumChannels(HAL_PowerDistributionHandle handle,
+ int32_t* status);
+
+/**
+ * Gets the temperature of the PowerDistribution.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the module temperature (celsius)
+ */
+double HAL_GetPowerDistributionTemperature(HAL_PowerDistributionHandle handle,
+ int32_t* status);
+
+/**
+ * Gets the PowerDistribution input voltage.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the input voltage (volts)
+ */
+double HAL_GetPowerDistributionVoltage(HAL_PowerDistributionHandle handle,
+ int32_t* status);
+
+/**
+ * Gets the current of a specific PowerDistribution channel.
+ *
+ * @param[in] handle the module handle
+ * @param[in] channel the channel
+ * @param[out] status Error status variable. 0 on success.
+ * @return the channel current (amps)
+ */
+double HAL_GetPowerDistributionChannelCurrent(
+ HAL_PowerDistributionHandle handle, int32_t channel, int32_t* status);
+
+/**
+ * Gets the current of all 24 channels on the PowerDistribution.
+ *
+ * The array must be large enough to hold all channels.
+ *
+ * @param[in] handle the module handle
+ * @param[out] currents the currents
+ * @param[in] currentsLength the length of the currents array
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_GetPowerDistributionAllChannelCurrents(
+ HAL_PowerDistributionHandle handle, double* currents,
+ int32_t currentsLength, int32_t* status);
+
+/**
+ * Gets the total current of the PowerDistribution.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the total current (amps)
+ */
+double HAL_GetPowerDistributionTotalCurrent(HAL_PowerDistributionHandle handle,
+ int32_t* status);
+
+/**
+ * Gets the total power of the PowerDistribution.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the total power (watts)
+ */
+double HAL_GetPowerDistributionTotalPower(HAL_PowerDistributionHandle handle,
+ int32_t* status);
+
+/**
+ * Gets the total energy of the PowerDistribution.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return the total energy (joules)
+ */
+double HAL_GetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+ int32_t* status);
+
+/**
+ * Resets the PowerDistribution accumulated energy.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_ResetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+ int32_t* status);
+
+/**
+ * Clears any PowerDistribution sticky faults.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_ClearPowerDistributionStickyFaults(HAL_PowerDistributionHandle handle,
+ int32_t* status);
+
+/**
+ * Power on/off switchable channel.
+ *
+ * This is a REV PDH-specific function. This function will no-op on CTRE PDP.
+ *
+ * @param[in] handle the module handle
+ * @param[in] enabled true to turn on switchable channel
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_SetPowerDistributionSwitchableChannel(
+ HAL_PowerDistributionHandle handle, HAL_Bool enabled, int32_t* status);
+
+/**
+ * Returns true if switchable channel is powered on.
+ *
+ * This is a REV PDH-specific function. This function will no-op on CTRE PDP.
+ *
+ * @param[in] handle the module handle
+ * @param[out] status Error status variable. 0 on success.
+ */
+HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
+ HAL_PowerDistributionHandle handle, int32_t* status);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+/** @} */
diff --git a/hal/src/main/native/include/hal/REVPH.h b/hal/src/main/native/include/hal/REVPH.h
new file mode 100644
index 0000000..0cab15e
--- /dev/null
+++ b/hal/src/main/native/include/hal/REVPH.h
@@ -0,0 +1,49 @@
+// 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_rev_ph REV PH Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
+ const char* allocationLocation,
+ int32_t* status);
+
+void HAL_FreeREVPH(HAL_REVPHHandle handle);
+
+HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel);
+HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module);
+
+HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status);
+void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
+ int32_t* status);
+HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle, int32_t* status);
+HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status);
+double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status);
+double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
+ int32_t* status);
+
+int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status);
+void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
+ int32_t* status);
+
+void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
+ int32_t* status);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+/** @} */
diff --git a/hal/src/main/native/include/hal/Relay.h b/hal/src/main/native/include/hal/Relay.h
index 281aad6..7d711b2 100644
--- a/hal/src/main/native/include/hal/Relay.h
+++ b/hal/src/main/native/include/hal/Relay.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -27,11 +24,16 @@
* Note this call will only initialize either the forward or reverse port of the
* relay. If you need both, you will need to initialize 2 relays.
*
- * @param portHandle the port handle to initialize
- * @param fwd true for the forward port, false for the reverse port
- * @return the created relay handle
+ * @param[in] portHandle the port handle to initialize
+ * @param[in] fwd true for the forward port, false for the
+ * reverse port
+ * @param[in] allocationLocation the location where the allocation is occuring
+ * (can be null)
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created relay handle
*/
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
+ const char* allocationLocation,
int32_t* status);
/**
@@ -45,15 +47,16 @@
* Checks if a relay channel is valid.
*
* @param channel the channel to check
- * @return true if the channel is valid, otherwise false
+ * @return true if the channel is valid, otherwise false
*/
HAL_Bool HAL_CheckRelayChannel(int32_t channel);
/**
* Sets the state of a relay output.
*
- * @param relayPortHandle the relay handle
- * @param on true for on, false for off
+ * @param[in] relayPortHandle the relay handle
+ * @param[in] on true for on, false for off
+ * @param[out] status Error status variable. 0 on success.
*/
void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
int32_t* status);
@@ -61,8 +64,9 @@
/**
* Gets the current state of the relay channel.
*
- * @param relayPortHandle the relay handle
- * @return true for on, false for off
+ * @param[in] relayPortHandle the relay handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return true for on, false for off
*/
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status);
#ifdef __cplusplus
diff --git a/hal/src/main/native/include/hal/SPI.h b/hal/src/main/native/include/hal/SPI.h
index abee379..84cec5d 100644
--- a/hal/src/main/native/include/hal/SPI.h
+++ b/hal/src/main/native/include/hal/SPI.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -28,7 +25,9 @@
*
* If opening the MXP port, also sets up the channel functions appropriately.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS3, 4
+ * for MXP
+ * @param[out] status the error code, or 0 for success
*/
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status);
@@ -39,11 +38,11 @@
* over each transaction.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
- * for MXP
+ * for MXP
* @param dataToSend Buffer of data to send as part of the transaction.
* @param dataReceived Buffer to read data into.
* @param size Number of bytes to transfer. [0..7]
- * @return Number of bytes transferred, -1 for error
+ * @return Number of bytes transferred, -1 for error
*/
int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size);
@@ -53,11 +52,11 @@
*
* Writes to a device and wait until the transaction is complete.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
- * for MXP
- * @param datToSend The data to write to the register on the device.
- * @param sendSize The number of bytes to be written
- * @return The number of bytes written. -1 for an error
+ * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
+ * for MXP
+ * @param dataToSend The data to write to the register on the device.
+ * @param sendSize The number of bytes to be written
+ * @return The number of bytes written. -1 for an error
*/
int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t sendSize);
@@ -71,11 +70,11 @@
* begin returning data.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
- * MXP
+ * MXP
* @param buffer A pointer to the array of bytes to store the data read from the
- * device.
+ * device.
* @param count The number of bytes to read in the transaction. [1..7]
- * @return Number of bytes read. -1 for error.
+ * @return Number of bytes read. -1 for error.
*/
int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count);
@@ -90,7 +89,7 @@
* Sets the clock speed for the SPI bus.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
- * MXP
+ * MXP
* @param speed The speed in Hz (0-1MHz)
*/
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed);
@@ -99,12 +98,12 @@
* Sets the SPI options.
*
* @param port The number of the port to use. 0-3 for Onboard
- * CS0-CS2, 4 for MXP
+ * CS0-CS2, 4 for MXP
* @param msbFirst True to write the MSB first, False for LSB first
* @param sampleOnTrailing True to sample on the trailing edge, False to sample
- * on the leading edge
+ * on the leading edge
* @param clkIdleHigh True to set the clock to active low, False to set the
- * clock active high
+ * clock active high
*/
void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh);
@@ -112,14 +111,18 @@
/**
* Sets the CS Active high for a SPI port.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
+ * MXP
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status);
/**
* Sets the CS Active low for a SPI port.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
+ * for MXP
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status);
@@ -127,8 +130,8 @@
* Gets the stored handle for a SPI port.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
- * @return The stored handle for the SPI port. 0 represents no stored
- * handle.
+ * @return The stored handle for the SPI port. 0 represents no stored
+ * handle.
*/
int32_t HAL_GetSPIHandle(HAL_SPIPort port);
@@ -136,7 +139,7 @@
* Sets the stored handle for a SPI port.
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
- * MXP.
+ * MXP.
* @param handle The value of the handle for the port.
*/
void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle);
@@ -144,26 +147,29 @@
/**
* Initializes the SPI automatic accumulator.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
- * for MXP.
- * @param bufferSize The accumulator buffer size.
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2,
+ * 4 for MXP.
+ * @param[in] bufferSize The accumulator buffer size.
+ * @param[out] status the error code, or 0 for success
*/
void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status);
/**
* Frees an SPI automatic accumulator.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
- * MXP.
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
+ * for MXP.
+ * @param[out] status the error code, or 0 for success
*/
void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status);
/**
* Sets the period for automatic SPI accumulation.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
- * MXP.
- * @param period The accumlation period (seconds).
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
+ * for MXP.
+ * @param[in] period The accumlation period (seconds).
+ * @param[out] status the error code, or 0 for success
*/
void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status);
@@ -173,14 +179,15 @@
* Note that triggering on both rising and falling edges is a valid
* configuration.
*
- * @param port The number of the port to use. 0-3 for Onboard
- * CS0-CS2, 4 for MXP.
- * @param digitalSourceHandle The trigger source to use (Either
- * HAL_AnalogTriggerHandle or HAL_DigitalHandle).
- * @param analogTriggerType The analog trigger type, if the source is an
- * analog trigger.
- * @param triggerRising Trigger on the rising edge if true.
- * @param triggerFalling Trigger on the falling edge if true.
+ * @param[in] port The number of the port to use. 0-3 for Onboard
+ * CS0-CS2, 4 for MXP.
+ * @param[in] digitalSourceHandle The trigger source to use (Either
+ * HAL_AnalogTriggerHandle or HAL_DigitalHandle).
+ * @param[in] analogTriggerType The analog trigger type, if the source is an
+ * analog trigger.
+ * @param[in] triggerRising Trigger on the rising edge if true.
+ * @param[in] triggerFalling Trigger on the falling edge if true.
+ * @param[out] status the error code, or 0 for success
*/
void HAL_StartSPIAutoTrigger(HAL_SPIPort port, HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
@@ -190,20 +197,22 @@
/**
* Stops an automatic SPI accumlation.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
- * MXP.
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
+ * for MXP.
+ * @param[out] status the error code, or 0 for success
*/
void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status);
/**
* Sets the data to be transmitted to the device to initiate a read.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
- * for MXP.
- * @param dataToSend Pointer to the data to send (Gets copied for continue use,
- * so no need to keep alive).
- * @param dataSize The length of the data to send.
- * @param zeroSize The number of zeros to send after the data.
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2,
+ * 4 for MXP.
+ * @param[in] dataToSend Pointer to the data to send (Gets copied for continue
+ * use, so no need to keep alive).
+ * @param[in] dataSize The length of the data to send.
+ * @param[in] zeroSize The number of zeros to send after the data.
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
int32_t dataSize, int32_t zeroSize,
@@ -212,8 +221,9 @@
/**
* Immediately forces an SPI read to happen.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
- * MXP.
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
+ * for MXP.
+ * @param[out] status the error code, or 0 for success
*/
void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status);
@@ -224,12 +234,13 @@
* sequence is the same as the combined dataSize + zeroSize set in
* HAL_SetSPIAutoTransmitData.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
- * for MXP.
- * @param buffer The buffer to store the data into.
- * @param numToRead The number of words to read.
- * @param timeout The read timeout (in seconds).
- * @return The number of words actually read.
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2,
+ * 4 for MXP.
+ * @param[out] buffer The buffer to store the data into.
+ * @param[in] numToRead The number of words to read.
+ * @param[in] timeout The read timeout (in seconds).
+ * @param[out] status the error code, or 0 for success
+ * @return The number of words actually read.
*/
int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint32_t* buffer,
int32_t numToRead, double timeout,
@@ -238,20 +249,23 @@
/**
* Gets the count of how many SPI accumulations have been missed.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
- * MXP.
- * @return The number of missed accumulations.
+ * @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
+ * for MXP.
+ * @param[out] status the error code, or 0 for success
+ * @return The number of missed accumulations.
*/
int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status);
/**
* Configure the Auto SPI Stall time between reads.
*
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
- * MXP.
- * @param csToSclkTicks the number of ticks to wait before asserting the cs pin
- * @param stallTicks the number of ticks to stall for
- * @param pow2BytesPerRead the number of bytes to read before stalling
+ * @param[in] port The number of the port to use. 0-3 for Onboard
+ * CS0-CS2, 4 for MXP.
+ * @param[in] csToSclkTicks the number of ticks to wait before asserting the
+ * cs pin
+ * @param[in] stallTicks the number of ticks to stall for
+ * @param[in] pow2BytesPerRead the number of bytes to read before stalling
+ * @param[out] status the error code, or 0 for success
*/
void HAL_ConfigureSPIAutoStall(HAL_SPIPort port, int32_t csToSclkTicks,
int32_t stallTicks, int32_t pow2BytesPerRead,
diff --git a/hal/src/main/native/include/hal/SPITypes.h b/hal/src/main/native/include/hal/SPITypes.h
index 170bd27..de66226 100644
--- a/hal/src/main/native/include/hal/SPITypes.h
+++ b/hal/src/main/native/include/hal/SPITypes.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/SerialPort.h b/hal/src/main/native/include/hal/SerialPort.h
index 226a2cb..cd6140e 100644
--- a/hal/src/main/native/include/hal/SerialPort.h
+++ b/hal/src/main/native/include/hal/SerialPort.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -36,7 +33,8 @@
* The channels are either the onboard RS232, the mxp uart, or 2 USB ports. The
* top port is USB1, the bottom port is USB2.
*
- * @param port the serial port to initialize
+ * @param[in] port the serial port to initialize
+ * @param[out] status the error code, or 0 for success
*/
HAL_SerialPortHandle HAL_InitializeSerialPort(HAL_SerialPort port,
int32_t* status);
@@ -47,8 +45,9 @@
* This name is the /dev name for a specific port.
* Note these are not always consistent between roboRIO reboots.
*
- * @param port the serial port to initialize
- * @param portName the dev port name
+ * @param[in] port the serial port to initialize
+ * @param[in] portName the dev port name
+ * @param[out] status the error code, or 0 for success
*/
HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
const char* portName,
@@ -57,8 +56,9 @@
/**
* Gets the raw serial port file descriptor from a handle.
*
- * @param handle the serial port handle
- * @return the raw port descriptor
+ * @param[in] handle the serial port handle
+ * @param[out] status the error code, or 0 for success
+ * @return the raw port descriptor
*/
int HAL_GetSerialFD(HAL_SerialPortHandle handle, int32_t* status);
@@ -67,8 +67,9 @@
*
* Any value between 0 and 0xFFFFFFFF may be used. Default is 9600.
*
- * @param handle the serial port handle
- * @param baud the baud rate to set
+ * @param[in] handle the serial port handle
+ * @param[in] baud the baud rate to set
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSerialBaudRate(HAL_SerialPortHandle handle, int32_t baud,
int32_t* status);
@@ -78,8 +79,9 @@
*
* Defaults to 8.
*
- * @param handle the serial port handle
- * @param bits the number of data bits (5-8)
+ * @param[in] handle the serial port handle
+ * @param[in] bits the number of data bits (5-8)
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSerialDataBits(HAL_SerialPortHandle handle, int32_t bits,
int32_t* status);
@@ -94,8 +96,9 @@
* 3: Mark - Means exists and always 1
* 4: Space - Means exists and always 0
*
- * @param handle the serial port handle
- * @param parity the parity bit mode (see remarks for valid values)
+ * @param[in] handle the serial port handle
+ * @param[in] parity the parity bit mode (see remarks for valid values)
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSerialParity(HAL_SerialPortHandle handle, int32_t parity,
int32_t* status);
@@ -108,8 +111,9 @@
* 15: One and a half stop bits
* 20: Two stop bits
*
- * @param handle the serial port handle
- * @param stopBits the stop bit value (see remarks for valid values)
+ * @param[in] handle the serial port handle
+ * @param[in] stopBits the stop bit value (see remarks for valid values)
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSerialStopBits(HAL_SerialPortHandle handle, int32_t stopBits,
int32_t* status);
@@ -121,8 +125,9 @@
* 1: Flush on access
* 2: Flush when full (default)
*
- * @param handle the serial port handle
- * @param mode the mode to set (see remarks for valid values)
+ * @param[in] handle the serial port handle
+ * @param[in] mode the mode to set (see remarks for valid values)
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSerialWriteMode(HAL_SerialPortHandle handle, int32_t mode,
int32_t* status);
@@ -136,8 +141,9 @@
* 2: RTS-CTS
* 3: DTR-DSR
*
- * @param handle the serial port handle
- * @param flow the mode to set (see remarks for valid values)
+ * @param[in] handle the serial port handle
+ * @param[in] flow the mode to set (see remarks for valid values)
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSerialFlowControl(HAL_SerialPortHandle handle, int32_t flow,
int32_t* status);
@@ -145,8 +151,9 @@
/**
* Sets the minimum serial read timeout of a port.
*
- * @param handle the serial port handle
- * @param timeout the timeout in milliseconds
+ * @param[in] handle the serial port handle
+ * @param[in] timeout the timeout in milliseconds
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSerialTimeout(HAL_SerialPortHandle handle, double timeout,
int32_t* status);
@@ -156,8 +163,9 @@
*
* By default this is disabled.
*
- * @param handle the serial port handle
- * @param terminator the termination character to set
+ * @param[in] handle the serial port handle
+ * @param[in] terminator the termination character to set
+ * @param[out] status the error code, or 0 for success
*/
void HAL_EnableSerialTermination(HAL_SerialPortHandle handle, char terminator,
int32_t* status);
@@ -165,15 +173,17 @@
/**
* Disables a termination character for reads.
*
- * @param handle the serial port handle
+ * @param[in] handle the serial port handle
+ * @param[out] status the error code, or 0 for success
*/
void HAL_DisableSerialTermination(HAL_SerialPortHandle handle, int32_t* status);
/**
* Sets the size of the read buffer.
*
- * @param handle the serial port handle
- * @param size the read buffer size
+ * @param[in] handle the serial port handle
+ * @param[in] size the read buffer size
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSerialReadBufferSize(HAL_SerialPortHandle handle, int32_t size,
int32_t* status);
@@ -181,8 +191,9 @@
/**
* Sets the size of the write buffer.
*
- * @param handle the serial port handle
- * @param size the write buffer size
+ * @param[in] handle the serial port handle
+ * @param[in] size the write buffer size
+ * @param[out] status the error code, or 0 for success
*/
void HAL_SetSerialWriteBufferSize(HAL_SerialPortHandle handle, int32_t size,
int32_t* status);
@@ -190,8 +201,9 @@
/**
* Gets the number of bytes currently in the read buffer.
*
- * @param handle the serial port handle
- * @return the number of bytes in the read buffer
+ * @param[in] handle the serial port handle
+ * @param[out] status the error code, or 0 for success
+ * @return the number of bytes in the read buffer
*/
int32_t HAL_GetSerialBytesReceived(HAL_SerialPortHandle handle,
int32_t* status);
@@ -202,9 +214,11 @@
* Will wait for either timeout (if set), the termination char (if set), or the
* count to be full. Whichever one comes first.
*
- * @param handle the serial port handle
- * @param count the number of bytes maximum to read
- * @return the number of bytes actually read
+ * @param[in] handle the serial port handle
+ * @param[out] buffer the buffer in which to store bytes read
+ * @param[in] count the number of bytes maximum to read
+ * @param[out] status the error code, or 0 for success
+ * @return the number of bytes actually read
*/
int32_t HAL_ReadSerial(HAL_SerialPortHandle handle, char* buffer, int32_t count,
int32_t* status);
@@ -212,10 +226,11 @@
/**
* Writes data to the serial port.
*
- * @param handle the serial port handle
- * @param buffer the buffer to write
- * @param count the number of bytes to write from the buffer
- * @return the number of bytes actually written
+ * @param[in] handle the serial port handle
+ * @param[in] buffer the buffer to write
+ * @param[in] count the number of bytes to write from the buffer
+ * @param[out] status the error code, or 0 for success
+ * @return the number of bytes actually written
*/
int32_t HAL_WriteSerial(HAL_SerialPortHandle handle, const char* buffer,
int32_t count, int32_t* status);
@@ -223,21 +238,24 @@
/**
* Flushes the serial write buffer out to the port.
*
- * @param handle the serial port handle
+ * @param[in] handle the serial port handle
+ * @param[out] status the error code, or 0 for success
*/
void HAL_FlushSerial(HAL_SerialPortHandle handle, int32_t* status);
/**
* Clears the receive buffer of the serial port.
*
- * @param handle the serial port handle
+ * @param[in] handle the serial port handle
+ * @param[out] status the error code, or 0 for success
*/
void HAL_ClearSerial(HAL_SerialPortHandle handle, int32_t* status);
/**
* Closes a serial port.
*
- * @param handle the serial port handle to close
+ * @param[in] handle the serial port handle to close
+ * @param[out] status the error code, or 0 for success
*/
void HAL_CloseSerial(HAL_SerialPortHandle handle, int32_t* status);
#ifdef __cplusplus
diff --git a/hal/src/main/native/include/hal/SimDevice.h b/hal/src/main/native/include/hal/SimDevice.h
index ff4c12e..7c0cf2d 100644
--- a/hal/src/main/native/include/hal/SimDevice.h
+++ b/hal/src/main/native/include/hal/SimDevice.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -12,7 +9,7 @@
#ifdef __cplusplus
#include <initializer_list>
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
#endif
#include "hal/Types.h"
@@ -30,6 +27,17 @@
* @{
*/
+/**
+ * Direction of a simulated value (from the perspective of user code).
+ */
+// clang-format off
+HAL_ENUM(HAL_SimValueDirection) {
+ HAL_SimValueInput = 0, /**< input to user code from the simulator */
+ HAL_SimValueOutput, /**< output from user code to the simulator */
+ HAL_SimValueBidir /**< bidirectional between user code and simulator */
+};
+// clang-format on
+
#ifdef __cplusplus
extern "C" {
#endif
@@ -67,26 +75,66 @@
*
* @param device simulated device handle
* @param name value name
- * @param readonly if the value should not be written from simulation side
+ * @param direction input/output/bidir (from perspective of user code)
* @param initialValue initial value
* @return simulated value handle
*/
HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
- const char* name, HAL_Bool readonly,
+ const char* name, int32_t direction,
const struct HAL_Value* initialValue);
#ifdef __cplusplus
extern "C++" {
inline HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
const char* name,
- HAL_Bool readonly,
+ int32_t direction,
const HAL_Value& initialValue) {
- return HAL_CreateSimValue(device, name, readonly, &initialValue);
+ return HAL_CreateSimValue(device, name, direction, &initialValue);
}
} // extern "C++"
#endif
/**
+ * Creates an int value on a simulated device.
+ *
+ * Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+inline HAL_SimValueHandle HAL_CreateSimValueInt(HAL_SimDeviceHandle device,
+ const char* name,
+ int32_t direction,
+ int32_t initialValue) {
+ struct HAL_Value v = HAL_MakeInt(initialValue);
+ return HAL_CreateSimValue(device, name, direction, &v);
+}
+
+/**
+ * Creates a long value on a simulated device.
+ *
+ * Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+inline HAL_SimValueHandle HAL_CreateSimValueLong(HAL_SimDeviceHandle device,
+ const char* name,
+ int32_t direction,
+ int64_t initialValue) {
+ struct HAL_Value v = HAL_MakeLong(initialValue);
+ return HAL_CreateSimValue(device, name, direction, &v);
+}
+
+/**
* Creates a double value on a simulated device.
*
* Returns 0 if not in simulation; this can be used to avoid calls
@@ -94,16 +142,16 @@
*
* @param device simulated device handle
* @param name value name
- * @param readonly if the value should not be written from simulation side
+ * @param direction input/output/bidir (from perspective of user code)
* @param initialValue initial value
* @return simulated value handle
*/
inline HAL_SimValueHandle HAL_CreateSimValueDouble(HAL_SimDeviceHandle device,
const char* name,
- HAL_Bool readonly,
+ int32_t direction,
double initialValue) {
struct HAL_Value v = HAL_MakeDouble(initialValue);
- return HAL_CreateSimValue(device, name, readonly, &v);
+ return HAL_CreateSimValue(device, name, direction, &v);
}
/**
@@ -116,19 +164,41 @@
*
* @param device simulated device handle
* @param name value name
- * @param readonly if the value should not be written from simulation side
+ * @param direction input/output/bidir (from perspective of user code)
* @param numOptions number of enumerated value options (length of options)
* @param options array of option descriptions
* @param initialValue initial value (selection)
* @return simulated value handle
*/
HAL_SimValueHandle HAL_CreateSimValueEnum(HAL_SimDeviceHandle device,
- const char* name, HAL_Bool readonly,
+ const char* name, int32_t direction,
int32_t numOptions,
const char** options,
int32_t initialValue);
/**
+ * Creates an enumerated value on a simulated device with double values.
+ *
+ * Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param numOptions number of enumerated value options (length of options)
+ * @param options array of option descriptions
+ * @param optionValues array of option double values
+ * @param initialValue initial value (selection)
+ * @return simulated value handle
+ */
+HAL_SimValueHandle HAL_CreateSimValueEnumDouble(
+ HAL_SimDeviceHandle device, const char* name, int32_t direction,
+ int32_t numOptions, const char** options, const double* optionValues,
+ int32_t initialValue);
+
+/**
* Creates a boolean value on a simulated device.
*
* Returns 0 if not in simulation; this can be used to avoid calls
@@ -136,16 +206,16 @@
*
* @param device simulated device handle
* @param name value name
- * @param readonly if the value should not be written from simulation side
+ * @param direction input/output/bidir (from perspective of user code)
* @param initialValue initial value
* @return simulated value handle
*/
inline HAL_SimValueHandle HAL_CreateSimValueBoolean(HAL_SimDeviceHandle device,
const char* name,
- HAL_Bool readonly,
+ int32_t direction,
HAL_Bool initialValue) {
struct HAL_Value v = HAL_MakeBoolean(initialValue);
- return HAL_CreateSimValue(device, name, readonly, &v);
+ return HAL_CreateSimValue(device, name, direction, &v);
}
/**
@@ -167,6 +237,30 @@
#endif
/**
+ * Gets a simulated value (int).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+inline int32_t HAL_GetSimValueInt(HAL_SimValueHandle handle) {
+ struct HAL_Value v;
+ HAL_GetSimValue(handle, &v);
+ return v.type == HAL_INT ? v.data.v_int : 0;
+}
+
+/**
+ * Gets a simulated value (long).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+inline int64_t HAL_GetSimValueLong(HAL_SimValueHandle handle) {
+ struct HAL_Value v;
+ HAL_GetSimValue(handle, &v);
+ return v.type == HAL_LONG ? v.data.v_long : 0;
+}
+
+/**
* Gets a simulated value (double).
*
* @param handle simulated value handle
@@ -219,6 +313,28 @@
#endif
/**
+ * Sets a simulated value (int).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+inline void HAL_SetSimValueInt(HAL_SimValueHandle handle, int value) {
+ struct HAL_Value v = HAL_MakeInt(value);
+ HAL_SetSimValue(handle, &v);
+}
+
+/**
+ * Sets a simulated value (long).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+inline void HAL_SetSimValueLong(HAL_SimValueHandle handle, int64_t value) {
+ struct HAL_Value v = HAL_MakeLong(value);
+ HAL_SetSimValue(handle, &v);
+}
+
+/**
* Sets a simulated value (double).
*
* @param handle simulated value handle
@@ -251,6 +367,17 @@
HAL_SetSimValue(handle, &v);
}
+/**
+ * Resets a simulated double or integral value to 0.
+ * Has no effect on other value types.
+ * Use this instead of Set(0) for resetting incremental sensor values like
+ * encoder counts or gyro accumulated angle to ensure correct behavior in a
+ * distributed system (e.g. WebSockets).
+ *
+ * @param handle simulated value handle
+ */
+void HAL_ResetSimValue(HAL_SimValueHandle handle);
+
/** @} */
#ifdef __cplusplus
@@ -276,7 +403,7 @@
*
* @param handle simulated value handle
*/
- /*implicit*/ SimValue(HAL_SimValueHandle val) // NOLINT(runtime/explicit)
+ /*implicit*/ SimValue(HAL_SimValueHandle val) // NOLINT
: m_handle(val) {}
/**
@@ -292,7 +419,7 @@
*
* @return internal handle
*/
- operator HAL_SimValueHandle() const { return m_handle; }
+ operator HAL_SimValueHandle() const { return m_handle; } // NOLINT
/**
* Gets the simulated value.
@@ -313,6 +440,88 @@
};
/**
+ * C++ wrapper around a HAL simulator int value handle.
+ */
+class SimInt : public SimValue {
+ public:
+ /**
+ * Default constructor that results in an "empty" object that is false in
+ * a boolean context.
+ */
+ SimInt() = default;
+
+ /**
+ * Wraps a simulated value handle as returned by HAL_CreateSimValueInt().
+ *
+ * @param handle simulated value handle
+ */
+ /*implicit*/ SimInt(HAL_SimValueHandle val) // NOLINT
+ : SimValue(val) {}
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ int32_t Get() const { return HAL_GetSimValueInt(m_handle); }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ void Set(int32_t value) { HAL_SetSimValueInt(m_handle, value); }
+
+ /**
+ * Resets the simulated value to 0. Use this instead of Set(0) for resetting
+ * incremental sensor values like encoder counts or gyro accumulated angle
+ * to ensure correct behavior in a distributed system (e.g. WebSockets).
+ */
+ void Reset() { HAL_ResetSimValue(m_handle); }
+};
+
+/**
+ * C++ wrapper around a HAL simulator long value handle.
+ */
+class SimLong : public SimValue {
+ public:
+ /**
+ * Default constructor that results in an "empty" object that is false in
+ * a boolean context.
+ */
+ SimLong() = default;
+
+ /**
+ * Wraps a simulated value handle as returned by HAL_CreateSimValueLong().
+ *
+ * @param handle simulated value handle
+ */
+ /*implicit*/ SimLong(HAL_SimValueHandle val) // NOLINT
+ : SimValue(val) {}
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ int64_t Get() const { return HAL_GetSimValueLong(m_handle); }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ void Set(int64_t value) { HAL_SetSimValueLong(m_handle, value); }
+
+ /**
+ * Resets the simulated value to 0. Use this instead of Set(0) for resetting
+ * incremental sensor values like encoder counts or gyro accumulated angle
+ * to ensure correct behavior in a distributed system (e.g. WebSockets).
+ */
+ void Reset() { HAL_ResetSimValue(m_handle); }
+};
+
+/**
* C++ wrapper around a HAL simulator double value handle.
*/
class SimDouble : public SimValue {
@@ -328,7 +537,7 @@
*
* @param handle simulated value handle
*/
- /*implicit*/ SimDouble(HAL_SimValueHandle val) // NOLINT(runtime/explicit)
+ /*implicit*/ SimDouble(HAL_SimValueHandle val) // NOLINT
: SimValue(val) {}
/**
@@ -344,6 +553,13 @@
* @param value the value to set
*/
void Set(double value) { HAL_SetSimValueDouble(m_handle, value); }
+
+ /**
+ * Resets the simulated value to 0. Use this instead of Set(0) for resetting
+ * incremental sensor values like encoder counts or gyro accumulated angle
+ * to ensure correct behavior in a distributed system (e.g. WebSockets).
+ */
+ void Reset() { HAL_ResetSimValue(m_handle); }
};
/**
@@ -362,7 +578,7 @@
*
* @param handle simulated value handle
*/
- /*implicit*/ SimEnum(HAL_SimValueHandle val) // NOLINT(runtime/explicit)
+ /*implicit*/ SimEnum(HAL_SimValueHandle val) // NOLINT
: SimValue(val) {}
/**
@@ -396,7 +612,7 @@
*
* @param handle simulated value handle
*/
- /*implicit*/ SimBoolean(HAL_SimValueHandle val) // NOLINT(runtime/explicit)
+ /*implicit*/ SimBoolean(HAL_SimValueHandle val) // NOLINT
: SimValue(val) {}
/**
@@ -420,6 +636,15 @@
class SimDevice {
public:
/**
+ * Direction of a simulated value (from the perspective of user code).
+ */
+ enum Direction {
+ kInput = HAL_SimValueInput,
+ kOutput = HAL_SimValueOutput,
+ kBidir = HAL_SimValueBidir
+ };
+
+ /**
* Default constructor that results in an "empty" object that is false in
* a boolean context.
*/
@@ -474,7 +699,9 @@
SimDevice(const char* name, int index, int channel);
~SimDevice() {
- if (m_handle != HAL_kInvalidHandle) HAL_FreeSimDevice(m_handle);
+ if (m_handle != HAL_kInvalidHandle) {
+ HAL_FreeSimDevice(m_handle);
+ }
}
SimDevice(const SimDevice&) = delete;
@@ -503,7 +730,7 @@
*
* @return internal handle
*/
- operator HAL_SimDeviceHandle() const { return m_handle; }
+ operator HAL_SimDeviceHandle() const { return m_handle; } // NOLINT
/**
* Creates a value on the simulated device.
@@ -512,13 +739,44 @@
* in a boolean context.
*
* @param name value name
- * @param readonly if the value should not be written from simulation side
+ * @param direction input/output/bidir (from perspective of user code)
* @param initialValue initial value
* @return simulated value object
*/
- SimValue CreateValue(const char* name, bool readonly,
+ SimValue CreateValue(const char* name, int32_t direction,
const HAL_Value& initialValue) {
- return HAL_CreateSimValue(m_handle, name, readonly, &initialValue);
+ return HAL_CreateSimValue(m_handle, name, direction, &initialValue);
+ }
+
+ /**
+ * Creates an int value on the simulated device.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated double value object
+ */
+ SimInt CreateInt(const char* name, int32_t direction, int32_t initialValue) {
+ return HAL_CreateSimValueInt(m_handle, name, direction, initialValue);
+ }
+
+ /**
+ * Creates a long value on the simulated device.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated double value object
+ */
+ SimLong CreateLong(const char* name, int32_t direction,
+ int64_t initialValue) {
+ return HAL_CreateSimValueLong(m_handle, name, direction, initialValue);
}
/**
@@ -528,12 +786,13 @@
* in a boolean context.
*
* @param name value name
- * @param readonly if the value should not be written from simulation side
+ * @param direction input/output/bidir (from perspective of user code)
* @param initialValue initial value
* @return simulated double value object
*/
- SimDouble CreateDouble(const char* name, bool readonly, double initialValue) {
- return HAL_CreateSimValueDouble(m_handle, name, readonly, initialValue);
+ SimDouble CreateDouble(const char* name, int32_t direction,
+ double initialValue) {
+ return HAL_CreateSimValueDouble(m_handle, name, direction, initialValue);
}
/**
@@ -545,15 +804,15 @@
* in a boolean context.
*
* @param name value name
- * @param readonly if the value should not be written from simulation side
+ * @param direction input/output/bidir (from perspective of user code)
* @param options array of option descriptions
* @param initialValue initial value (selection)
* @return simulated enum value object
*/
- SimEnum CreateEnum(const char* name, bool readonly,
+ SimEnum CreateEnum(const char* name, int32_t direction,
std::initializer_list<const char*> options,
int32_t initialValue) {
- return HAL_CreateSimValueEnum(m_handle, name, readonly, options.size(),
+ return HAL_CreateSimValueEnum(m_handle, name, direction, options.size(),
const_cast<const char**>(options.begin()),
initialValue);
}
@@ -567,31 +826,91 @@
* in a boolean context.
*
* @param name value name
- * @param readonly if the value should not be written from simulation side
+ * @param direction input/output/bidir (from perspective of user code)
* @param options array of option descriptions
* @param initialValue initial value (selection)
* @return simulated enum value object
*/
- SimEnum CreateEnum(const char* name, bool readonly,
- wpi::ArrayRef<const char*> options, int32_t initialValue) {
- return HAL_CreateSimValueEnum(m_handle, name, readonly, options.size(),
+ SimEnum CreateEnum(const char* name, int32_t direction,
+ wpi::span<const char* const> options,
+ int32_t initialValue) {
+ return HAL_CreateSimValueEnum(m_handle, name, direction, options.size(),
const_cast<const char**>(options.data()),
initialValue);
}
/**
+ * Creates an enumerated value on the simulated device with double values.
+ *
+ * Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param options array of option descriptions
+ * @param optionValues array of option values (must be the same size as
+ * options)
+ * @param initialValue initial value (selection)
+ * @return simulated enum value object
+ */
+ SimEnum CreateEnumDouble(const char* name, int32_t direction,
+ std::initializer_list<const char*> options,
+ std::initializer_list<double> optionValues,
+ int32_t initialValue) {
+ if (options.size() != optionValues.size()) {
+ return {};
+ }
+ return HAL_CreateSimValueEnumDouble(
+ m_handle, name, direction, options.size(),
+ const_cast<const char**>(options.begin()), optionValues.begin(),
+ initialValue);
+ }
+
+ /**
+ * Creates an enumerated value on the simulated device with double values.
+ *
+ * Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param options array of option descriptions
+ * @param optionValues array of option values (must be the same size as
+ * options)
+ * @param initialValue initial value (selection)
+ * @return simulated enum value object
+ */
+ SimEnum CreateEnumDouble(const char* name, int32_t direction,
+ wpi::span<const char* const> options,
+ wpi::span<const double> optionValues,
+ int32_t initialValue) {
+ if (options.size() != optionValues.size()) {
+ return {};
+ }
+ return HAL_CreateSimValueEnumDouble(
+ m_handle, name, direction, options.size(),
+ const_cast<const char**>(options.data()), optionValues.data(),
+ initialValue);
+ }
+
+ /**
* Creates a boolean value on the simulated device.
*
* If not in simulation, results in an "empty" object that evaluates to false
* in a boolean context.
*
* @param name value name
- * @param readonly if the value should not be written from simulation side
+ * @param direction input/output/bidir (from perspective of user code)
* @param initialValue initial value
* @return simulated boolean value object
*/
- SimBoolean CreateBoolean(const char* name, bool readonly, bool initialValue) {
- return HAL_CreateSimValueBoolean(m_handle, name, readonly, initialValue);
+ SimBoolean CreateBoolean(const char* name, int32_t direction,
+ bool initialValue) {
+ return HAL_CreateSimValueBoolean(m_handle, name, direction, initialValue);
}
protected:
diff --git a/hal/src/main/native/include/hal/Solenoid.h b/hal/src/main/native/include/hal/Solenoid.h
deleted file mode 100644
index 53257b2..0000000
--- a/hal/src/main/native/include/hal/Solenoid.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <stdint.h>
-
-#include "hal/Types.h"
-
-/**
- * @defgroup hal_solenoid Solenoid Output Functions
- * @ingroup hal_capi
- * @{
- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * Initializes a solenoid port.
- *
- * @param portHandle the port handle of the module and channel to initialize
- * @return the created solenoid handle
- */
-HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
- int32_t* status);
-
-/**
- * Frees a solenoid port.
- *
- * @param solenoidPortHandle the solenoid handle
- */
-void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoidPortHandle);
-
-/**
- * Checks if a solenoid module is in the valid range.
- *
- * @param module the module number to check
- * @return true if the module number is valid, otherwise false
- */
-HAL_Bool HAL_CheckSolenoidModule(int32_t module);
-
-/**
- * Checks if a solenoid channel is in the valid range.
- *
- * @param channel the channel number to check
- * @return true if the channel number is valid, otherwise false
- */
-HAL_Bool HAL_CheckSolenoidChannel(int32_t channel);
-
-/**
- * Gets the current solenoid output value.
- *
- * @param solenoidPortHandle the solenoid handle
- * @return true if the solenoid is on, otherwise false
- */
-HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoidPortHandle,
- int32_t* status);
-
-/**
- * Gets the status of all solenoids on a specific module.
- *
- * @param module the module to check
- * @return bitmask of the channels, 1 for on 0 for off
- */
-int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status);
-
-/**
- * Sets a solenoid output value.
- *
- * @param solenoidPortHandle the solenoid handle
- * @param value true for on, false for off
- */
-void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value,
- int32_t* status);
-
-/**
- * Sets all channels on a specific module.
- *
- * @param module the module to set the channels on
- * @param state bitmask of the channels to set, 1 for on 0 for off
- */
-void HAL_SetAllSolenoids(int32_t module, int32_t state, int32_t* status);
-
-/**
- * Gets the channels blacklisted from being enabled on a module.
- *
- * @param module the module to check
- * @retur bitmask of the blacklisted channels, 1 for true 0 for false
- */
-int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status);
-
-/**
- * Gets if a specific module has an over or under voltage sticky fault.
- *
- * @param module the module to check
- * @return true if a stick fault is set, otherwise false
- */
-HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status);
-
-/**
- * Gets if a specific module has an over or under voltage fault.
- *
- * @param module the module to check
- * @return true if faulted, otherwise false
- */
-HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status);
-
-/**
- * Clears all faults on a module.
- *
- * @param module the module to clear
- */
-void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status);
-
-/**
- * Sets the one shot duration on a solenoid channel.
- *
- * @param solenoidPortHandle the solenoid handle
- * @param durMS the one shot duration in ms
- */
-void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
- int32_t durMS, int32_t* status);
-
-/**
- * Fires a single pulse on a solenoid channel.
- *
- * The pulse is the duration set by HAL_SetOneShotDuration().
- *
- * @param solenoidPortHandle the solenoid handle
- */
-void HAL_FireOneShot(HAL_SolenoidHandle solenoidPortHandle, int32_t* status);
-#ifdef __cplusplus
-} // extern "C"
-#endif
-/** @} */
diff --git a/hal/src/main/native/include/hal/Threads.h b/hal/src/main/native/include/hal/Threads.h
index aea4399..a6db5e0 100644
--- a/hal/src/main/native/include/hal/Threads.h
+++ b/hal/src/main/native/include/hal/Threads.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -24,11 +21,13 @@
/**
* Gets the thread priority for the specified thread.
*
- * @param handle Native handle pointer to the thread to get the priority for
- * @param isRealTime Set to true if thread is realtime, otherwise false
- * @param status Error status variable. 0 on success
- * @return The current thread priority. Scaled 1-99, with 1 being
- * highest.
+ * @param[in] handle Native handle pointer to the thread to get the
+ * priority for.
+ * @param[out] isRealTime Set to true if thread is real-time, otherwise false.
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current thread priority. For real-time, this is 1-99 with 99
+ * being highest. For non-real-time, this is 0. See "man 7 sched" for
+ * details.
*/
int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
int32_t* status);
@@ -36,24 +35,25 @@
/**
* Gets the thread priority for the current thread.
*
- * @param handle Native handle pointer to the thread to get the priority for
- * @param isRealTime Set to true if thread is realtime, otherwise false
- * @param status Error status variable. 0 on success
- * @return The current thread priority. Scaled 1-99, with 1 being
- * highest.
+ * @param[out] isRealTime Set to true if thread is real-time, otherwise false.
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current thread priority. For real-time, this is 1-99 with 99
+ * being highest. For non-real-time, this is 0. See "man 7 sched" for
+ * details.
*/
int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status);
/**
* Sets the thread priority for the specified thread.
*
- * @param thread Reference to the thread to set the priority of
- * @param realTime Set to true to set a realtime priority, false for standard
- * priority
- * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
- * highest
- * @param status Error status variable. 0 on success
- * @return The success state of setting the priority
+ * @param[in] handle Reference to the thread to set the priority of.
+ * @param[in] realTime Set to true to set a real-time priority, false for
+ * standard priority.
+ * @param[in] priority Priority to set the thread to. For real-time, this is
+ * 1-99 with 99 being highest. For non-real-time, this is
+ * forced to 0. See "man 7 sched" for more details.
+ * @param[out] status Error status variable. 0 on success.
+ * @return True on success.
*/
HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
int32_t priority, int32_t* status);
@@ -61,13 +61,13 @@
/**
* Sets the thread priority for the current thread.
*
- * @param thread Reference to the thread to set the priority of
- * @param realTime Set to true to set a realtime priority, false for standard
- * priority
- * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
- * highest
- * @param status Error status variable. 0 on success
- * @return The success state of setting the priority
+ * @param[in] realTime Set to true to set a real-time priority, false for
+ * standard priority.
+ * @param[in] priority Priority to set the thread to. For real-time, this is
+ * 1-99 with 99 being highest. For non-real-time, this is
+ * forced to 0. See "man 7 sched" for more details.
+ * @param[out] status Error status variable. 0 on success.
+ * @return True on success.
*/
HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
int32_t* status);
diff --git a/hal/src/main/native/include/hal/Types.h b/hal/src/main/native/include/hal/Types.h
index 1ebbe2d..6b95447 100644
--- a/hal/src/main/native/include/hal/Types.h
+++ b/hal/src/main/native/include/hal/Types.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -65,6 +62,14 @@
typedef HAL_CANHandle HAL_PDPHandle;
+typedef HAL_Handle HAL_PowerDistributionHandle;
+
+typedef HAL_Handle HAL_CTREPCMHandle;
+
+typedef HAL_Handle HAL_REVPDHHandle;
+
+typedef HAL_Handle HAL_REVPHHandle;
+
typedef int32_t HAL_Bool;
#ifdef __cplusplus
@@ -86,7 +91,7 @@
class Handle {
public:
Handle() = default;
- /*implicit*/ Handle(CType val) : m_handle(val) {} // NOLINT(runtime/explicit)
+ /*implicit*/ Handle(CType val) : m_handle(val) {} // NOLINT
Handle(const Handle&) = delete;
Handle& operator=(const Handle&) = delete;
@@ -99,7 +104,7 @@
return *this;
}
- operator CType() const { return m_handle; }
+ operator CType() const { return m_handle; } // NOLINT
private:
CType m_handle = CInvalid;
diff --git a/hal/src/main/native/include/hal/Value.h b/hal/src/main/native/include/hal/Value.h
index 578d989..ff72ee7 100644
--- a/hal/src/main/native/include/hal/Value.h
+++ b/hal/src/main/native/include/hal/Value.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/cpp/SerialHelper.h b/hal/src/main/native/include/hal/cpp/SerialHelper.h
index 9f4d6a0..13b6857 100644
--- a/hal/src/main/native/include/hal/cpp/SerialHelper.h
+++ b/hal/src/main/native/include/hal/cpp/SerialHelper.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -29,34 +26,34 @@
/**
* Get the VISA name of a serial port.
*
- * @param port the serial port index
- * @param status status check
- * @return the VISA name
+ * @param[in] port the serial port index
+ * @param[out] status status check
+ * @return the VISA name
*/
std::string GetVISASerialPortName(HAL_SerialPort port, int32_t* status);
/**
* Get the OS name of a serial port.
*
- * @param port the serial port index
- * @param status status check
- * @return the OS name
+ * @param[in] port the serial port index
+ * @param[out] status status check
+ * @return the OS name
*/
std::string GetOSSerialPortName(HAL_SerialPort port, int32_t* status);
/**
* Get a vector of all serial port VISA names.
*
- * @param status status check
- * @return vector of serial port VISA names
+ * @param[out] status status check
+ * @return vector of serial port VISA names
*/
std::vector<std::string> GetVISASerialPortList(int32_t* status);
/**
* Get a vector of all serial port OS names.
*
- * @param status status check
- * @return vector of serial port OS names
+ * @param[out] status status check
+ * @return vector of serial port OS names
*/
std::vector<std::string> GetOSSerialPortList(int32_t* status);
diff --git a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h b/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
index dad5eb7..eb7f231 100644
--- a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
+++ b/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -61,9 +58,9 @@
* functions on the Proxy object passed as a parameter can deadlock your
* program.
*
- * @param handle the HAL digital handle of the pin to toggle.
- * @param status status check
- * @param func A functor taking a ref to a DIOSetProxy object.
+ * @param[in] handle the HAL digital handle of the pin to toggle.
+ * @param[out] status status check
+ * @param[in] func A functor taking a ref to a DIOSetProxy object.
*/
template <typename Functor>
void UnsafeManipulateDIO(HAL_DigitalHandle handle, int32_t* status,
@@ -76,7 +73,9 @@
wpi::mutex& dioMutex = detail::UnsafeGetDIOMutex();
tDIO* dSys = detail::UnsafeGetDigialSystem();
auto mask = detail::ComputeDigitalMask(handle, status);
- if (status != 0) return;
+ if (*status != 0) {
+ return;
+ }
std::scoped_lock lock(dioMutex);
tDIO::tOutputEnable enableOE = dSys->readOutputEnable(status);
diff --git a/hal/src/main/native/include/hal/cpp/fpga_clock.h b/hal/src/main/native/include/hal/cpp/fpga_clock.h
index f6d5c6c..0f7bb75 100644
--- a/hal/src/main/native/include/hal/cpp/fpga_clock.h
+++ b/hal/src/main/native/include/hal/cpp/fpga_clock.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/handles/DigitalHandleResource.h b/hal/src/main/native/include/hal/handles/DigitalHandleResource.h
index 5fd8506..5154a43 100644
--- a/hal/src/main/native/include/hal/handles/DigitalHandleResource.h
+++ b/hal/src/main/native/include/hal/handles/DigitalHandleResource.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -25,7 +22,7 @@
* allows a limited number of handles that are allocated by index.
* The enum value is separate, as 2 enum values are allowed per handle
* Because they are allocated by index, each individual index holds its own
- * mutex, which reduces contention heavily.]
+ * mutex, which reduces contention heavily.
*
* @tparam THandle The Handle Type (Must be typedefed from HAL_Handle)
* @tparam TStruct The struct type held by this resource
@@ -41,7 +38,8 @@
DigitalHandleResource(const DigitalHandleResource&) = delete;
DigitalHandleResource& operator=(const DigitalHandleResource&) = delete;
- THandle Allocate(int16_t index, HAL_HandleEnum enumValue, int32_t* status);
+ std::shared_ptr<TStruct> Allocate(int16_t index, HAL_HandleEnum enumValue,
+ THandle* handle, int32_t* status);
int16_t GetIndex(THandle handle, HAL_HandleEnum enumValue) {
return getHandleTypedIndex(handle, enumValue, m_version);
}
@@ -55,21 +53,27 @@
};
template <typename THandle, typename TStruct, int16_t size>
-THandle DigitalHandleResource<THandle, TStruct, size>::Allocate(
- int16_t index, HAL_HandleEnum enumValue, int32_t* status) {
+std::shared_ptr<TStruct>
+DigitalHandleResource<THandle, TStruct, size>::Allocate(
+ int16_t index, HAL_HandleEnum enumValue, THandle* handle, int32_t* status) {
// don't acquire the lock if we can fail early.
if (index < 0 || index >= size) {
+ *handle = HAL_kInvalidHandle;
*status = RESOURCE_OUT_OF_RANGE;
- return HAL_kInvalidHandle;
+ return nullptr;
}
std::scoped_lock lock(m_handleMutexes[index]);
// check for allocation, otherwise allocate and return a valid handle
if (m_structures[index] != nullptr) {
+ *handle = HAL_kInvalidHandle;
*status = RESOURCE_IS_ALLOCATED;
- return HAL_kInvalidHandle;
+ return m_structures[index];
}
m_structures[index] = std::make_shared<TStruct>();
- return static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
+ *handle =
+ static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
+ *status = HAL_SUCCESS;
+ return m_structures[index];
}
template <typename THandle, typename TStruct, int16_t size>
@@ -91,7 +95,9 @@
THandle handle, HAL_HandleEnum enumValue) {
// get handle index, and fail early if index out of range or wrong handle
int16_t index = GetIndex(handle, enumValue);
- if (index < 0 || index >= size) return;
+ if (index < 0 || index >= size) {
+ return;
+ }
// lock and deallocated handle
std::scoped_lock lock(m_handleMutexes[index]);
m_structures[index].reset();
diff --git a/hal/src/main/native/include/hal/handles/HandlesInternal.h b/hal/src/main/native/include/hal/handles/HandlesInternal.h
index 511433e..13a56db 100644
--- a/hal/src/main/native/include/hal/handles/HandlesInternal.h
+++ b/hal/src/main/native/include/hal/handles/HandlesInternal.h
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <wpi/Synchronization.h>
+
#include "hal/Types.h"
/* General Handle Data Layout
@@ -46,7 +45,7 @@
*/
enum class HAL_HandleEnum {
Undefined = 0,
- DIO = 1,
+ DIO = wpi::kHandleTypeHALBase,
Port = 2,
Notifier = 3,
Interrupt = 4,
@@ -69,13 +68,17 @@
DutyCycle = 21,
DMA = 22,
AddressableLED = 23,
+ CTREPCM = 24,
+ CTREPDP = 25,
+ REVPDH = 26,
+ REVPH = 27,
};
/**
* Get the handle index from a handle.
*
* @param handle the handle
- * @return the index
+ * @return the index
*/
static inline int16_t getHandleIndex(HAL_Handle handle) {
// mask and return last 16 bits
@@ -86,7 +89,7 @@
* Get the handle type from a handle.
*
* @param handle the handle
- * @return the type
+ * @return the type
*/
static inline HAL_HandleEnum getHandleType(HAL_Handle handle) {
// mask first 8 bits and cast to enum
@@ -98,7 +101,7 @@
*
* @param handle the handle
* @param handleType the type to check
- * @return true if the type is correct, otherwise false
+ * @return true if the type is correct, otherwise false
*/
static inline bool isHandleType(HAL_Handle handle, HAL_HandleEnum handleType) {
return handleType == getHandleType(handle);
@@ -111,7 +114,7 @@
*
* @param handle the handle
* @param version the handle version to check
- * @return true if the handle is the right version, otherwise false
+ * @return true if the handle is the right version, otherwise false
*/
static inline bool isHandleCorrectVersion(HAL_Handle handle, int16_t version) {
return (((handle & 0xFF0000) >> 16) & version) == version;
@@ -123,17 +126,20 @@
* Note the version is not checked on the roboRIO.
*
* @param handle the handle
- * @param handleType the type to check
+ * @param enumType the type to check
* @param version the handle version to check
- * @return true if the handle is proper version and type, otherwise
- * false.
+ * @return true if the handle is proper version and type, otherwise
+ * false.
*/
-static inline int16_t getHandleTypedIndex(HAL_Handle handle,
- HAL_HandleEnum enumType,
- int16_t version) {
- if (!isHandleType(handle, enumType)) return InvalidHandleIndex;
+inline int16_t getHandleTypedIndex(HAL_Handle handle, HAL_HandleEnum enumType,
+ int16_t version) {
+ if (!isHandleType(handle, enumType)) {
+ return InvalidHandleIndex;
+ }
#if !defined(__FRC_ROBORIO__)
- if (!isHandleCorrectVersion(handle, version)) return InvalidHandleIndex;
+ if (!isHandleCorrectVersion(handle, version)) {
+ return InvalidHandleIndex;
+ }
#endif
return getHandleIndex(handle);
}
@@ -152,10 +158,12 @@
* Gets the port channel of a port handle.
*
* @param handle the port handle
- * @return the port channel
+ * @return the port channel
*/
-static inline int16_t getPortHandleChannel(HAL_PortHandle handle) {
- if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
+inline int16_t getPortHandleChannel(HAL_PortHandle handle) {
+ if (!isHandleType(handle, HAL_HandleEnum::Port)) {
+ return InvalidHandleIndex;
+ }
return static_cast<uint8_t>(handle & 0xff);
}
@@ -164,10 +172,12 @@
* Gets the port module of a port handle.
*
* @param handle the port handle
- * @return the port module
+ * @return the port module
*/
-static inline int16_t getPortHandleModule(HAL_PortHandle handle) {
- if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
+inline int16_t getPortHandleModule(HAL_PortHandle handle) {
+ if (!isHandleType(handle, HAL_HandleEnum::Port)) {
+ return InvalidHandleIndex;
+ }
return static_cast<uint8_t>((handle >> 8) & 0xff);
}
@@ -176,10 +186,12 @@
* Gets the SPI channel of a port handle.
*
* @param handle the port handle
- * @return the port SPI channel
+ * @return the port SPI channel
*/
-static inline int16_t getPortHandleSPIEnable(HAL_PortHandle handle) {
- if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
+inline int16_t getPortHandleSPIEnable(HAL_PortHandle handle) {
+ if (!isHandleType(handle, HAL_HandleEnum::Port)) {
+ return InvalidHandleIndex;
+ }
return static_cast<uint8_t>((handle >> 16) & 0xff);
}
@@ -188,7 +200,7 @@
*
* @param channel the channel
* @param module the module
- * @return port handle for the module and channel
+ * @return port handle for the module and channel
*/
HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module);
@@ -196,7 +208,7 @@
* Create a port handle for SPI.
*
* @param channel the SPI channel
- * @return port handle for the channel
+ * @return port handle for the channel
*/
HAL_PortHandle createPortHandleForSPI(uint8_t channel);
@@ -208,7 +220,7 @@
* @param index the index
* @param handleType the handle type
* @param version the handle version
- * @return the created handle
+ * @return the created handle
*/
HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
int16_t version);
diff --git a/hal/src/main/native/include/hal/handles/IndexedClassedHandleResource.h b/hal/src/main/native/include/hal/handles/IndexedClassedHandleResource.h
index 902f023..d96de2b 100644
--- a/hal/src/main/native/include/hal/handles/IndexedClassedHandleResource.h
+++ b/hal/src/main/native/include/hal/handles/IndexedClassedHandleResource.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -52,7 +49,7 @@
}
std::shared_ptr<TStruct> Get(THandle handle);
void Free(THandle handle);
- void ResetHandles();
+ void ResetHandles() override;
private:
std::array<std::shared_ptr<TStruct>, size> m_structures;
@@ -101,7 +98,9 @@
THandle handle) {
// get handle index, and fail early if index out of range or wrong handle
int16_t index = GetIndex(handle);
- if (index < 0 || index >= size) return;
+ if (index < 0 || index >= size) {
+ return;
+ }
// lock and deallocated handle
std::scoped_lock lock(m_handleMutexes[index]);
m_structures[index].reset();
diff --git a/hal/src/main/native/include/hal/handles/IndexedHandleResource.h b/hal/src/main/native/include/hal/handles/IndexedHandleResource.h
index 26fda02..2e921ee 100644
--- a/hal/src/main/native/include/hal/handles/IndexedHandleResource.h
+++ b/hal/src/main/native/include/hal/handles/IndexedHandleResource.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -42,7 +39,8 @@
IndexedHandleResource(const IndexedHandleResource&) = delete;
IndexedHandleResource& operator=(const IndexedHandleResource&) = delete;
- THandle Allocate(int16_t index, int32_t* status);
+ std::shared_ptr<TStruct> Allocate(int16_t index, THandle* handle,
+ int32_t* status);
int16_t GetIndex(THandle handle) {
return getHandleTypedIndex(handle, enumValue, m_version);
}
@@ -57,21 +55,27 @@
template <typename THandle, typename TStruct, int16_t size,
HAL_HandleEnum enumValue>
-THandle IndexedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
- int16_t index, int32_t* status) {
+std::shared_ptr<TStruct>
+IndexedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
+ int16_t index, THandle* handle, int32_t* status) {
// don't acquire the lock if we can fail early.
if (index < 0 || index >= size) {
*status = RESOURCE_OUT_OF_RANGE;
- return HAL_kInvalidHandle;
+ *handle = HAL_kInvalidHandle;
+ return nullptr;
}
std::scoped_lock lock(m_handleMutexes[index]);
// check for allocation, otherwise allocate and return a valid handle
if (m_structures[index] != nullptr) {
*status = RESOURCE_IS_ALLOCATED;
- return HAL_kInvalidHandle;
+ *handle = HAL_kInvalidHandle;
+ return m_structures[index];
}
m_structures[index] = std::make_shared<TStruct>();
- return static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
+ *handle =
+ static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
+ *status = HAL_SUCCESS;
+ return m_structures[index];
}
template <typename THandle, typename TStruct, int16_t size,
@@ -95,7 +99,9 @@
THandle handle) {
// get handle index, and fail early if index out of range or wrong handle
int16_t index = GetIndex(handle);
- if (index < 0 || index >= size) return;
+ if (index < 0 || index >= size) {
+ return;
+ }
// lock and deallocated handle
std::scoped_lock lock(m_handleMutexes[index]);
m_structures[index].reset();
diff --git a/hal/src/main/native/include/hal/handles/LimitedClassedHandleResource.h b/hal/src/main/native/include/hal/handles/LimitedClassedHandleResource.h
index 0ab8aac..2650708 100644
--- a/hal/src/main/native/include/hal/handles/LimitedClassedHandleResource.h
+++ b/hal/src/main/native/include/hal/handles/LimitedClassedHandleResource.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -96,7 +93,9 @@
THandle handle) {
// get handle index, and fail early if index out of range or wrong handle
int16_t index = GetIndex(handle);
- if (index < 0 || index >= size) return;
+ if (index < 0 || index >= size) {
+ return;
+ }
// lock and deallocated handle
std::scoped_lock allocateLock(m_allocateMutex);
std::scoped_lock handleLock(m_handleMutexes[index]);
diff --git a/hal/src/main/native/include/hal/handles/LimitedHandleResource.h b/hal/src/main/native/include/hal/handles/LimitedHandleResource.h
index 2f7ed0d..6f76293 100644
--- a/hal/src/main/native/include/hal/handles/LimitedHandleResource.h
+++ b/hal/src/main/native/include/hal/handles/LimitedHandleResource.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -91,7 +88,9 @@
THandle handle) {
// get handle index, and fail early if index out of range or wrong handle
int16_t index = GetIndex(handle);
- if (index < 0 || index >= size) return;
+ if (index < 0 || index >= size) {
+ return;
+ }
// lock and deallocated handle
std::scoped_lock allocateLock(m_allocateMutex);
std::scoped_lock handleLock(m_handleMutexes[index]);
diff --git a/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h b/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h
index 5f74b88..09510ac 100644
--- a/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h
+++ b/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -74,7 +71,9 @@
return static_cast<THandle>(createHandle(i, enumValue, m_version));
}
}
- if (i >= INT16_MAX) return HAL_kInvalidHandle;
+ if (i >= INT16_MAX) {
+ return HAL_kInvalidHandle;
+ }
m_structures.push_back(structure);
return static_cast<THandle>(
@@ -86,8 +85,9 @@
UnlimitedHandleResource<THandle, TStruct, enumValue>::Get(THandle handle) {
int16_t index = GetIndex(handle);
std::scoped_lock lock(m_handleMutex);
- if (index < 0 || index >= static_cast<int16_t>(m_structures.size()))
+ if (index < 0 || index >= static_cast<int16_t>(m_structures.size())) {
return nullptr;
+ }
return m_structures[index];
}
@@ -96,8 +96,9 @@
UnlimitedHandleResource<THandle, TStruct, enumValue>::Free(THandle handle) {
int16_t index = GetIndex(handle);
std::scoped_lock lock(m_handleMutex);
- if (index < 0 || index >= static_cast<int16_t>(m_structures.size()))
+ if (index < 0 || index >= static_cast<int16_t>(m_structures.size())) {
return nullptr;
+ }
return std::move(m_structures[index]);
}
diff --git a/hal/src/main/native/include/hal/simulation/AccelerometerData.h b/hal/src/main/native/include/hal/simulation/AccelerometerData.h
index 0a92671..70cee61 100644
--- a/hal/src/main/native/include/hal/simulation/AccelerometerData.h
+++ b/hal/src/main/native/include/hal/simulation/AccelerometerData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/AddressableLEDData.h b/hal/src/main/native/include/hal/simulation/AddressableLEDData.h
index 91ab30c..d828e5c 100644
--- a/hal/src/main/native/include/hal/simulation/AddressableLEDData.h
+++ b/hal/src/main/native/include/hal/simulation/AddressableLEDData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/AnalogGyroData.h b/hal/src/main/native/include/hal/simulation/AnalogGyroData.h
index 91e684e..9527140 100644
--- a/hal/src/main/native/include/hal/simulation/AnalogGyroData.h
+++ b/hal/src/main/native/include/hal/simulation/AnalogGyroData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/AnalogInData.h b/hal/src/main/native/include/hal/simulation/AnalogInData.h
index 9ab2d3b..2e2d8be 100644
--- a/hal/src/main/native/include/hal/simulation/AnalogInData.h
+++ b/hal/src/main/native/include/hal/simulation/AnalogInData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/AnalogOutData.h b/hal/src/main/native/include/hal/simulation/AnalogOutData.h
index fa1413d..00275c6 100644
--- a/hal/src/main/native/include/hal/simulation/AnalogOutData.h
+++ b/hal/src/main/native/include/hal/simulation/AnalogOutData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/AnalogTriggerData.h b/hal/src/main/native/include/hal/simulation/AnalogTriggerData.h
index 74c762c..fb232a2 100644
--- a/hal/src/main/native/include/hal/simulation/AnalogTriggerData.h
+++ b/hal/src/main/native/include/hal/simulation/AnalogTriggerData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/CTREPCMData.h b/hal/src/main/native/include/hal/simulation/CTREPCMData.h
new file mode 100644
index 0000000..302f7dd
--- /dev/null
+++ b/hal/src/main/native/include/hal/simulation/CTREPCMData.h
@@ -0,0 +1,78 @@
+// 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 "hal/simulation/NotifyListener.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void HALSIM_ResetCTREPCMData(int32_t index);
+int32_t HALSIM_RegisterCTREPCMInitializedCallback(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelCTREPCMInitializedCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetCTREPCMInitialized(int32_t index);
+void HALSIM_SetCTREPCMInitialized(int32_t index, HAL_Bool solenoidInitialized);
+
+int32_t HALSIM_RegisterCTREPCMSolenoidOutputCallback(
+ int32_t index, int32_t channel, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelCTREPCMSolenoidOutputCallback(int32_t index, int32_t channel,
+ int32_t uid);
+HAL_Bool HALSIM_GetCTREPCMSolenoidOutput(int32_t index, int32_t channel);
+void HALSIM_SetCTREPCMSolenoidOutput(int32_t index, int32_t channel,
+ HAL_Bool solenoidOutput);
+
+int32_t HALSIM_RegisterCTREPCMCompressorOnCallback(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelCTREPCMCompressorOnCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetCTREPCMCompressorOn(int32_t index);
+void HALSIM_SetCTREPCMCompressorOn(int32_t index, HAL_Bool compressorOn);
+
+int32_t HALSIM_RegisterCTREPCMClosedLoopEnabledCallback(
+ int32_t index, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelCTREPCMClosedLoopEnabledCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetCTREPCMClosedLoopEnabled(int32_t index);
+void HALSIM_SetCTREPCMClosedLoopEnabled(int32_t index,
+ HAL_Bool closedLoopEnabled);
+
+int32_t HALSIM_RegisterCTREPCMPressureSwitchCallback(
+ int32_t index, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelCTREPCMPressureSwitchCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetCTREPCMPressureSwitch(int32_t index);
+void HALSIM_SetCTREPCMPressureSwitch(int32_t index, HAL_Bool pressureSwitch);
+
+int32_t HALSIM_RegisterCTREPCMCompressorCurrentCallback(
+ int32_t index, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelCTREPCMCompressorCurrentCallback(int32_t index, int32_t uid);
+double HALSIM_GetCTREPCMCompressorCurrent(int32_t index);
+void HALSIM_SetCTREPCMCompressorCurrent(int32_t index,
+ double compressorCurrent);
+
+void HALSIM_GetCTREPCMAllSolenoids(int32_t index, uint8_t* values);
+void HALSIM_SetCTREPCMAllSolenoids(int32_t index, uint8_t values);
+
+void HALSIM_RegisterCTREPCMAllNonSolenoidCallbacks(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+
+void HALSIM_RegisterCTREPCMAllSolenoidCallbacks(int32_t index, int32_t channel,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
diff --git a/hal/src/main/native/include/hal/simulation/CanData.h b/hal/src/main/native/include/hal/simulation/CanData.h
index eb5ea63..2590162 100644
--- a/hal/src/main/native/include/hal/simulation/CanData.h
+++ b/hal/src/main/native/include/hal/simulation/CanData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/DIOData.h b/hal/src/main/native/include/hal/simulation/DIOData.h
index ddda655..d2d7181 100644
--- a/hal/src/main/native/include/hal/simulation/DIOData.h
+++ b/hal/src/main/native/include/hal/simulation/DIOData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/DigitalPWMData.h b/hal/src/main/native/include/hal/simulation/DigitalPWMData.h
index 79428b0..1010811 100644
--- a/hal/src/main/native/include/hal/simulation/DigitalPWMData.h
+++ b/hal/src/main/native/include/hal/simulation/DigitalPWMData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/DriverStationData.h b/hal/src/main/native/include/hal/simulation/DriverStationData.h
index 536738b..87223ec 100644
--- a/hal/src/main/native/include/hal/simulation/DriverStationData.h
+++ b/hal/src/main/native/include/hal/simulation/DriverStationData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/DutyCycleData.h b/hal/src/main/native/include/hal/simulation/DutyCycleData.h
index 7b191f28..bbe5bf2 100644
--- a/hal/src/main/native/include/hal/simulation/DutyCycleData.h
+++ b/hal/src/main/native/include/hal/simulation/DutyCycleData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/EncoderData.h b/hal/src/main/native/include/hal/simulation/EncoderData.h
index 80c142d..df1c12b 100644
--- a/hal/src/main/native/include/hal/simulation/EncoderData.h
+++ b/hal/src/main/native/include/hal/simulation/EncoderData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/I2CData.h b/hal/src/main/native/include/hal/simulation/I2CData.h
index 3d72850..d5e13f9 100644
--- a/hal/src/main/native/include/hal/simulation/I2CData.h
+++ b/hal/src/main/native/include/hal/simulation/I2CData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/MockHooks.h b/hal/src/main/native/include/hal/simulation/MockHooks.h
index cef205e..330f72e 100644
--- a/hal/src/main/native/include/hal/simulation/MockHooks.h
+++ b/hal/src/main/native/include/hal/simulation/MockHooks.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -30,4 +27,13 @@
typedef int32_t (*HALSIM_SendConsoleLineHandler)(const char* line);
void HALSIM_SetSendConsoleLine(HALSIM_SendConsoleLineHandler handler);
+typedef void (*HALSIM_SimPeriodicCallback)(void* param);
+int32_t HALSIM_RegisterSimPeriodicBeforeCallback(
+ HALSIM_SimPeriodicCallback callback, void* param);
+void HALSIM_CancelSimPeriodicBeforeCallback(int32_t uid);
+
+int32_t HALSIM_RegisterSimPeriodicAfterCallback(
+ HALSIM_SimPeriodicCallback callback, void* param);
+void HALSIM_CancelSimPeriodicAfterCallback(int32_t uid);
+
} // extern "C"
diff --git a/hal/src/main/native/include/hal/simulation/NotifierData.h b/hal/src/main/native/include/hal/simulation/NotifierData.h
index a5b68b6..13dcf1d 100644
--- a/hal/src/main/native/include/hal/simulation/NotifierData.h
+++ b/hal/src/main/native/include/hal/simulation/NotifierData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/NotifyListener.h b/hal/src/main/native/include/hal/simulation/NotifyListener.h
index a1430c4..46a93c9 100644
--- a/hal/src/main/native/include/hal/simulation/NotifyListener.h
+++ b/hal/src/main/native/include/hal/simulation/NotifyListener.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/PCMData.h b/hal/src/main/native/include/hal/simulation/PCMData.h
deleted file mode 100644
index ad2188d..0000000
--- a/hal/src/main/native/include/hal/simulation/PCMData.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void HALSIM_ResetPCMData(int32_t index);
-int32_t HALSIM_RegisterPCMSolenoidInitializedCallback(
- int32_t index, int32_t channel, HAL_NotifyCallback callback, void* param,
- HAL_Bool initialNotify);
-void HALSIM_CancelPCMSolenoidInitializedCallback(int32_t index, int32_t channel,
- int32_t uid);
-HAL_Bool HALSIM_GetPCMSolenoidInitialized(int32_t index, int32_t channel);
-void HALSIM_SetPCMSolenoidInitialized(int32_t index, int32_t channel,
- HAL_Bool solenoidInitialized);
-
-int32_t HALSIM_RegisterPCMSolenoidOutputCallback(int32_t index, int32_t channel,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-void HALSIM_CancelPCMSolenoidOutputCallback(int32_t index, int32_t channel,
- int32_t uid);
-HAL_Bool HALSIM_GetPCMSolenoidOutput(int32_t index, int32_t channel);
-void HALSIM_SetPCMSolenoidOutput(int32_t index, int32_t channel,
- HAL_Bool solenoidOutput);
-
-int32_t HALSIM_RegisterPCMCompressorInitializedCallback(
- int32_t index, HAL_NotifyCallback callback, void* param,
- HAL_Bool initialNotify);
-void HALSIM_CancelPCMCompressorInitializedCallback(int32_t index, int32_t uid);
-HAL_Bool HALSIM_GetPCMCompressorInitialized(int32_t index);
-void HALSIM_SetPCMCompressorInitialized(int32_t index,
- HAL_Bool compressorInitialized);
-
-int32_t HALSIM_RegisterPCMCompressorOnCallback(int32_t index,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-void HALSIM_CancelPCMCompressorOnCallback(int32_t index, int32_t uid);
-HAL_Bool HALSIM_GetPCMCompressorOn(int32_t index);
-void HALSIM_SetPCMCompressorOn(int32_t index, HAL_Bool compressorOn);
-
-int32_t HALSIM_RegisterPCMClosedLoopEnabledCallback(int32_t index,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-void HALSIM_CancelPCMClosedLoopEnabledCallback(int32_t index, int32_t uid);
-HAL_Bool HALSIM_GetPCMClosedLoopEnabled(int32_t index);
-void HALSIM_SetPCMClosedLoopEnabled(int32_t index, HAL_Bool closedLoopEnabled);
-
-int32_t HALSIM_RegisterPCMPressureSwitchCallback(int32_t index,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-void HALSIM_CancelPCMPressureSwitchCallback(int32_t index, int32_t uid);
-HAL_Bool HALSIM_GetPCMPressureSwitch(int32_t index);
-void HALSIM_SetPCMPressureSwitch(int32_t index, HAL_Bool pressureSwitch);
-
-int32_t HALSIM_RegisterPCMCompressorCurrentCallback(int32_t index,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-void HALSIM_CancelPCMCompressorCurrentCallback(int32_t index, int32_t uid);
-double HALSIM_GetPCMCompressorCurrent(int32_t index);
-void HALSIM_SetPCMCompressorCurrent(int32_t index, double compressorCurrent);
-
-void HALSIM_GetPCMAllSolenoids(int32_t index, uint8_t* values);
-void HALSIM_SetPCMAllSolenoids(int32_t index, uint8_t values);
-
-void HALSIM_RegisterPCMAllNonSolenoidCallbacks(int32_t index,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-
-void HALSIM_RegisterPCMAllSolenoidCallbacks(int32_t index, int32_t channel,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
diff --git a/hal/src/main/native/include/hal/simulation/PDPData.h b/hal/src/main/native/include/hal/simulation/PDPData.h
deleted file mode 100644
index 7ec11a4..0000000
--- a/hal/src/main/native/include/hal/simulation/PDPData.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void HALSIM_ResetPDPData(int32_t index);
-int32_t HALSIM_RegisterPDPInitializedCallback(int32_t index,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-void HALSIM_CancelPDPInitializedCallback(int32_t index, int32_t uid);
-HAL_Bool HALSIM_GetPDPInitialized(int32_t index);
-void HALSIM_SetPDPInitialized(int32_t index, HAL_Bool initialized);
-
-int32_t HALSIM_RegisterPDPTemperatureCallback(int32_t index,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-void HALSIM_CancelPDPTemperatureCallback(int32_t index, int32_t uid);
-double HALSIM_GetPDPTemperature(int32_t index);
-void HALSIM_SetPDPTemperature(int32_t index, double temperature);
-
-int32_t HALSIM_RegisterPDPVoltageCallback(int32_t index,
- HAL_NotifyCallback callback,
- void* param, HAL_Bool initialNotify);
-void HALSIM_CancelPDPVoltageCallback(int32_t index, int32_t uid);
-double HALSIM_GetPDPVoltage(int32_t index);
-void HALSIM_SetPDPVoltage(int32_t index, double voltage);
-
-int32_t HALSIM_RegisterPDPCurrentCallback(int32_t index, int32_t channel,
- HAL_NotifyCallback callback,
- void* param, HAL_Bool initialNotify);
-void HALSIM_CancelPDPCurrentCallback(int32_t index, int32_t channel,
- int32_t uid);
-double HALSIM_GetPDPCurrent(int32_t index, int32_t channel);
-void HALSIM_SetPDPCurrent(int32_t index, int32_t channel, double current);
-
-void HALSIM_GetPDPAllCurrents(int32_t index, double* currents);
-void HALSIM_SetPDPAllCurrents(int32_t index, const double* currents);
-
-void HALSIM_RegisterPDPAllNonCurrentCallbacks(int32_t index, int32_t channel,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify);
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
diff --git a/hal/src/main/native/include/hal/simulation/PWMData.h b/hal/src/main/native/include/hal/simulation/PWMData.h
index a536710..91d22df 100644
--- a/hal/src/main/native/include/hal/simulation/PWMData.h
+++ b/hal/src/main/native/include/hal/simulation/PWMData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/PowerDistributionData.h b/hal/src/main/native/include/hal/simulation/PowerDistributionData.h
new file mode 100644
index 0000000..0552c49
--- /dev/null
+++ b/hal/src/main/native/include/hal/simulation/PowerDistributionData.h
@@ -0,0 +1,60 @@
+// 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 "hal/simulation/NotifyListener.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void HALSIM_ResetPowerDistributionData(int32_t index);
+int32_t HALSIM_RegisterPowerDistributionInitializedCallback(
+ int32_t index, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelPowerDistributionInitializedCallback(int32_t index,
+ int32_t uid);
+HAL_Bool HALSIM_GetPowerDistributionInitialized(int32_t index);
+void HALSIM_SetPowerDistributionInitialized(int32_t index,
+ HAL_Bool initialized);
+
+int32_t HALSIM_RegisterPowerDistributionTemperatureCallback(
+ int32_t index, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelPowerDistributionTemperatureCallback(int32_t index,
+ int32_t uid);
+double HALSIM_GetPowerDistributionTemperature(int32_t index);
+void HALSIM_SetPowerDistributionTemperature(int32_t index, double temperature);
+
+int32_t HALSIM_RegisterPowerDistributionVoltageCallback(
+ int32_t index, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelPowerDistributionVoltageCallback(int32_t index, int32_t uid);
+double HALSIM_GetPowerDistributionVoltage(int32_t index);
+void HALSIM_SetPowerDistributionVoltage(int32_t index, double voltage);
+
+int32_t HALSIM_RegisterPowerDistributionCurrentCallback(
+ int32_t index, int32_t channel, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelPowerDistributionCurrentCallback(int32_t index,
+ int32_t channel,
+ int32_t uid);
+double HALSIM_GetPowerDistributionCurrent(int32_t index, int32_t channel);
+void HALSIM_SetPowerDistributionCurrent(int32_t index, int32_t channel,
+ double current);
+
+void HALSIM_GetPowerDistributionAllCurrents(int32_t index, double* currents,
+ int length);
+void HALSIM_SetPowerDistributionAllCurrents(int32_t index,
+ const double* currents, int length);
+
+void HALSIM_RegisterPowerDistributionAllNonCurrentCallbacks(
+ int32_t index, int32_t channel, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
diff --git a/hal/src/main/native/include/hal/simulation/REVPHData.h b/hal/src/main/native/include/hal/simulation/REVPHData.h
new file mode 100644
index 0000000..17e4f2c
--- /dev/null
+++ b/hal/src/main/native/include/hal/simulation/REVPHData.h
@@ -0,0 +1,80 @@
+// 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 "hal/simulation/NotifyListener.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void HALSIM_ResetREVPHData(int32_t index);
+int32_t HALSIM_RegisterREVPHInitializedCallback(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelREVPHInitializedCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetREVPHInitialized(int32_t index);
+void HALSIM_SetREVPHInitialized(int32_t index, HAL_Bool solenoidInitialized);
+
+int32_t HALSIM_RegisterREVPHSolenoidOutputCallback(int32_t index,
+ int32_t channel,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelREVPHSolenoidOutputCallback(int32_t index, int32_t channel,
+ int32_t uid);
+HAL_Bool HALSIM_GetREVPHSolenoidOutput(int32_t index, int32_t channel);
+void HALSIM_SetREVPHSolenoidOutput(int32_t index, int32_t channel,
+ HAL_Bool solenoidOutput);
+
+int32_t HALSIM_RegisterREVPHCompressorOnCallback(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelREVPHCompressorOnCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetREVPHCompressorOn(int32_t index);
+void HALSIM_SetREVPHCompressorOn(int32_t index, HAL_Bool compressorOn);
+
+int32_t HALSIM_RegisterREVPHClosedLoopEnabledCallback(
+ int32_t index, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelREVPHClosedLoopEnabledCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetREVPHClosedLoopEnabled(int32_t index);
+void HALSIM_SetREVPHClosedLoopEnabled(int32_t index,
+ HAL_Bool closedLoopEnabled);
+
+int32_t HALSIM_RegisterREVPHPressureSwitchCallback(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelREVPHPressureSwitchCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetREVPHPressureSwitch(int32_t index);
+void HALSIM_SetREVPHPressureSwitch(int32_t index, HAL_Bool pressureSwitch);
+
+int32_t HALSIM_RegisterREVPHCompressorCurrentCallback(
+ int32_t index, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelREVPHCompressorCurrentCallback(int32_t index, int32_t uid);
+double HALSIM_GetREVPHCompressorCurrent(int32_t index);
+void HALSIM_SetREVPHCompressorCurrent(int32_t index, double compressorCurrent);
+
+void HALSIM_GetREVPHAllSolenoids(int32_t index, uint8_t* values);
+void HALSIM_SetREVPHAllSolenoids(int32_t index, uint8_t values);
+
+void HALSIM_RegisterREVPHAllNonSolenoidCallbacks(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+
+void HALSIM_RegisterREVPHAllSolenoidCallbacks(int32_t index, int32_t channel,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
diff --git a/hal/src/main/native/include/hal/simulation/RelayData.h b/hal/src/main/native/include/hal/simulation/RelayData.h
index 1329d29..d61c9e0 100644
--- a/hal/src/main/native/include/hal/simulation/RelayData.h
+++ b/hal/src/main/native/include/hal/simulation/RelayData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/RoboRioData.h b/hal/src/main/native/include/hal/simulation/RoboRioData.h
index 49d32f3..8f33bc5 100644
--- a/hal/src/main/native/include/hal/simulation/RoboRioData.h
+++ b/hal/src/main/native/include/hal/simulation/RoboRioData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -118,6 +115,12 @@
int32_t HALSIM_GetRoboRioUserFaults3V3(void);
void HALSIM_SetRoboRioUserFaults3V3(int32_t userFaults3V3);
+int32_t HALSIM_RegisterRoboRioBrownoutVoltageCallback(
+ HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify);
+void HALSIM_CancelRoboRioBrownoutVoltageCallback(int32_t uid);
+double HALSIM_GetRoboRioBrownoutVoltage(void);
+void HALSIM_SetRoboRioBrownoutVoltage(double brownoutVoltage);
+
void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
diff --git a/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h b/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h
index 6515aa8..406798f 100644
--- a/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h
+++ b/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/SPIData.h b/hal/src/main/native/include/hal/simulation/SPIData.h
index 149a1ef..813b75f 100644
--- a/hal/src/main/native/include/hal/simulation/SPIData.h
+++ b/hal/src/main/native/include/hal/simulation/SPIData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h b/hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h
index 31f64ef..3d786e0 100644
--- a/hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h
+++ b/hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -30,7 +27,9 @@
public:
void Cancel(int32_t uid) {
std::scoped_lock lock(m_mutex);
- if (m_callbacks && uid > 0) m_callbacks->erase(uid - 1);
+ if (m_callbacks && uid > 0) {
+ m_callbacks->erase(uid - 1);
+ }
}
void Reset() {
@@ -43,13 +42,19 @@
protected:
int32_t DoRegister(RawFunctor callback, void* param) {
// Must return -1 on a null callback for error handling
- if (callback == nullptr) return -1;
- if (!m_callbacks) m_callbacks = std::make_unique<CallbackVector>();
+ if (callback == nullptr) {
+ return -1;
+ }
+ if (!m_callbacks) {
+ m_callbacks = std::make_unique<CallbackVector>();
+ }
return m_callbacks->emplace_back(param, callback) + 1;
}
LLVM_ATTRIBUTE_ALWAYS_INLINE void DoReset() {
- if (m_callbacks) m_callbacks->clear();
+ if (m_callbacks) {
+ m_callbacks->clear();
+ }
}
mutable wpi::recursive_spinlock m_mutex;
@@ -81,9 +86,10 @@
#endif
if (m_callbacks) {
const char* name = GetName();
- for (auto&& cb : *m_callbacks)
+ for (auto&& cb : *m_callbacks) {
reinterpret_cast<CallbackFunction>(cb.callback)(name, cb.param,
std::forward<U>(u)...);
+ }
}
}
diff --git a/hal/src/main/native/include/hal/simulation/SimDataValue.h b/hal/src/main/native/include/hal/simulation/SimDataValue.h
index ff333a5..4368a10 100644
--- a/hal/src/main/native/include/hal/simulation/SimDataValue.h
+++ b/hal/src/main/native/include/hal/simulation/SimDataValue.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -31,7 +28,7 @@
return m_value;
}
- LLVM_ATTRIBUTE_ALWAYS_INLINE operator T() const { return Get(); }
+ LLVM_ATTRIBUTE_ALWAYS_INLINE operator T() const { return Get(); } // NOLINT
void Reset(T value) {
std::scoped_lock lock(m_mutex);
@@ -46,7 +43,9 @@
HAL_Bool initialNotify, const char* name) {
std::unique_lock lock(m_mutex);
int32_t newUid = DoRegister(reinterpret_cast<RawFunctor>(callback), param);
- if (newUid == -1) return -1;
+ if (newUid == -1) {
+ return -1;
+ }
if (initialNotify) {
// We know that the callback is not null because of earlier null check
HAL_Value value = MakeValue(m_value);
@@ -62,9 +61,10 @@
m_value = value;
if (m_callbacks) {
HAL_Value halValue = MakeValue(value);
- for (auto&& cb : *m_callbacks)
+ for (auto&& cb : *m_callbacks) {
reinterpret_cast<HAL_NotifyCallback>(cb.callback)(name, cb.param,
&halValue);
+ }
}
}
}
diff --git a/hal/src/main/native/include/hal/simulation/SimDeviceData.h b/hal/src/main/native/include/hal/simulation/SimDeviceData.h
index e702c5c..221263e 100644
--- a/hal/src/main/native/include/hal/simulation/SimDeviceData.h
+++ b/hal/src/main/native/include/hal/simulation/SimDeviceData.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -15,7 +12,7 @@
typedef void (*HALSIM_SimValueCallback)(const char* name, void* param,
HAL_SimValueHandle handle,
- HAL_Bool readonly,
+ int32_t direction,
const struct HAL_Value* value);
#ifdef __cplusplus
@@ -31,8 +28,9 @@
void HALSIM_CancelSimDeviceCreatedCallback(int32_t uid);
-int32_t HALSIM_RegisterSimDeviceFreedCallback(
- const char* prefix, void* param, HALSIM_SimDeviceCallback callback);
+int32_t HALSIM_RegisterSimDeviceFreedCallback(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback,
+ HAL_Bool initialNotify);
void HALSIM_CancelSimDeviceFreedCallback(int32_t uid);
@@ -59,6 +57,22 @@
void HALSIM_CancelSimValueChangedCallback(int32_t uid);
+/**
+ * Register a callback for HAL_SimValueReset(). The callback is called with the
+ * old value.
+ *
+ * @param handle simulated value handle
+ * @param param parameter for callback
+ * @param callback callback
+ * @param initialNotify ignored (present for consistency)
+ */
+int32_t HALSIM_RegisterSimValueResetCallback(HAL_SimValueHandle handle,
+ void* param,
+ HALSIM_SimValueCallback callback,
+ HAL_Bool initialNotify);
+
+void HALSIM_CancelSimValueResetCallback(int32_t uid);
+
HAL_SimValueHandle HALSIM_GetSimValueHandle(HAL_SimDeviceHandle device,
const char* name);
@@ -68,6 +82,9 @@
const char** HALSIM_GetSimValueEnumOptions(HAL_SimValueHandle handle,
int32_t* numOptions);
+const double* HALSIM_GetSimValueEnumDoubleValues(HAL_SimValueHandle handle,
+ int32_t* numOptions);
+
void HALSIM_ResetSimDeviceData(void);
#ifdef __cplusplus
diff --git a/hal/src/main/native/sim/Accelerometer.cpp b/hal/src/main/native/sim/Accelerometer.cpp
index 1435fd5..2756c99 100644
--- a/hal/src/main/native/sim/Accelerometer.cpp
+++ b/hal/src/main/native/sim/Accelerometer.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Accelerometer.h"
@@ -11,11 +8,9 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAccelerometer() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
void HAL_SetAccelerometerActive(HAL_Bool active) {
@@ -25,7 +20,13 @@
void HAL_SetAccelerometerRange(HAL_AccelerometerRange range) {
SimAccelerometerData[0].range = range;
}
-double HAL_GetAccelerometerX(void) { return SimAccelerometerData[0].x; }
-double HAL_GetAccelerometerY(void) { return SimAccelerometerData[0].y; }
-double HAL_GetAccelerometerZ(void) { return SimAccelerometerData[0].z; }
+double HAL_GetAccelerometerX(void) {
+ return SimAccelerometerData[0].x;
+}
+double HAL_GetAccelerometerY(void) {
+ return SimAccelerometerData[0].y;
+}
+double HAL_GetAccelerometerZ(void) {
+ return SimAccelerometerData[0].z;
+}
} // extern "C"
diff --git a/hal/src/main/native/sim/AddressableLED.cpp b/hal/src/main/native/sim/AddressableLED.cpp
index 70d3f6f..75a09fb 100644
--- a/hal/src/main/native/sim/AddressableLED.cpp
+++ b/hal/src/main/native/sim/AddressableLED.cpp
@@ -1,14 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AddressableLED.h"
+#include <fmt/format.h>
+
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/Errors.h"
#include "hal/handles/HandlesInternal.h"
@@ -27,8 +27,7 @@
kNumAddressableLEDs,
HAL_HandleEnum::AddressableLED>* ledHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAddressableLED() {
static LimitedHandleResource<HAL_AddressableLEDHandle, AddressableLED,
kNumAddressableLEDs,
@@ -36,8 +35,7 @@
dcH;
ledHandles = &dcH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
@@ -86,7 +84,9 @@
void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
auto led = ledHandles->Get(handle);
ledHandles->Free(handle);
- if (!led) return;
+ if (!led) {
+ return;
+ }
SimAddressableLEDData[led->index].running = false;
SimAddressableLEDData[led->index].initialized = false;
}
@@ -113,8 +113,13 @@
*status = HAL_HANDLE_ERROR;
return;
}
- if (length > HAL_kAddressableLEDMaxLength) {
+ if (length > HAL_kAddressableLEDMaxLength || length < 0) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format(
+ "LED length must be less than or equal to {}. {} was requested",
+ HAL_kAddressableLEDMaxLength, length));
return;
}
SimAddressableLEDData[led->index].length = length;
@@ -130,6 +135,11 @@
}
if (length > SimAddressableLEDData[led->index].length) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format(
+ "Data length must be less than or equal to {}. {} was requested",
+ SimAddressableLEDData[led->index].length, length));
return;
}
SimAddressableLEDData[led->index].SetData(data, length);
diff --git a/hal/src/main/native/sim/AnalogAccumulator.cpp b/hal/src/main/native/sim/AnalogAccumulator.cpp
index 537aa15..0f65b13 100644
--- a/hal/src/main/native/sim/AnalogAccumulator.cpp
+++ b/hal/src/main/native/sim/AnalogAccumulator.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogAccumulator.h"
@@ -12,11 +9,9 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogAccumulator() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
@@ -27,7 +22,9 @@
return false;
}
for (int32_t i = 0; i < kNumAccumulators; i++) {
- if (port->channel == kAccumulatorChannels[i]) return true;
+ if (port->channel == kAccumulatorChannels[i]) {
+ return true;
+ }
}
return false;
}
diff --git a/hal/src/main/native/sim/AnalogGyro.cpp b/hal/src/main/native/sim/AnalogGyro.cpp
index 9666f4a..3efca20 100644
--- a/hal/src/main/native/sim/AnalogGyro.cpp
+++ b/hal/src/main/native/sim/AnalogGyro.cpp
@@ -1,13 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogGyro.h"
+#include <string>
+
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/AnalogAccumulator.h"
#include "hal/Errors.h"
@@ -18,6 +18,7 @@
struct AnalogGyro {
HAL_AnalogInputHandle handle;
uint8_t index;
+ std::string previousAllocation;
};
} // namespace
@@ -26,41 +27,43 @@
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>* analogGyroHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogGyro() {
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>
agH;
analogGyroHandles = &agH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
+ const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
+ // Handle will be type checked by HAL_IsAccumulatorChannel
+ int16_t channel = getHandleIndex(analogHandle);
if (!HAL_IsAccumulatorChannel(analogHandle, status)) {
if (*status == 0) {
*status = HAL_INVALID_ACCUMULATOR_CHANNEL;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Gyro",
+ 0, kNumAccumulators, channel);
}
return HAL_kInvalidHandle;
}
- // handle known to be correct, so no need to type check
- int16_t channel = getHandleIndex(analogHandle);
+ HAL_GyroHandle handle;
+ auto gyro = analogGyroHandles->Allocate(channel, &handle, status);
- auto handle = analogGyroHandles->Allocate(channel, status);
-
- if (*status != 0)
+ if (*status != 0) {
+ if (gyro) {
+ hal::SetLastErrorPreviouslyAllocated(status, "Analog Gyro", channel,
+ gyro->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Gyro",
+ 0, kNumAccumulators, channel);
+ }
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- // Initialize port structure
- auto gyro = analogGyroHandles->Get(handle);
- if (gyro == nullptr) { // would only error on thread issue
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
}
gyro->handle = analogHandle;
@@ -68,6 +71,8 @@
SimAnalogGyroData[channel].initialized = true;
+ gyro->previousAllocation = allocationLocation ? allocationLocation : "";
+
return handle;
}
@@ -78,7 +83,9 @@
void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
auto gyro = analogGyroHandles->Get(handle);
analogGyroHandles->Free(handle);
- if (gyro == nullptr) return;
+ if (gyro == nullptr) {
+ return;
+ }
SimAnalogGyroData[gyro->index].initialized = false;
}
diff --git a/hal/src/main/native/sim/AnalogInput.cpp b/hal/src/main/native/sim/AnalogInput.cpp
index 8ecde74..4697dc2 100644
--- a/hal/src/main/native/sim/AnalogInput.cpp
+++ b/hal/src/main/native/sim/AnalogInput.cpp
@@ -1,14 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogInput.h"
#include "AnalogInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/AnalogAccumulator.h"
#include "hal/handles/HandlesInternal.h"
@@ -16,32 +14,35 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogInput() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
-HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
- int32_t* status) {
+HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
+ HAL_PortHandle portHandle, const char* allocationLocation,
+ int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
- if (channel == InvalidHandleIndex) {
- *status = PARAMETER_OUT_OF_RANGE;
+ if (channel == InvalidHandleIndex || channel >= kNumAnalogInputs) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
+ 0, kNumAnalogInputs, channel);
return HAL_kInvalidHandle;
}
- HAL_AnalogInputHandle handle = analogInputHandles->Allocate(channel, status);
+ HAL_AnalogInputHandle handle;
+ auto analog_port = analogInputHandles->Allocate(channel, &handle, status);
- if (*status != 0)
+ if (*status != 0) {
+ if (analog_port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "Analog Input", channel,
+ analog_port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
+ 0, kNumAnalogInputs, channel);
+ }
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- // Initialize port structure
- auto analog_port = analogInputHandles->Get(handle);
- if (analog_port == nullptr) { // would only error on thread issue
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
}
analog_port->channel = static_cast<uint8_t>(channel);
@@ -55,18 +56,25 @@
SimAnalogInData[channel].accumulatorInitialized = false;
SimAnalogInData[channel].simDevice = 0;
+ analog_port->previousAllocation =
+ allocationLocation ? allocationLocation : "";
+
return handle;
}
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle) {
auto port = analogInputHandles->Get(analogPortHandle);
// no status, so no need to check for a proper free.
analogInputHandles->Free(analogPortHandle);
- if (port == nullptr) return;
+ if (port == nullptr) {
+ return;
+ }
SimAnalogInData[port->channel].initialized = false;
SimAnalogInData[port->channel].accumulatorInitialized = false;
}
-HAL_Bool HAL_CheckAnalogModule(int32_t module) { return module == 1; }
+HAL_Bool HAL_CheckAnalogModule(int32_t module) {
+ return module == 1;
+}
HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) {
return channel < kNumAnalogInputs && channel >= 0;
@@ -75,14 +83,18 @@
void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
HAL_SimDeviceHandle device) {
auto port = analogInputHandles->Get(handle);
- if (port == nullptr) return;
+ if (port == nullptr) {
+ return;
+ }
SimAnalogInData[port->channel].simDevice = device;
}
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// No op
}
-double HAL_GetAnalogSampleRate(int32_t* status) { return kDefaultSampleRate; }
+double HAL_GetAnalogSampleRate(int32_t* status) {
+ return kDefaultSampleRate;
+}
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles->Get(analogPortHandle);
diff --git a/hal/src/main/native/sim/AnalogInternal.cpp b/hal/src/main/native/sim/AnalogInternal.cpp
index 820dc97..9b2c225 100644
--- a/hal/src/main/native/sim/AnalogInternal.cpp
+++ b/hal/src/main/native/sim/AnalogInternal.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "AnalogInternal.h"
@@ -15,13 +12,11 @@
HAL_HandleEnum::AnalogInput>* analogInputHandles;
} // namespace hal
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogInternal() {
static IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort,
kNumAnalogInputs, HAL_HandleEnum::AnalogInput>
aiH;
analogInputHandles = &aiH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
diff --git a/hal/src/main/native/sim/AnalogInternal.h b/hal/src/main/native/sim/AnalogInternal.h
index f4633f9..89cb359 100644
--- a/hal/src/main/native/sim/AnalogInternal.h
+++ b/hal/src/main/native/sim/AnalogInternal.h
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <string>
+
#include "PortsInternal.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/handles/IndexedHandleResource.h"
@@ -23,6 +22,7 @@
struct AnalogPort {
uint8_t channel;
bool isAccumulator;
+ std::string previousAllocation;
};
extern IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort,
diff --git a/hal/src/main/native/sim/AnalogOutput.cpp b/hal/src/main/native/sim/AnalogOutput.cpp
index 2e3a348..d04224a 100644
--- a/hal/src/main/native/sim/AnalogOutput.cpp
+++ b/hal/src/main/native/sim/AnalogOutput.cpp
@@ -1,13 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogOutput.h"
+#include <string>
+
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/Errors.h"
#include "hal/handles/HandlesInternal.h"
@@ -19,6 +19,7 @@
namespace {
struct AnalogOutput {
uint8_t channel;
+ std::string previousAllocation;
};
} // namespace
@@ -26,50 +27,58 @@
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>*
analogOutputHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogOutput() {
static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>
aoH;
analogOutputHandles = &aoH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
-HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
- int32_t* status) {
+HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
+ HAL_PortHandle portHandle, const char* allocationLocation,
+ int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
- if (channel == InvalidHandleIndex) {
- *status = PARAMETER_OUT_OF_RANGE;
+ if (channel == InvalidHandleIndex || channel >= kNumAnalogOutputs) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Output",
+ 0, kNumAnalogOutputs, channel);
return HAL_kInvalidHandle;
}
- HAL_AnalogOutputHandle handle =
- analogOutputHandles->Allocate(channel, status);
+ HAL_AnalogOutputHandle handle;
+ auto port = analogOutputHandles->Allocate(channel, &handle, status);
- if (*status != 0)
+ if (*status != 0) {
+ if (port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "Analog Output", channel,
+ port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status,
+ "Invalid Index for Analog Output", 0,
+ kNumAnalogOutputs, channel);
+ }
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- auto port = analogOutputHandles->Get(handle);
- if (port == nullptr) { // would only error on thread issue
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
}
port->channel = static_cast<uint8_t>(channel);
// Initialize sim analog input
SimAnalogOutData[channel].initialized = true;
+
+ port->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) {
// no status, so no need to check for a proper free.
auto port = analogOutputHandles->Get(analogOutputHandle);
- if (port == nullptr) return;
+ if (port == nullptr) {
+ return;
+ }
analogOutputHandles->Free(analogOutputHandle);
SimAnalogOutData[port->channel].initialized = false;
}
diff --git a/hal/src/main/native/sim/AnalogTrigger.cpp b/hal/src/main/native/sim/AnalogTrigger.cpp
index 62bfebc..50c4ab4 100644
--- a/hal/src/main/native/sim/AnalogTrigger.cpp
+++ b/hal/src/main/native/sim/AnalogTrigger.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/AnalogTrigger.h"
@@ -31,8 +28,7 @@
kNumAnalogTriggers, HAL_HandleEnum::AnalogTrigger>*
analogTriggerHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogTrigger() {
static LimitedHandleResource<HAL_AnalogTriggerHandle, AnalogTrigger,
kNumAnalogTriggers,
@@ -40,8 +36,7 @@
atH;
analogTriggerHandles = &atH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
int32_t hal::GetAnalogTriggerInputIndex(HAL_AnalogTriggerHandle handle,
int32_t* status) {
@@ -102,7 +97,9 @@
int32_t* status) {
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
analogTriggerHandles->Free(analogTriggerHandle);
- if (trigger == nullptr) return;
+ if (trigger == nullptr) {
+ return;
+ }
SimAnalogTriggerData[trigger->index].initialized = false;
// caller owns the analog input handle.
}
@@ -131,10 +128,14 @@
double trigLower =
GetAnalogValueToVoltage(trigger->analogHandle, lower, status);
- if (status != 0) return;
+ if (status != nullptr) {
+ return;
+ }
double trigUpper =
GetAnalogValueToVoltage(trigger->analogHandle, upper, status);
- if (status != 0) return;
+ if (status != nullptr) {
+ return;
+ }
SimAnalogTriggerData[trigger->index].triggerUpperBound = trigUpper;
SimAnalogTriggerData[trigger->index].triggerLowerBound = trigLower;
diff --git a/hal/src/main/native/sim/CAN.cpp b/hal/src/main/native/sim/CAN.cpp
index 1e7af73..93a422b 100644
--- a/hal/src/main/native/sim/CAN.cpp
+++ b/hal/src/main/native/sim/CAN.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/CAN.h"
@@ -11,11 +8,9 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeCAN() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
diff --git a/hal/src/main/native/sim/CANAPI.cpp b/hal/src/main/native/sim/CANAPI.cpp
index c410dea..4d733bb 100644
--- a/hal/src/main/native/sim/CANAPI.cpp
+++ b/hal/src/main/native/sim/CANAPI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/CANAPI.h"
diff --git a/hal/src/main/native/sim/CANAPIInternal.h b/hal/src/main/native/sim/CANAPIInternal.h
index 074f682..10e64ef 100644
--- a/hal/src/main/native/sim/CANAPIInternal.h
+++ b/hal/src/main/native/sim/CANAPIInternal.h
@@ -1,16 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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"
-namespace hal {
-namespace can {
+namespace hal::can {
int32_t GetCANModuleFromHandle(HAL_CANHandle handle, int32_t* status);
-} // namespace can
-} // namespace hal
+} // namespace hal::can
diff --git a/hal/src/main/native/sim/CTREPCM.cpp b/hal/src/main/native/sim/CTREPCM.cpp
new file mode 100644
index 0000000..93f9135
--- /dev/null
+++ b/hal/src/main/native/sim/CTREPCM.cpp
@@ -0,0 +1,218 @@
+// 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.
+
+#include "hal/CTREPCM.h"
+
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
+#include "mockdata/CTREPCMDataInternal.h"
+
+using namespace hal;
+
+namespace {
+struct PCM {
+ int32_t module;
+ wpi::mutex lock;
+ std::string previousAllocation;
+};
+} // namespace
+
+static IndexedHandleResource<HAL_CTREPCMHandle, PCM, kNumCTREPCMModules,
+ HAL_HandleEnum::CTREPCM>* pcmHandles;
+
+namespace hal::init {
+void InitializeCTREPCM() {
+ static IndexedHandleResource<HAL_CTREPCMHandle, PCM, kNumCTREPCMModules,
+ HAL_HandleEnum::CTREPCM>
+ pH;
+ pcmHandles = &pH;
+}
+} // namespace hal::init
+
+HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
+ const char* allocationLocation,
+ int32_t* status) {
+ hal::init::CheckInit();
+
+ HAL_CTREPCMHandle handle;
+ auto pcm = pcmHandles->Allocate(module, &handle, status);
+
+ if (*status != 0) {
+ if (pcm) {
+ hal::SetLastErrorPreviouslyAllocated(status, "CTRE PCM", module,
+ pcm->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
+ kNumCTREPCMModules, module);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
+ pcm->previousAllocation = allocationLocation ? allocationLocation : "";
+ pcm->module = module;
+
+ SimCTREPCMData[module].initialized = true;
+ // Enable closed loop
+ SimCTREPCMData[module].closedLoopEnabled = true;
+
+ return handle;
+}
+
+void HAL_FreeCTREPCM(HAL_CTREPCMHandle handle) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ pcmHandles->Free(handle);
+ return;
+ }
+ SimCTREPCMData[pcm->module].initialized = false;
+ pcmHandles->Free(handle);
+}
+
+HAL_Bool HAL_CheckCTREPCMSolenoidChannel(int32_t channel) {
+ return channel < kNumCTRESolenoidChannels && channel >= 0;
+}
+
+HAL_Bool HAL_GetCTREPCMCompressor(HAL_CTREPCMHandle handle, int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ return SimCTREPCMData[pcm->module].compressorOn;
+}
+
+void HAL_SetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle, HAL_Bool enabled,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ SimCTREPCMData[pcm->module].closedLoopEnabled = enabled;
+}
+
+HAL_Bool HAL_GetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ return SimCTREPCMData[pcm->module].closedLoopEnabled;
+}
+
+HAL_Bool HAL_GetCTREPCMPressureSwitch(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ return SimCTREPCMData[pcm->module].pressureSwitch;
+}
+
+double HAL_GetCTREPCMCompressorCurrent(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ return SimCTREPCMData[pcm->module].compressorCurrent;
+}
+
+HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ return false;
+}
+
+HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(
+ HAL_CTREPCMHandle handle, int32_t* status) {
+ return false;
+}
+
+HAL_Bool HAL_GetCTREPCMCompressorShortedStickyFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ return false;
+}
+
+HAL_Bool HAL_GetCTREPCMCompressorShortedFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ return false;
+}
+
+HAL_Bool HAL_GetCTREPCMCompressorNotConnectedStickyFault(
+ HAL_CTREPCMHandle handle, int32_t* status) {
+ return false;
+}
+
+HAL_Bool HAL_GetCTREPCMCompressorNotConnectedFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ return false;
+}
+
+int32_t HAL_GetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ std::scoped_lock lock{pcm->lock};
+ auto& data = SimCTREPCMData[pcm->module].solenoidOutput;
+ uint8_t ret = 0;
+ for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+ ret |= (data[i] << i);
+ }
+ return ret;
+}
+void HAL_SetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t mask,
+ int32_t values, int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ auto& data = SimCTREPCMData[pcm->module].solenoidOutput;
+ std::scoped_lock lock{pcm->lock};
+ for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+ auto indexMask = (1 << i);
+ if ((mask & indexMask) != 0) {
+ data[i] = (values & indexMask) != 0;
+ }
+ }
+}
+
+int32_t HAL_GetCTREPCMSolenoidDisabledList(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ return 0;
+}
+
+HAL_Bool HAL_GetCTREPCMSolenoidVoltageStickyFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ return false;
+}
+
+HAL_Bool HAL_GetCTREPCMSolenoidVoltageFault(HAL_CTREPCMHandle handle,
+ int32_t* status) {
+ return false;
+}
+
+void HAL_ClearAllCTREPCMStickyFaults(HAL_CTREPCMHandle handle,
+ int32_t* status) {}
+
+void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
+ int32_t* status) {}
+void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
+ int32_t durMs, int32_t* status) {}
diff --git a/hal/src/main/native/sim/Compressor.cpp b/hal/src/main/native/sim/Compressor.cpp
deleted file mode 100644
index b5c5867..0000000
--- a/hal/src/main/native/sim/Compressor.cpp
+++ /dev/null
@@ -1,123 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "hal/Compressor.h"
-
-#include "HALInitializer.h"
-#include "PortsInternal.h"
-#include "hal/Errors.h"
-#include "hal/handles/HandlesInternal.h"
-#include "mockdata/PCMDataInternal.h"
-
-using namespace hal;
-
-namespace hal {
-namespace init {
-void InitializeCompressor() {}
-} // namespace init
-} // namespace hal
-
-extern "C" {
-
-HAL_CompressorHandle HAL_InitializeCompressor(int32_t module, int32_t* status) {
- hal::init::CheckInit();
- // As compressors can have unlimited objects, just create a
- // handle with the module number as the index.
-
- SimPCMData[module].compressorInitialized = true;
- return (HAL_CompressorHandle)createHandle(static_cast<int16_t>(module),
- HAL_HandleEnum::Compressor, 0);
-}
-
-HAL_Bool HAL_CheckCompressorModule(int32_t module) {
- return module < kNumPCMModules && module >= 0;
-}
-
-HAL_Bool HAL_GetCompressor(HAL_CompressorHandle compressorHandle,
- int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
-
- return SimPCMData[index].compressorOn;
-}
-
-void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressorHandle,
- HAL_Bool value, int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- SimPCMData[index].closedLoopEnabled = value;
-}
-
-HAL_Bool HAL_GetCompressorClosedLoopControl(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
-
- return SimPCMData[index].closedLoopEnabled;
-}
-
-HAL_Bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressorHandle,
- int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
-
- return SimPCMData[index].pressureSwitch;
-}
-
-double HAL_GetCompressorCurrent(HAL_CompressorHandle compressorHandle,
- int32_t* status) {
- int16_t index =
- getHandleTypedIndex(compressorHandle, HAL_HandleEnum::Compressor, 0);
- if (index == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return 0;
- }
-
- return SimPCMData[index].compressorCurrent;
-}
-HAL_Bool HAL_GetCompressorCurrentTooHighFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- return false;
-}
-HAL_Bool HAL_GetCompressorCurrentTooHighStickyFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- return false;
-}
-HAL_Bool HAL_GetCompressorShortedStickyFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- return false;
-}
-HAL_Bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressorHandle,
- int32_t* status) {
- return false;
-}
-HAL_Bool HAL_GetCompressorNotConnectedStickyFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- return false;
-}
-HAL_Bool HAL_GetCompressorNotConnectedFault(
- HAL_CompressorHandle compressorHandle, int32_t* status) {
- return false;
-}
-} // extern "C"
diff --git a/hal/src/main/native/sim/Constants.cpp b/hal/src/main/native/sim/Constants.cpp
index 64cb52b..6c1361e 100644
--- a/hal/src/main/native/sim/Constants.cpp
+++ b/hal/src/main/native/sim/Constants.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Constants.h"
@@ -11,11 +8,9 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeConstants() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
int32_t HAL_GetSystemClockTicksPerMicrosecond(void) {
diff --git a/hal/src/main/native/sim/ConstantsInternal.h b/hal/src/main/native/sim/ConstantsInternal.h
index c3a6e8f..f4af049 100644
--- a/hal/src/main/native/sim/ConstantsInternal.h
+++ b/hal/src/main/native/sim/ConstantsInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/Counter.cpp b/hal/src/main/native/sim/Counter.cpp
index f0ea1c4..a56b646 100644
--- a/hal/src/main/native/sim/Counter.cpp
+++ b/hal/src/main/native/sim/Counter.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Counter.h"
@@ -19,16 +16,14 @@
HAL_HandleEnum::Counter>* counterHandles;
} // namespace hal
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeCounter() {
static LimitedHandleResource<HAL_CounterHandle, Counter, kNumCounters,
HAL_HandleEnum::Counter>
cH;
counterHandles = &cH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
diff --git a/hal/src/main/native/sim/CounterInternal.h b/hal/src/main/native/sim/CounterInternal.h
index 70fbe54..81433fa 100644
--- a/hal/src/main/native/sim/CounterInternal.h
+++ b/hal/src/main/native/sim/CounterInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/DIO.cpp b/hal/src/main/native/sim/DIO.cpp
index f6347d9..1b744a1 100644
--- a/hal/src/main/native/sim/DIO.cpp
+++ b/hal/src/main/native/sim/DIO.cpp
@@ -1,14 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/DIO.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/handles/LimitedHandleResource.h"
@@ -21,8 +19,7 @@
kNumDigitalPWMOutputs, HAL_HandleEnum::DigitalPWM>*
digitalPWMHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeDIO() {
static LimitedHandleResource<HAL_DigitalPWMHandle, uint8_t,
kNumDigitalPWMOutputs,
@@ -30,32 +27,38 @@
dpH;
digitalPWMHandles = &dpH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
- HAL_Bool input, int32_t* status) {
+ HAL_Bool input,
+ const char* allocationLocation,
+ int32_t* status) {
hal::init::CheckInit();
- if (*status != 0) return HAL_kInvalidHandle;
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
- *status = PARAMETER_OUT_OF_RANGE;
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
+ kNumDigitalChannels, channel);
return HAL_kInvalidHandle;
}
- auto handle =
- digitalChannelHandles->Allocate(channel, HAL_HandleEnum::DIO, status);
+ HAL_DigitalHandle handle;
- if (*status != 0)
+ auto port = digitalChannelHandles->Allocate(channel, HAL_HandleEnum::DIO,
+ &handle, status);
+
+ if (*status != 0) {
+ if (port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
+ port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
+ kNumDigitalChannels, channel);
+ }
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
- if (port == nullptr) { // would only occur on thread issue.
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
}
port->channel = static_cast<uint8_t>(channel);
@@ -63,6 +66,7 @@
SimDIOData[channel].initialized = true;
SimDIOData[channel].isInput = input;
SimDIOData[channel].simDevice = 0;
+ port->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
@@ -75,13 +79,17 @@
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
// no status, so no need to check for a proper free.
digitalChannelHandles->Free(dioPortHandle, HAL_HandleEnum::DIO);
- if (port == nullptr) return;
+ if (port == nullptr) {
+ return;
+ }
SimDIOData[port->channel].initialized = false;
}
void HAL_SetDIOSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device) {
auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
- if (port == nullptr) return;
+ if (port == nullptr) {
+ return;
+ }
SimDIOData[port->channel].simDevice = device;
}
@@ -107,7 +115,9 @@
void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
digitalPWMHandles->Free(pwmGenerator);
- if (port == nullptr) return;
+ if (port == nullptr) {
+ return;
+ }
int32_t id = *port;
SimDigitalPWMData[id].initialized = false;
}
@@ -132,8 +142,12 @@
return;
}
int32_t id = *port;
- if (dutyCycle > 1.0) dutyCycle = 1.0;
- if (dutyCycle < 0.0) dutyCycle = 0.0;
+ if (dutyCycle > 1.0) {
+ dutyCycle = 1.0;
+ }
+ if (dutyCycle < 0.0) {
+ dutyCycle = 0.0;
+ }
SimDigitalPWMData[id].dutyCycle = dutyCycle;
}
@@ -156,7 +170,14 @@
return;
}
if (value != 0 && value != 1) {
- if (value != 0) value = 1;
+ if (value != 0) {
+ value = 1;
+ }
+ }
+ if (SimDIOData[port->channel].isInput) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, "Cannot set output of an input channel");
+ return;
}
SimDIOData[port->channel].value = value;
}
@@ -179,8 +200,12 @@
return false;
}
HAL_Bool value = SimDIOData[port->channel].value;
- if (value > 1) value = 1;
- if (value < 0) value = 0;
+ if (value > 1) {
+ value = 1;
+ }
+ if (value < 0) {
+ value = 0;
+ }
return value;
}
@@ -191,8 +216,12 @@
return false;
}
HAL_Bool value = SimDIOData[port->channel].isInput;
- if (value > 1) value = 1;
- if (value < 0) value = 0;
+ if (value > 1) {
+ value = 1;
+ }
+ if (value < 0) {
+ value = 0;
+ }
return value;
}
diff --git a/hal/src/main/native/sim/DMA.cpp b/hal/src/main/native/sim/DMA.cpp
index cea5a29..c000ac5 100644
--- a/hal/src/main/native/sim/DMA.cpp
+++ b/hal/src/main/native/sim/DMA.cpp
@@ -1,18 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/DMA.h"
extern "C" {
-HAL_DMAHandle HAL_InitializeDMA(int32_t* status) { return HAL_kInvalidHandle; }
+HAL_DMAHandle HAL_InitializeDMA(int32_t* status) {
+ return HAL_kInvalidHandle;
+}
void HAL_FreeDMA(HAL_DMAHandle handle) {}
void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status) {}
-void HAL_SetDMARate(HAL_DMAHandle handle, int32_t cycles, int32_t* status) {}
+void HAL_SetDMATimedTrigger(HAL_DMAHandle handle, double periodSeconds,
+ int32_t* status) {}
+void HAL_SetDMATimedTriggerCycles(HAL_DMAHandle handle, uint32_t cycles,
+ int32_t* status) {}
void HAL_AddDMAEncoder(HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle,
int32_t* status) {}
@@ -41,28 +43,36 @@
HAL_DutyCycleHandle dutyCycleHandle, int32_t* status) {
}
-void HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
- HAL_Handle digitalSourceHandle,
- HAL_AnalogTriggerType analogTriggerType,
- HAL_Bool rising, HAL_Bool falling,
- int32_t* status) {}
+int32_t HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
+ HAL_Handle digitalSourceHandle,
+ HAL_AnalogTriggerType analogTriggerType,
+ HAL_Bool rising, HAL_Bool falling,
+ int32_t* status) {
+ return 0;
+}
+
+void HAL_ClearDMASensors(HAL_DMAHandle handle, int32_t* status) {}
+void HAL_ClearDMAExternalTriggers(HAL_DMAHandle handle, int32_t* status) {}
void HAL_StartDMA(HAL_DMAHandle handle, int32_t queueDepth, int32_t* status) {}
void HAL_StopDMA(HAL_DMAHandle handle, int32_t* status) {}
-void* HAL_GetDMADirectPointer(HAL_DMAHandle handle) { return nullptr; }
+void* HAL_GetDMADirectPointer(HAL_DMAHandle handle) {
+ return nullptr;
+}
enum HAL_DMAReadStatus HAL_ReadDMADirect(void* dmaPointer,
HAL_DMASample* dmaSample,
- int32_t timeoutMs,
+ double timeoutSeconds,
int32_t* remainingOut,
int32_t* status) {
return HAL_DMA_ERROR;
}
enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
- HAL_DMASample* dmaSample, int32_t timeoutMs,
- int32_t* remainingOut, int32_t* status) {
+ HAL_DMASample* dmaSample,
+ double timeoutSeconds, int32_t* remainingOut,
+ int32_t* status) {
return HAL_DMA_ERROR;
}
diff --git a/hal/src/main/native/sim/DigitalInternal.cpp b/hal/src/main/native/sim/DigitalInternal.cpp
index db6455a..b7c1d2f 100644
--- a/hal/src/main/native/sim/DigitalInternal.cpp
+++ b/hal/src/main/native/sim/DigitalInternal.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "DigitalInternal.h"
@@ -55,7 +52,9 @@
}
}
-int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
+int32_t remapMXPChannel(int32_t channel) {
+ return channel - 10;
+}
int32_t remapMXPPWMChannel(int32_t channel) {
if (channel < 14) {
diff --git a/hal/src/main/native/sim/DigitalInternal.h b/hal/src/main/native/sim/DigitalInternal.h
index d169c8a..cd1ac5f 100644
--- a/hal/src/main/native/sim/DigitalInternal.h
+++ b/hal/src/main/native/sim/DigitalInternal.h
@@ -1,14 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <string>
+
#include "PortsInternal.h"
#include "hal/AnalogTrigger.h"
#include "hal/handles/DigitalHandleResource.h"
@@ -59,6 +58,7 @@
int32_t centerPwm = 0;
int32_t deadbandMinPwm = 0;
int32_t minPwm = 0;
+ std::string previousAllocation;
};
extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
diff --git a/hal/src/main/native/sim/DriverStation.cpp b/hal/src/main/native/sim/DriverStation.cpp
index aef8556..723cdac 100644
--- a/hal/src/main/native/sim/DriverStation.cpp
+++ b/hal/src/main/native/sim/DriverStation.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/DriverStation.h"
@@ -16,9 +13,9 @@
#include <cstring>
#include <string>
+#include <fmt/format.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
-#include <wpi/raw_ostream.h>
#include "HALInitializer.h"
#include "hal/cpp/fpga_clock.h"
@@ -34,14 +31,12 @@
static std::atomic<HALSIM_SendConsoleLineHandler> sendConsoleLineHandler{
nullptr};
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeDriverStation() {
static wpi::condition_variable nddaC;
newDSDataAvailableCond = &nddaC;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
using namespace hal;
@@ -59,9 +54,10 @@
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg) {
auto errorHandler = sendErrorHandler.load();
- if (errorHandler)
+ if (errorHandler) {
return errorHandler(isError, errorCode, isLVCode, details, location,
callStack, printMsg);
+ }
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
@@ -79,20 +75,24 @@
auto curTime = fpga_clock::now();
int i;
for (i = 0; i < KEEP_MSGS; ++i) {
- if (prevMsg[i] == details) break;
+ if (prevMsg[i] == details) {
+ break;
+ }
}
int retval = 0;
if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= std::chrono::seconds(1)) {
printMsg = true;
if (printMsg) {
+ fmt::memory_buffer buf;
if (location && location[0] != '\0') {
- std::fprintf(stderr, "%s at %s: ", isError ? "Error" : "Warning",
- location);
+ fmt::format_to(fmt::appender{buf},
+ "{} at {}: ", isError ? "Error" : "Warning", location);
}
- std::fprintf(stderr, "%s\n", details);
+ fmt::format_to(fmt::appender{buf}, "{}\n", details);
if (callStack && callStack[0] != '\0') {
- std::fprintf(stderr, "%s\n", callStack);
+ fmt::format_to(fmt::appender{buf}, "{}\n", callStack);
}
+ std::fwrite(buf.data(), buf.size(), 1, stderr);
}
if (i == KEEP_MSGS) {
// replace the oldest one
@@ -116,12 +116,13 @@
if (handler) {
return handler(line);
}
- wpi::outs() << line << "\n";
- wpi::outs().flush();
+ std::puts(line);
+ std::fflush(stdout);
return 0;
}
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
+ std::memset(controlWord, 0, sizeof(HAL_ControlWord));
controlWord->enabled = SimDriverStationData->enabled;
controlWord->autonomous = SimDriverStationData->autonomous;
controlWord->test = SimDriverStationData->test;
@@ -179,9 +180,13 @@
return name;
}
-void HAL_FreeJoystickName(char* name) { std::free(name); }
+void HAL_FreeJoystickName(char* name) {
+ std::free(name);
+}
-int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis) { return 0; }
+int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis) {
+ return 0;
+}
int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble) {
@@ -199,7 +204,9 @@
return 0;
}
-void HAL_ObserveUserProgramStarting(void) { HALSIM_SetProgramStarted(); }
+void HAL_ObserveUserProgramStarting(void) {
+ HALSIM_SetProgramStarted();
+}
void HAL_ObserveUserProgramDisabled(void) {
// TODO
@@ -230,12 +237,16 @@
std::scoped_lock lock(newDSDataAvailableMutex);
int& lastCount = GetThreadLocalLastCount();
int currentCount = newDSDataAvailableCounter;
- if (lastCount == currentCount) return false;
+ if (lastCount == currentCount) {
+ return false;
+ }
lastCount = currentCount;
return true;
}
-void HAL_WaitForDSData(void) { HAL_WaitForDSDataTimeout(0); }
+void HAL_WaitForDSData(void) {
+ HAL_WaitForDSDataTimeout(0);
+}
HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
std::unique_lock lock(newDSDataAvailableMutex);
@@ -272,7 +283,9 @@
static int32_t newDataOccur(uint32_t refNum) {
// Since we could get other values, require our specific handle
// to signal our threads
- if (refNum != refNumber) return 0;
+ if (refNum != refNumber) {
+ return 0;
+ }
SimDriverStationData->CallNewDataCallbacks();
std::scoped_lock lock(newDSDataAvailableMutex);
// Nofify all threads
@@ -286,11 +299,15 @@
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
// Initial check, as if it's true initialization has finished
- if (initialized) return;
+ if (initialized) {
+ return;
+ }
std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
- if (initialized) return;
+ if (initialized) {
+ return;
+ }
SimDriverStationData->ResetData();
@@ -302,6 +319,8 @@
initialized = true;
}
-void HAL_ReleaseDSMutex(void) { newDataOccur(refNumber); }
+void HAL_ReleaseDSMutex(void) {
+ newDataOccur(refNumber);
+}
} // extern "C"
diff --git a/hal/src/main/native/sim/DutyCycle.cpp b/hal/src/main/native/sim/DutyCycle.cpp
index 0e14eeb..51c6506 100644
--- a/hal/src/main/native/sim/DutyCycle.cpp
+++ b/hal/src/main/native/sim/DutyCycle.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/DutyCycle.h"
@@ -26,16 +23,14 @@
static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
HAL_HandleEnum::DutyCycle>* dutyCycleHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeDutyCycle() {
static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
HAL_HandleEnum::DutyCycle>
dcH;
dutyCycleHandles = &dcH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
@@ -65,14 +60,18 @@
void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {
auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
dutyCycleHandles->Free(dutyCycleHandle);
- if (dutyCycle == nullptr) return;
+ if (dutyCycle == nullptr) {
+ return;
+ }
SimDutyCycleData[dutyCycle->index].initialized = false;
}
void HAL_SetDutyCycleSimDevice(HAL_EncoderHandle handle,
HAL_SimDeviceHandle device) {
auto dutyCycle = dutyCycleHandles->Get(handle);
- if (dutyCycle == nullptr) return;
+ if (dutyCycle == nullptr) {
+ return;
+ }
SimDutyCycleData[dutyCycle->index].simDevice = device;
}
diff --git a/hal/src/main/native/sim/Encoder.cpp b/hal/src/main/native/sim/Encoder.cpp
index 32416f0..78aa281 100644
--- a/hal/src/main/native/sim/Encoder.cpp
+++ b/hal/src/main/native/sim/Encoder.cpp
@@ -1,14 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Encoder.h"
#include "CounterInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/Errors.h"
#include "hal/handles/HandlesInternal.h"
@@ -20,6 +18,8 @@
namespace {
struct Encoder {
HAL_Handle nativeHandle;
+ HAL_FPGAEncoderHandle fpgaHandle;
+ HAL_CounterHandle counterHandle;
HAL_EncoderEncodingType encodingType;
double distancePerPulse;
uint8_t index;
@@ -34,8 +34,7 @@
static LimitedHandleResource<HAL_FPGAEncoderHandle, Empty, kNumEncoders,
HAL_HandleEnum::FPGAEncoder>* fpgaEncoderHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeEncoder() {
static LimitedHandleResource<HAL_FPGAEncoderHandle, Empty, kNumEncoders,
HAL_HandleEnum::FPGAEncoder>
@@ -47,7 +46,21 @@
eH;
encoderHandles = &eH;
}
-} // namespace init
+} // namespace hal::init
+
+namespace hal {
+bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
+ HAL_FPGAEncoderHandle* fpgaHandle,
+ HAL_CounterHandle* counterHandle) {
+ auto encoder = encoderHandles->Get(handle);
+ if (!handle) {
+ return false;
+ }
+
+ *fpgaHandle = encoder->fpgaHandle;
+ *counterHandle = encoder->counterHandle;
+ return true;
+}
} // namespace hal
extern "C" {
@@ -90,13 +103,22 @@
encoder->nativeHandle = nativeHandle;
encoder->encodingType = encodingType;
encoder->distancePerPulse = 1.0;
+ if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
+ encoder->fpgaHandle = nativeHandle;
+ encoder->counterHandle = HAL_kInvalidHandle;
+ } else {
+ encoder->fpgaHandle = HAL_kInvalidHandle;
+ encoder->counterHandle = nativeHandle;
+ }
return handle;
}
void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles->Get(encoderHandle);
encoderHandles->Free(encoderHandle);
- if (encoder == nullptr) return;
+ if (encoder == nullptr) {
+ return;
+ }
if (isHandleType(encoder->nativeHandle, HAL_HandleEnum::FPGAEncoder)) {
fpgaEncoderHandles->Free(encoder->nativeHandle);
} else if (isHandleType(encoder->nativeHandle, HAL_HandleEnum::Counter)) {
@@ -108,7 +130,9 @@
void HAL_SetEncoderSimDevice(HAL_EncoderHandle handle,
HAL_SimDeviceHandle device) {
auto encoder = encoderHandles->Get(handle);
- if (encoder == nullptr) return;
+ if (encoder == nullptr) {
+ return;
+ }
SimEncoderData[encoder->index].simDevice = device;
}
@@ -174,9 +198,9 @@
return;
}
+ SimEncoderData[encoder->index].reset = true;
SimEncoderData[encoder->index].count = 0;
SimEncoderData[encoder->index].period = std::numeric_limits<double>::max();
- SimEncoderData[encoder->index].reset = true;
}
double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles->Get(encoderHandle);
@@ -247,6 +271,7 @@
if (minRate == 0.0) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, "minRate must not be 0");
return;
}
@@ -263,6 +288,7 @@
if (distancePerPulse == 0.0) {
*status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, "distancePerPulse must not be 0");
return;
}
encoder->distancePerPulse = distancePerPulse;
diff --git a/hal/src/main/native/sim/ErrorsInternal.h b/hal/src/main/native/sim/ErrorsInternal.h
index 55372d8..42d1560 100644
--- a/hal/src/main/native/sim/ErrorsInternal.h
+++ b/hal/src/main/native/sim/ErrorsInternal.h
@@ -1,13 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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
-typedef enum {
+#include <stdint.h>
+
+enum CTR_Code {
CTR_OKAY, // No Error - Function executed as expected
CTR_RxTimeout, // CAN frame has not been received within specified period of
// time.
@@ -18,7 +17,7 @@
CTR_SigNotUpdated, // Have not received an value response for signal.
CTR_BufferFull, // Caller attempted to insert data into a buffer that is
// full.
-} CTR_Code;
+};
// VISA Error
#define _VI_ERROR (-2147483647L - 1)
@@ -109,104 +108,104 @@
* Represents the resulting status of a function call through its return value.
* 0 is success, negative values are errors, and positive values are warnings.
*/
-typedef int32_t NiFpga_Status;
+using NiFpga_Status = int32_t; // NOLINT
/**
* No errors or warnings.
*/
-static const NiFpga_Status NiFpga_Status_Success = 0;
+constexpr NiFpga_Status NiFpga_Status_Success = 0;
/**
* The timeout expired before the FIFO operation could complete.
*/
-static const NiFpga_Status NiFpga_Status_FifoTimeout = -50400;
+constexpr NiFpga_Status NiFpga_Status_FifoTimeout = -50400;
/**
* No transfer is in progress because the transfer was aborted by the client.
* The operation could not be completed as specified.
*/
-static const NiFpga_Status NiFpga_Status_TransferAborted = -50405;
+constexpr NiFpga_Status NiFpga_Status_TransferAborted = -50405;
/**
* A memory allocation failed. Try again after rebooting.
*/
-static const NiFpga_Status NiFpga_Status_MemoryFull = -52000;
+constexpr NiFpga_Status NiFpga_Status_MemoryFull = -52000;
/**
* An unexpected software error occurred.
*/
-static const NiFpga_Status NiFpga_Status_SoftwareFault = -52003;
+constexpr NiFpga_Status NiFpga_Status_SoftwareFault = -52003;
/**
* A parameter to a function was not valid. This could be a NULL pointer, a bad
* value, etc.
*/
-static const NiFpga_Status NiFpga_Status_InvalidParameter = -52005;
+constexpr NiFpga_Status NiFpga_Status_InvalidParameter = -52005;
/**
* A required resource was not found. The NiFpga.* library, the RIO resource, or
* some other resource may be missing.
*/
-static const NiFpga_Status NiFpga_Status_ResourceNotFound = -52006;
+constexpr NiFpga_Status NiFpga_Status_ResourceNotFound = -52006;
/**
* A required resource was not properly initialized. This could occur if
* NiFpga_Initialize was not called or a required NiFpga_IrqContext was not
* reserved.
*/
-static const NiFpga_Status NiFpga_Status_ResourceNotInitialized = -52010;
+constexpr NiFpga_Status NiFpga_Status_ResourceNotInitialized = -52010;
/**
* A hardware failure has occurred. The operation could not be completed as
* specified.
*/
-static const NiFpga_Status NiFpga_Status_HardwareFault = -52018;
+constexpr NiFpga_Status NiFpga_Status_HardwareFault = -52018;
/**
* The FPGA is already running.
*/
-static const NiFpga_Status NiFpga_Status_FpgaAlreadyRunning = -61003;
+constexpr NiFpga_Status NiFpga_Status_FpgaAlreadyRunning = -61003;
/**
* An error occurred downloading the VI to the FPGA device. Verify that
* the target is connected and powered and that the resource of the target
* is properly configured.
*/
-static const NiFpga_Status NiFpga_Status_DownloadError = -61018;
+constexpr NiFpga_Status NiFpga_Status_DownloadError = -61018;
/**
* The bitfile was not compiled for the specified resource's device type.
*/
-static const NiFpga_Status NiFpga_Status_DeviceTypeMismatch = -61024;
+constexpr NiFpga_Status NiFpga_Status_DeviceTypeMismatch = -61024;
/**
* An error was detected in the communication between the host computer and the
* FPGA target.
*/
-static const NiFpga_Status NiFpga_Status_CommunicationTimeout = -61046;
+constexpr NiFpga_Status NiFpga_Status_CommunicationTimeout = -61046;
/**
* The timeout expired before any of the IRQs were asserted.
*/
-static const NiFpga_Status NiFpga_Status_IrqTimeout = -61060;
+constexpr NiFpga_Status NiFpga_Status_IrqTimeout = -61060;
/**
* The specified bitfile is invalid or corrupt.
*/
-static const NiFpga_Status NiFpga_Status_CorruptBitfile = -61070;
+constexpr NiFpga_Status NiFpga_Status_CorruptBitfile = -61070;
/**
* The requested FIFO depth is invalid. It is either 0 or an amount not
* supported by the hardware.
*/
-static const NiFpga_Status NiFpga_Status_BadDepth = -61072;
+constexpr NiFpga_Status NiFpga_Status_BadDepth = -61072;
/**
* The number of FIFO elements is invalid. Either the number is greater than the
* depth of the host memory DMA FIFO, or more elements were requested for
* release than had been acquired.
*/
-static const NiFpga_Status NiFpga_Status_BadReadWriteCount = -61073;
+constexpr NiFpga_Status NiFpga_Status_BadReadWriteCount = -61073;
/**
* A hardware clocking error occurred. A derived clock lost lock with its base
@@ -219,62 +218,62 @@
* generated from free-running, on-board sources, please contact National
* Instruments technical support at ni.com/support.
*/
-static const NiFpga_Status NiFpga_Status_ClockLostLock = -61083;
+constexpr NiFpga_Status NiFpga_Status_ClockLostLock = -61083;
/**
* The operation could not be performed because the FPGA is busy. Stop all
* activities on the FPGA before requesting this operation. If the target is in
* Scan Interface programming mode, put it in FPGA Interface programming mode.
*/
-static const NiFpga_Status NiFpga_Status_FpgaBusy = -61141;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusy = -61141;
/**
* The operation could not be performed because the FPGA is busy operating in
* FPGA Interface C API mode. Stop all activities on the FPGA before requesting
* this operation.
*/
-static const NiFpga_Status NiFpga_Status_FpgaBusyFpgaInterfaceCApi = -61200;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyFpgaInterfaceCApi = -61200;
/**
* The chassis is in Scan Interface programming mode. In order to run FPGA VIs,
* you must go to the chassis properties page, select FPGA programming mode, and
* deploy settings.
*/
-static const NiFpga_Status NiFpga_Status_FpgaBusyScanInterface = -61201;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyScanInterface = -61201;
/**
* The operation could not be performed because the FPGA is busy operating in
* FPGA Interface mode. Stop all activities on the FPGA before requesting this
* operation.
*/
-static const NiFpga_Status NiFpga_Status_FpgaBusyFpgaInterface = -61202;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyFpgaInterface = -61202;
/**
* The operation could not be performed because the FPGA is busy operating in
* Interactive mode. Stop all activities on the FPGA before requesting this
* operation.
*/
-static const NiFpga_Status NiFpga_Status_FpgaBusyInteractive = -61203;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyInteractive = -61203;
/**
* The operation could not be performed because the FPGA is busy operating in
* Emulation mode. Stop all activities on the FPGA before requesting this
* operation.
*/
-static const NiFpga_Status NiFpga_Status_FpgaBusyEmulation = -61204;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyEmulation = -61204;
/**
* LabVIEW FPGA does not support the Reset method for bitfiles that allow
* removal of implicit enable signals in single-cycle Timed Loops.
*/
-static const NiFpga_Status NiFpga_Status_ResetCalledWithImplicitEnableRemoval =
+constexpr NiFpga_Status NiFpga_Status_ResetCalledWithImplicitEnableRemoval =
-61211;
/**
* LabVIEW FPGA does not support the Abort method for bitfiles that allow
* removal of implicit enable signals in single-cycle Timed Loops.
*/
-static const NiFpga_Status NiFpga_Status_AbortCalledWithImplicitEnableRemoval =
+constexpr NiFpga_Status NiFpga_Status_AbortCalledWithImplicitEnableRemoval =
-61212;
/**
@@ -283,7 +282,7 @@
* Pass the NiFpga_CloseAttribute_NoResetIfLastSession attribute to NiFpga_Close
* instead of 0.
*/
-static const NiFpga_Status
+constexpr NiFpga_Status
NiFpga_Status_CloseAndResetCalledWithImplicitEnableRemoval = -61213;
/**
@@ -291,14 +290,14 @@
* Timed Loops, LabVIEW FPGA does not support this method prior to running the
* bitfile.
*/
-static const NiFpga_Status NiFpga_Status_ImplicitEnableRemovalButNotYetRun =
+constexpr NiFpga_Status NiFpga_Status_ImplicitEnableRemovalButNotYetRun =
-61214;
/**
* Bitfiles that allow removal of implicit enable signals in single-cycle Timed
* Loops can run only once. Download the bitfile again before re-running the VI.
*/
-static const NiFpga_Status
+constexpr NiFpga_Status
NiFpga_Status_RunAfterStoppedCalledWithImplicitEnableRemoval = -61215;
/**
@@ -307,8 +306,7 @@
* protocol. If you are generating your clocks internally, please contact
* National Instruments Technical Support.
*/
-static const NiFpga_Status NiFpga_Status_GatedClockHandshakingViolation =
- -61216;
+constexpr NiFpga_Status NiFpga_Status_GatedClockHandshakingViolation = -61216;
/**
* The number of elements requested must be less than or equal to the number of
@@ -316,7 +314,7 @@
* fewer unacquired elements left in the FIFO than are being requested. Release
* some acquired elements before acquiring more elements.
*/
-static const NiFpga_Status NiFpga_Status_ElementsNotPermissibleToBeAcquired =
+constexpr NiFpga_Status NiFpga_Status_ElementsNotPermissibleToBeAcquired =
-61219;
/**
@@ -324,12 +322,12 @@
* discovery mode. Wait for configuration or discovery to complete and retry
* your operation.
*/
-static const NiFpga_Status NiFpga_Status_FpgaBusyConfiguration = -61252;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyConfiguration = -61252;
/**
* An unexpected internal error occurred.
*/
-static const NiFpga_Status NiFpga_Status_InternalError = -61499;
+constexpr NiFpga_Status NiFpga_Status_InternalError = -61499;
/**
* The NI-RIO driver was unable to allocate memory for a FIFO. This can happen
@@ -338,52 +336,52 @@
* to reconfigure the controller with a greater maximum FIFO depth. For more
* information, refer to the NI KnowledgeBase article 65OF2ERQ.
*/
-static const NiFpga_Status NiFpga_Status_TotalDmaFifoDepthExceeded = -63003;
+constexpr NiFpga_Status NiFpga_Status_TotalDmaFifoDepthExceeded = -63003;
/**
* Access to the remote system was denied. Use MAX to check the Remote Device
* Access settings under Software>>NI-RIO>>NI-RIO Settings on the remote system.
*/
-static const NiFpga_Status NiFpga_Status_AccessDenied = -63033;
+constexpr NiFpga_Status NiFpga_Status_AccessDenied = -63033;
/**
* The NI-RIO software on the host is not compatible with the software on the
* target. Upgrade the NI-RIO software on the host in order to connect to this
* target.
*/
-static const NiFpga_Status NiFpga_Status_HostVersionMismatch = -63038;
+constexpr NiFpga_Status NiFpga_Status_HostVersionMismatch = -63038;
/**
* A connection could not be established to the specified remote device. Ensure
* that the device is on and accessible over the network, that NI-RIO software
* is installed, and that the RIO server is running and properly configured.
*/
-static const NiFpga_Status NiFpga_Status_RpcConnectionError = -63040;
+constexpr NiFpga_Status NiFpga_Status_RpcConnectionError = -63040;
/**
* The RPC session is invalid. The target may have reset or been rebooted. Check
* the network connection and retry the operation.
*/
-static const NiFpga_Status NiFpga_Status_RpcSessionError = -63043;
+constexpr NiFpga_Status NiFpga_Status_RpcSessionError = -63043;
/**
* The operation could not complete because another session is accessing the
* FIFO. Close the other session and retry.
*/
-static const NiFpga_Status NiFpga_Status_FifoReserved = -63082;
+constexpr NiFpga_Status NiFpga_Status_FifoReserved = -63082;
/**
* A Configure FIFO, Stop FIFO, Read FIFO, or Write FIFO function was called
* while the host had acquired elements of the FIFO. Release all acquired
* elements before configuring, stopping, reading, or writing.
*/
-static const NiFpga_Status NiFpga_Status_FifoElementsCurrentlyAcquired = -63083;
+constexpr NiFpga_Status NiFpga_Status_FifoElementsCurrentlyAcquired = -63083;
/**
* A function was called using a misaligned address. The address must be a
* multiple of the size of the datatype.
*/
-static const NiFpga_Status NiFpga_Status_MisalignedAccess = -63084;
+constexpr NiFpga_Status NiFpga_Status_MisalignedAccess = -63084;
/**
* The FPGA Read/Write Control Function is accessing a control or indicator
@@ -391,7 +389,7 @@
* Refer to the hardware documentation for the limitations on data types for
* this target.
*/
-static const NiFpga_Status NiFpga_Status_ControlOrIndicatorTooLarge = -63085;
+constexpr NiFpga_Status NiFpga_Status_ControlOrIndicatorTooLarge = -63085;
/**
* A valid .lvbitx bitfile is required. If you are using a valid .lvbitx
@@ -399,14 +397,14 @@
* Determine which version of LabVIEW was used to make the bitfile, update your
* software to that version or later, and try again.
*/
-static const NiFpga_Status NiFpga_Status_BitfileReadError = -63101;
+constexpr NiFpga_Status NiFpga_Status_BitfileReadError = -63101;
/**
* The specified signature does not match the signature of the bitfile. If the
* bitfile has been recompiled, regenerate the C API and rebuild the
* application.
*/
-static const NiFpga_Status NiFpga_Status_SignatureMismatch = -63106;
+constexpr NiFpga_Status NiFpga_Status_SignatureMismatch = -63106;
/**
* The bitfile you are trying to use is incompatible with the version
@@ -416,33 +414,33 @@
* with the same version of NI-RIO that is currently installed on the
* target and/or host.
*/
-static const NiFpga_Status NiFpga_Status_IncompatibleBitfile = -63107;
+constexpr NiFpga_Status NiFpga_Status_IncompatibleBitfile = -63107;
/**
* Either the supplied resource name is invalid as a RIO resource name, or the
* device was not found. Use MAX to find the proper resource name for the
* intended device.
*/
-static const NiFpga_Status NiFpga_Status_InvalidResourceName = -63192;
+constexpr NiFpga_Status NiFpga_Status_InvalidResourceName = -63192;
/**
* The requested feature is not supported.
*/
-static const NiFpga_Status NiFpga_Status_FeatureNotSupported = -63193;
+constexpr NiFpga_Status NiFpga_Status_FeatureNotSupported = -63193;
/**
* The NI-RIO software on the target system is not compatible with this
* software. Upgrade the NI-RIO software on the target system.
*/
-static const NiFpga_Status NiFpga_Status_VersionMismatch = -63194;
+constexpr NiFpga_Status NiFpga_Status_VersionMismatch = -63194;
/**
* The session is invalid or has been closed.
*/
-static const NiFpga_Status NiFpga_Status_InvalidSession = -63195;
+constexpr NiFpga_Status NiFpga_Status_InvalidSession = -63195;
/**
* The maximum number of open FPGA sessions has been reached. Close some open
* sessions.
*/
-static const NiFpga_Status NiFpga_Status_OutOfHandles = -63198;
+constexpr NiFpga_Status NiFpga_Status_OutOfHandles = -63198;
diff --git a/hal/src/main/native/sim/Extensions.cpp b/hal/src/main/native/sim/Extensions.cpp
index e638d6a..9131bcb 100644
--- a/hal/src/main/native/sim/Extensions.cpp
+++ b/hal/src/main/native/sim/Extensions.cpp
@@ -1,18 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Extensions.h"
+#include <cstdio>
+#include <string_view>
#include <vector>
-#include <wpi/Path.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringRef.h>
-#include <wpi/raw_ostream.h>
+#include <fmt/format.h>
+#include <wpi/SmallVector.h>
+#include <wpi/StringExtras.h>
+#include <wpi/fs.h>
#include <wpi/spinlock.h>
#if defined(WIN32) || defined(_WIN32)
@@ -27,7 +26,7 @@
#define DLOPEN(a) LoadLibraryA(a)
#define DLSYM GetProcAddress
#define DLCLOSE FreeLibrary
-#define DLERROR "error #" << GetLastError()
+#define DLERROR fmt::format("error #{}", GetLastError())
#else
#define DELIM ':'
#define HTYPE void*
@@ -43,11 +42,9 @@
static std::vector<std::pair<void*, void (*)(void*, const char*, void*)>>
gExtensionListeners;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeExtensions() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
static bool& GetShowNotFoundMessage() {
static bool showMsg = true;
@@ -58,66 +55,64 @@
int HAL_LoadOneExtension(const char* library) {
int rc = 1; // It is expected and reasonable not to find an extra simulation
- wpi::outs() << "HAL Extensions: Attempting to load: "
- << wpi::sys::path::stem(library) << "\n";
- wpi::outs().flush();
+ fmt::print("HAL Extensions: Attempting to load: {}\n",
+ fs::path{library}.stem().string());
+ std::fflush(stdout);
HTYPE handle = DLOPEN(library);
#if !defined(WIN32) && !defined(_WIN32)
if (!handle) {
- wpi::SmallString<128> libraryName("lib");
- libraryName += library;
#if defined(__APPLE__)
- libraryName += ".dylib";
+ auto libraryName = fmt::format("lib{}.dylib", library);
#else
- libraryName += ".so";
+ auto libraryName = fmt::format("lib{}.so", library);
#endif
- wpi::outs() << "HAL Extensions: Load failed: " << DLERROR
- << "\nTrying modified name: "
- << wpi::sys::path::stem(libraryName) << "\n";
- wpi::outs().flush();
+ fmt::print("HAL Extensions: Load failed: {}\nTrying modified name: {}\n",
+ DLERROR, fs::path{libraryName}.stem().string());
+ std::fflush(stdout);
handle = DLOPEN(libraryName.c_str());
}
#endif
if (!handle) {
- wpi::outs() << "HAL Extensions: Failed to load library: " << DLERROR
- << '\n';
- wpi::outs().flush();
+ fmt::print("HAL Extensions: Failed to load library: {}\n", DLERROR);
+ std::fflush(stdout);
return rc;
}
auto init = reinterpret_cast<halsim_extension_init_func_t*>(
DLSYM(handle, "HALSIM_InitExtension"));
- if (init) rc = (*init)();
+ if (init) {
+ rc = (*init)();
+ }
if (rc != 0) {
- wpi::outs() << "HAL Extensions: Failed to load extension\n";
- wpi::outs().flush();
+ std::puts("HAL Extensions: Failed to load extension");
+ std::fflush(stdout);
DLCLOSE(handle);
} else {
- wpi::outs() << "HAL Extensions: Successfully loaded extension\n";
- wpi::outs().flush();
+ std::puts("HAL Extensions: Successfully loaded extension");
+ std::fflush(stdout);
}
return rc;
}
int HAL_LoadExtensions(void) {
int rc = 1;
- wpi::SmallVector<wpi::StringRef, 2> libraries;
+ wpi::SmallVector<std::string_view, 2> libraries;
const char* e = std::getenv("HALSIM_EXTENSIONS");
if (!e) {
if (GetShowNotFoundMessage()) {
- wpi::outs() << "HAL Extensions: No extensions found\n";
- wpi::outs().flush();
+ std::puts("HAL Extensions: No extensions found");
+ std::fflush(stdout);
}
return rc;
}
- wpi::StringRef env{e};
- env.split(libraries, DELIM, -1, false);
- for (auto& libref : libraries) {
- wpi::SmallString<128> library(libref);
- rc = HAL_LoadOneExtension(library.c_str());
- if (rc < 0) break;
+ wpi::split(e, libraries, DELIM, -1, false);
+ for (auto& library : libraries) {
+ rc = HAL_LoadOneExtension(std::string(library).c_str());
+ if (rc < 0) {
+ break;
+ }
}
return rc;
}
@@ -125,8 +120,9 @@
void HAL_RegisterExtension(const char* name, void* data) {
std::scoped_lock lock(gExtensionRegistryMutex);
gExtensionRegistry.emplace_back(name, data);
- for (auto&& listener : gExtensionListeners)
+ for (auto&& listener : gExtensionListeners) {
listener.second(listener.first, name, data);
+ }
}
void HAL_RegisterExtensionListener(void* param,
@@ -134,8 +130,9 @@
void* data)) {
std::scoped_lock lock(gExtensionRegistryMutex);
gExtensionListeners.emplace_back(param, func);
- for (auto&& extension : gExtensionRegistry)
+ for (auto&& extension : gExtensionRegistry) {
func(param, extension.first, extension.second);
+ }
}
void HAL_SetShowExtensionsNotFoundMessages(HAL_Bool showMessage) {
diff --git a/hal/src/main/native/sim/HAL.cpp b/hal/src/main/native/sim/HAL.cpp
index 64c4a10..8d911df 100644
--- a/hal/src/main/native/sim/HAL.cpp
+++ b/hal/src/main/native/sim/HAL.cpp
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/HAL.h"
+#include <cstdio>
#include <vector>
#include <wpi/mutex.h>
-#include <wpi/raw_ostream.h>
#include <wpi/spinlock.h>
#ifdef _WIN32
@@ -26,16 +23,41 @@
#include "hal/Extensions.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/simulation/DriverStationData.h"
+#include "hal/simulation/SimCallbackRegistry.h"
#include "mockdata/RoboRioDataInternal.h"
using namespace hal;
-static HAL_RuntimeType runtimeType{HAL_Mock};
+namespace {
+class SimPeriodicCallbackRegistry : public impl::SimCallbackRegistryBase {
+ public:
+ int32_t Register(HALSIM_SimPeriodicCallback callback, void* param) {
+ std::scoped_lock lock(m_mutex);
+ return DoRegister(reinterpret_cast<RawFunctor>(callback), param);
+ }
+
+ void operator()() const {
+#ifdef _MSC_VER // work around VS2019 16.4.0 bug
+ std::scoped_lock<wpi::recursive_spinlock> lock(m_mutex);
+#else
+ std::scoped_lock lock(m_mutex);
+#endif
+ if (m_callbacks) {
+ for (auto&& cb : *m_callbacks) {
+ reinterpret_cast<HALSIM_SimPeriodicCallback>(cb.callback)(cb.param);
+ }
+ }
+ }
+};
+} // namespace
+
+static HAL_RuntimeType runtimeType{HAL_Runtime_Simulation};
static wpi::spinlock gOnShutdownMutex;
static std::vector<std::pair<void*, void (*)(void*)>> gOnShutdown;
+static SimPeriodicCallbackRegistry gSimPeriodicBefore;
+static SimPeriodicCallbackRegistry gSimPeriodicAfter;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeHAL() {
InitializeAccelerometerData();
InitializeAddressableLEDData();
@@ -51,8 +73,9 @@
InitializeDriverStationData();
InitializeEncoderData();
InitializeI2CData();
- InitializePCMData();
- InitializePDPData();
+ InitializeCTREPCMData();
+ InitializeREVPHData();
+ InitializePowerDistributionData();
InitializePWMData();
InitializeRelayData();
InitializeRoboRioData();
@@ -68,7 +91,6 @@
InitializeAnalogOutput();
InitializeAnalogTrigger();
InitializeCAN();
- InitializeCompressor();
InitializeConstants();
InitializeCounter();
InitializeDigitalInternal();
@@ -82,32 +104,38 @@
InitializeMain();
InitializeMockHooks();
InitializeNotifier();
- InitializePDP();
+ InitializePowerDistribution();
InitializePorts();
InitializePower();
+ InitializeCTREPCM();
+ InitializeREVPH();
InitializePWM();
InitializeRelay();
InitializeSerialPort();
InitializeSimDevice();
- InitializeSolenoid();
InitializeSPI();
InitializeThreads();
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_PortHandle HAL_GetPort(int32_t channel) {
// Dont allow a number that wouldn't fit in a uint8_t
- if (channel < 0 || channel >= 255) return HAL_kInvalidHandle;
+ if (channel < 0 || channel >= 255) {
+ return HAL_kInvalidHandle;
+ }
return createPortHandle(channel, 1);
}
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) {
// Dont allow a number that wouldn't fit in a uint8_t
- if (channel < 0 || channel >= 255) return HAL_kInvalidHandle;
- if (module < 0 || module >= 255) return HAL_kInvalidHandle;
+ if (channel < 0 || channel >= 255) {
+ return HAL_kInvalidHandle;
+ }
+ if (module < 0 || module >= 255) {
+ return HAL_kInvalidHandle;
+ }
return createPortHandle(channel, module);
}
@@ -223,14 +251,22 @@
return HAL_CAN_BUFFER_OVERRUN_MESSAGE;
case HAL_LED_CHANNEL_ERROR:
return HAL_LED_CHANNEL_ERROR_MESSAGE;
+ case HAL_USE_LAST_ERROR:
+ return HAL_USE_LAST_ERROR_MESSAGE;
+ case HAL_CONSOLE_OUT_ENABLED_ERROR:
+ return HAL_CONSOLE_OUT_ENABLED_ERROR_MESSAGE;
default:
return "Unknown error status";
}
}
-HAL_RuntimeType HAL_GetRuntimeType(void) { return runtimeType; }
+HAL_RuntimeType HAL_GetRuntimeType(void) {
+ return runtimeType;
+}
-void HALSIM_SetRuntimeType(HAL_RuntimeType type) { runtimeType = type; }
+void HALSIM_SetRuntimeType(HAL_RuntimeType type) {
+ runtimeType = type;
+}
int32_t HAL_GetFPGAVersion(int32_t* status) {
return 2018; // Automatically script this at some point
@@ -240,28 +276,32 @@
return 0; // TODO: Find a better number to return;
}
-uint64_t HAL_GetFPGATime(int32_t* status) { return hal::GetFPGATime(); }
+uint64_t HAL_GetFPGATime(int32_t* status) {
+ return hal::GetFPGATime();
+}
-uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status) {
+uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status) {
// Capture the current FPGA time. This will give us the upper half of the
// clock.
- uint64_t fpga_time = HAL_GetFPGATime(status);
- if (*status != 0) return 0;
+ uint64_t fpgaTime = HAL_GetFPGATime(status);
+ if (*status != 0) {
+ return 0;
+ }
// Now, we need to detect the case where the lower bits rolled over after we
// sampled. In that case, the upper bits will be 1 bigger than they should
// be.
// Break it into lower and upper portions.
- uint32_t lower = fpga_time & 0xffffffffull;
- uint64_t upper = (fpga_time >> 32) & 0xffffffff;
+ uint32_t lower = fpgaTime & 0xffffffffull;
+ uint64_t upper = (fpgaTime >> 32) & 0xffffffff;
// The time was sampled *before* the current time, so roll it back.
- if (lower < unexpanded_lower) {
+ if (lower < unexpandedLower) {
--upper;
}
- return (upper << 32) + static_cast<uint64_t>(unexpanded_lower);
+ return (upper << 32) + static_cast<uint64_t>(unexpandedLower);
}
HAL_Bool HAL_GetFPGAButton(int32_t* status) {
@@ -280,11 +320,15 @@
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
// Initial check, as if it's true initialization has finished
- if (initialized) return true;
+ if (initialized) {
+ return true;
+ }
std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
- if (initialized) return true;
+ if (initialized) {
+ return true;
+ }
hal::init::InitializeHAL();
@@ -311,8 +355,14 @@
}
#endif // _WIN32
- wpi::outs().SetUnbuffered();
- if (HAL_LoadExtensions() < 0) return false;
+#ifndef _WIN32
+ setlinebuf(stdin);
+ setlinebuf(stdout);
+#endif
+
+ if (HAL_LoadExtensions() < 0) {
+ return false;
+ }
return true; // Add initialization if we need to at a later point
}
@@ -333,6 +383,32 @@
gOnShutdown.emplace_back(param, func);
}
+void HAL_SimPeriodicBefore(void) {
+ gSimPeriodicBefore();
+}
+
+void HAL_SimPeriodicAfter(void) {
+ gSimPeriodicAfter();
+}
+
+int32_t HALSIM_RegisterSimPeriodicBeforeCallback(
+ HALSIM_SimPeriodicCallback callback, void* param) {
+ return gSimPeriodicBefore.Register(callback, param);
+}
+
+void HALSIM_CancelSimPeriodicBeforeCallback(int32_t uid) {
+ gSimPeriodicBefore.Cancel(uid);
+}
+
+int32_t HALSIM_RegisterSimPeriodicAfterCallback(
+ HALSIM_SimPeriodicCallback callback, void* param) {
+ return gSimPeriodicAfter.Register(callback, param);
+}
+
+void HALSIM_CancelSimPeriodicAfterCallback(int32_t uid) {
+ gSimPeriodicAfter.Cancel(uid);
+}
+
int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
const char* feature) {
return 0; // Do nothing for now
diff --git a/hal/src/main/native/sim/HALInitializer.cpp b/hal/src/main/native/sim/HALInitializer.cpp
index 5c2242b..50cc9ab 100644
--- a/hal/src/main/native/sim/HALInitializer.cpp
+++ b/hal/src/main/native/sim/HALInitializer.cpp
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "HALInitializer.h"
#include "hal/HALBase.h"
-namespace hal {
-namespace init {
+namespace hal::init {
std::atomic_bool HAL_IsInitialized{false};
-void RunInitialize() { HAL_Initialize(500, 0); }
-} // namespace init
-} // namespace hal
+void RunInitialize() {
+ HAL_Initialize(500, 0);
+}
+} // namespace hal::init
diff --git a/hal/src/main/native/sim/HALInitializer.h b/hal/src/main/native/sim/HALInitializer.h
index 29efac5..308e2f4 100644
--- a/hal/src/main/native/sim/HALInitializer.h
+++ b/hal/src/main/native/sim/HALInitializer.h
@@ -1,20 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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 <atomic>
-namespace hal {
-namespace init {
+namespace hal::init {
extern std::atomic_bool HAL_IsInitialized;
extern void RunInitialize();
-static inline void CheckInit() {
- if (HAL_IsInitialized.load(std::memory_order_relaxed)) return;
+inline void CheckInit() {
+ if (HAL_IsInitialized.load(std::memory_order_relaxed)) {
+ return;
+ }
RunInitialize();
}
@@ -33,8 +31,9 @@
extern void InitializeDriverStationData();
extern void InitializeEncoderData();
extern void InitializeI2CData();
-extern void InitializePCMData();
-extern void InitializePDPData();
+extern void InitializeCTREPCMData();
+extern void InitializeREVPHData();
+extern void InitializePowerDistributionData();
extern void InitializePWMData();
extern void InitializeRelayData();
extern void InitializeRoboRioData();
@@ -50,7 +49,6 @@
extern void InitializeAnalogOutput();
extern void InitializeAnalogTrigger();
extern void InitializeCAN();
-extern void InitializeCompressor();
extern void InitializeConstants();
extern void InitializeCounter();
extern void InitializeDigitalInternal();
@@ -64,16 +62,16 @@
extern void InitializeMain();
extern void InitializeMockHooks();
extern void InitializeNotifier();
-extern void InitializePDP();
+extern void InitializePowerDistribution();
extern void InitializePorts();
extern void InitializePower();
+extern void InitializeCTREPCM();
+extern void InitializeREVPH();
extern void InitializePWM();
extern void InitializeRelay();
extern void InitializeSerialPort();
extern void InitializeSimDevice();
-extern void InitializeSolenoid();
extern void InitializeSPI();
extern void InitializeThreads();
-} // namespace init
-} // namespace hal
+} // namespace hal::init
diff --git a/hal/src/main/native/sim/HALInternal.h b/hal/src/main/native/sim/HALInternal.h
new file mode 100644
index 0000000..7a7863a
--- /dev/null
+++ b/hal/src/main/native/sim/HALInternal.h
@@ -0,0 +1,19 @@
+// 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 <string_view>
+
+namespace hal {
+void SetLastError(int32_t* status, std::string_view value);
+void SetLastErrorIndexOutOfRange(int32_t* status, std::string_view message,
+ int32_t minimum, int32_t maximum,
+ int32_t channel);
+void SetLastErrorPreviouslyAllocated(int32_t* status, std::string_view message,
+ int32_t channel,
+ std::string_view previousAllocation);
+} // namespace hal
diff --git a/hal/src/main/native/sim/I2C.cpp b/hal/src/main/native/sim/I2C.cpp
index fe4952f..0b50fe6 100644
--- a/hal/src/main/native/sim/I2C.cpp
+++ b/hal/src/main/native/sim/I2C.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/I2C.h"
@@ -12,11 +9,9 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeI2C() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
@@ -40,5 +35,7 @@
SimI2CData[port].Read(deviceAddress, buffer, count);
return 0;
}
-void HAL_CloseI2C(HAL_I2CPort port) { SimI2CData[port].initialized = false; }
+void HAL_CloseI2C(HAL_I2CPort port) {
+ SimI2CData[port].initialized = false;
+}
} // extern "C"
diff --git a/hal/src/main/native/sim/Interrupts.cpp b/hal/src/main/native/sim/Interrupts.cpp
index 7760f06..e55316d 100644
--- a/hal/src/main/native/sim/Interrupts.cpp
+++ b/hal/src/main/native/sim/Interrupts.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Interrupts.h"
@@ -45,16 +42,12 @@
HAL_Handle portHandle;
uint8_t index;
HAL_AnalogTriggerType trigType;
- bool watcher;
int64_t risingTimestamp;
int64_t fallingTimestamp;
bool previousState;
bool fireOnUp;
bool fireOnDown;
int32_t callbackId;
-
- void* callbackParam;
- HAL_InterruptHandlerFunction callbackFunction;
};
struct SynchronousWaitData {
@@ -67,13 +60,12 @@
static LimitedHandleResource<HAL_InterruptHandle, Interrupt, kNumInterrupts,
HAL_HandleEnum::Interrupt>* interruptHandles;
-typedef HAL_Handle SynchronousWaitDataHandle;
+using SynchronousWaitDataHandle = HAL_Handle;
static UnlimitedHandleResource<SynchronousWaitDataHandle, SynchronousWaitData,
HAL_HandleEnum::Vendor>*
synchronousInterruptHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeInterrupts() {
static LimitedHandleResource<HAL_InterruptHandle, Interrupt, kNumInterrupts,
HAL_HandleEnum::Interrupt>
@@ -84,12 +76,10 @@
siH;
synchronousInterruptHandles = &siH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
-HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher,
- int32_t* status) {
+HAL_InterruptHandle HAL_InitializeInterrupts(int32_t* status) {
hal::init::CheckInit();
HAL_InterruptHandle handle = interruptHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
@@ -105,19 +95,10 @@
anInterrupt->index = getHandleIndex(handle);
anInterrupt->callbackId = -1;
- anInterrupt->watcher = watcher;
-
return handle;
}
-void* HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle,
- int32_t* status) {
- HAL_DisableInterrupts(interruptHandle, status);
- auto anInterrupt = interruptHandles->Get(interruptHandle);
+void HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle) {
interruptHandles->Free(interruptHandle);
- if (anInterrupt == nullptr) {
- return nullptr;
- }
- return anInterrupt->callbackParam;
}
static void ProcessInterruptDigitalSynchronous(const char* name, void* param,
@@ -128,18 +109,32 @@
SynchronousWaitDataHandle handle =
static_cast<SynchronousWaitDataHandle>(handleTmp);
auto interruptData = synchronousInterruptHandles->Get(handle);
- if (interruptData == nullptr) return;
+ if (interruptData == nullptr) {
+ return;
+ }
auto interrupt = interruptHandles->Get(interruptData->interruptHandle);
- if (interrupt == nullptr) return;
+ if (interrupt == nullptr) {
+ return;
+ }
// Have a valid interrupt
- if (value->type != HAL_Type::HAL_BOOLEAN) return;
+ if (value->type != HAL_Type::HAL_BOOLEAN) {
+ return;
+ }
bool retVal = value->data.v_boolean;
+ auto previousState = interrupt->previousState;
+ interrupt->previousState = retVal;
// If no change in interrupt, return;
- if (retVal == interrupt->previousState) return;
+ if (retVal == previousState) {
+ return;
+ }
// If its a falling change, and we dont fire on falling return
- if (interrupt->previousState && !interrupt->fireOnDown) return;
+ if (previousState && !interrupt->fireOnDown) {
+ return;
+ }
// If its a rising change, and we dont fire on rising return.
- if (!interrupt->previousState && !interrupt->fireOnUp) return;
+ if (!previousState && !interrupt->fireOnUp) {
+ return;
+ }
interruptData->waitPredicate = true;
@@ -161,11 +156,17 @@
SynchronousWaitDataHandle handle =
static_cast<SynchronousWaitDataHandle>(handleTmp);
auto interruptData = synchronousInterruptHandles->Get(handle);
- if (interruptData == nullptr) return;
+ if (interruptData == nullptr) {
+ return;
+ }
auto interrupt = interruptHandles->Get(interruptData->interruptHandle);
- if (interrupt == nullptr) return;
+ if (interrupt == nullptr) {
+ return;
+ }
// Have a valid interrupt
- if (value->type != HAL_Type::HAL_DOUBLE) return;
+ if (value->type != HAL_Type::HAL_DOUBLE) {
+ return;
+ }
int32_t status = 0;
bool retVal = GetAnalogTriggerValue(interrupt->portHandle,
interrupt->trigType, &status);
@@ -175,12 +176,20 @@
// Pulse interrupt
interruptData->waitCond.notify_all();
}
+ auto previousState = interrupt->previousState;
+ interrupt->previousState = retVal;
// If no change in interrupt, return;
- if (retVal == interrupt->previousState) return;
+ if (retVal == previousState) {
+ return;
+ }
// If its a falling change, and we dont fire on falling return
- if (interrupt->previousState && !interrupt->fireOnDown) return;
+ if (previousState && !interrupt->fireOnDown) {
+ return;
+ }
// If its a rising change, and we dont fire on rising return.
- if (!interrupt->previousState && !interrupt->fireOnUp) return;
+ if (!previousState && !interrupt->fireOnUp) {
+ return;
+ }
interruptData->waitPredicate = true;
@@ -207,7 +216,9 @@
int32_t digitalIndex = GetDigitalInputChannel(interrupt->portHandle, &status);
- if (status != 0) return WaitResult::Timeout;
+ if (status != 0) {
+ return WaitResult::Timeout;
+ }
interrupt->previousState = SimDIOData[digitalIndex].value;
@@ -238,7 +249,9 @@
(void)synchronousInterruptHandles->Free(dataHandle);
// Check for what to return
- if (timedOut) return WaitResult::Timeout;
+ if (timedOut) {
+ return WaitResult::Timeout;
+ }
// True => false, Falling
if (interrupt->previousState) {
// Set our return value and our timestamps
@@ -268,12 +281,16 @@
interrupt->previousState = GetAnalogTriggerValue(
interrupt->portHandle, interrupt->trigType, &status);
- if (status != 0) return WaitResult::Timeout;
+ if (status != 0) {
+ return WaitResult::Timeout;
+ }
int32_t analogIndex =
GetAnalogTriggerInputIndex(interrupt->portHandle, &status);
- if (status != 0) return WaitResult::Timeout;
+ if (status != 0) {
+ return WaitResult::Timeout;
+ }
int32_t uid = SimAnalogInData[analogIndex].voltage.RegisterCallback(
&ProcessInterruptAnalogSynchronous,
@@ -302,7 +319,9 @@
(void)synchronousInterruptHandles->Free(dataHandle);
// Check for what to return
- if (timedOut) return WaitResult::Timeout;
+ if (timedOut) {
+ return WaitResult::Timeout;
+ }
// True => false, Falling
if (interrupt->previousState) {
// Set our return value and our timestamps
@@ -323,12 +342,6 @@
return WaitResult::Timeout;
}
- // Check to make sure we are actually an interrupt in synchronous mode
- if (!interrupt->watcher) {
- *status = NiFpga_Status_InvalidParameter;
- return WaitResult::Timeout;
- }
-
if (interrupt->isAnalog) {
return WaitForInterruptAnalog(interruptHandle, interrupt.get(), timeout,
ignorePrevious);
@@ -338,158 +351,6 @@
}
}
-static void ProcessInterruptDigitalAsynchronous(const char* name, void* param,
- const struct HAL_Value* value) {
- // void* is a HAL handle
- // convert to uintptr_t first, then to handle
- uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
- HAL_InterruptHandle handle = static_cast<HAL_InterruptHandle>(handleTmp);
- auto interrupt = interruptHandles->Get(handle);
- if (interrupt == nullptr) return;
- // Have a valid interrupt
- if (value->type != HAL_Type::HAL_BOOLEAN) return;
- bool retVal = value->data.v_boolean;
- // If no change in interrupt, return;
- if (retVal == interrupt->previousState) return;
- int32_t mask = 0;
- if (interrupt->previousState) {
- interrupt->previousState = retVal;
- interrupt->fallingTimestamp = hal::GetFPGATime();
- mask = 1 << (8 + interrupt->index);
- if (!interrupt->fireOnDown) return;
- } else {
- interrupt->previousState = retVal;
- interrupt->risingTimestamp = hal::GetFPGATime();
- mask = 1 << (interrupt->index);
- if (!interrupt->fireOnUp) return;
- }
-
- // run callback
- auto callback = interrupt->callbackFunction;
- if (callback == nullptr) return;
- callback(mask, interrupt->callbackParam);
-}
-
-static void ProcessInterruptAnalogAsynchronous(const char* name, void* param,
- const struct HAL_Value* value) {
- // void* is a HAL handle
- // convert to intptr_t first, then to handle
- uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
- HAL_InterruptHandle handle = static_cast<HAL_InterruptHandle>(handleTmp);
- auto interrupt = interruptHandles->Get(handle);
- if (interrupt == nullptr) return;
- // Have a valid interrupt
- if (value->type != HAL_Type::HAL_DOUBLE) return;
- int32_t status = 0;
- bool retVal = GetAnalogTriggerValue(interrupt->portHandle,
- interrupt->trigType, &status);
- if (status != 0) return;
- // If no change in interrupt, return;
- if (retVal == interrupt->previousState) return;
- int mask = 0;
- if (interrupt->previousState) {
- interrupt->previousState = retVal;
- interrupt->fallingTimestamp = hal::GetFPGATime();
- if (!interrupt->fireOnDown) return;
- mask = 1 << (8 + interrupt->index);
- } else {
- interrupt->previousState = retVal;
- interrupt->risingTimestamp = hal::GetFPGATime();
- if (!interrupt->fireOnUp) return;
- mask = 1 << (interrupt->index);
- }
-
- // run callback
- auto callback = interrupt->callbackFunction;
- if (callback == nullptr) return;
- callback(mask, interrupt->callbackParam);
-}
-
-static void EnableInterruptsDigital(HAL_InterruptHandle handle,
- Interrupt* interrupt) {
- int32_t status = 0;
- int32_t digitalIndex = GetDigitalInputChannel(interrupt->portHandle, &status);
- if (status != 0) return;
-
- interrupt->previousState = SimDIOData[digitalIndex].value;
-
- int32_t uid = SimDIOData[digitalIndex].value.RegisterCallback(
- &ProcessInterruptDigitalAsynchronous,
- reinterpret_cast<void*>(static_cast<uintptr_t>(handle)), false);
- interrupt->callbackId = uid;
-}
-
-static void EnableInterruptsAnalog(HAL_InterruptHandle handle,
- Interrupt* interrupt) {
- int32_t status = 0;
- int32_t analogIndex =
- GetAnalogTriggerInputIndex(interrupt->portHandle, &status);
- if (status != 0) return;
-
- status = 0;
- interrupt->previousState = GetAnalogTriggerValue(
- interrupt->portHandle, interrupt->trigType, &status);
- if (status != 0) return;
-
- int32_t uid = SimAnalogInData[analogIndex].voltage.RegisterCallback(
- &ProcessInterruptAnalogAsynchronous,
- reinterpret_cast<void*>(static_cast<uintptr_t>(handle)), false);
- interrupt->callbackId = uid;
-}
-
-void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle,
- int32_t* status) {
- auto interrupt = interruptHandles->Get(interruptHandle);
- if (interrupt == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- // If we have not had a callback set, error out
- if (interrupt->callbackFunction == nullptr) {
- *status = INCOMPATIBLE_STATE;
- return;
- }
-
- // EnableInterrupts has already been called
- if (interrupt->callbackId >= 0) {
- // We can double enable safely.
- return;
- }
-
- if (interrupt->isAnalog) {
- EnableInterruptsAnalog(interruptHandle, interrupt.get());
- } else {
- EnableInterruptsDigital(interruptHandle, interrupt.get());
- }
-}
-void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
- int32_t* status) {
- auto interrupt = interruptHandles->Get(interruptHandle);
- if (interrupt == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- // No need to disable if we are already disabled
- if (interrupt->callbackId < 0) return;
-
- if (interrupt->isAnalog) {
- // Do analog
- int32_t status = 0;
- int32_t analogIndex =
- GetAnalogTriggerInputIndex(interrupt->portHandle, &status);
- if (status != 0) return;
- SimAnalogInData[analogIndex].voltage.CancelCallback(interrupt->callbackId);
- } else {
- int32_t status = 0;
- int32_t digitalIndex =
- GetDigitalInputChannel(interrupt->portHandle, &status);
- if (status != 0) return;
- SimDIOData[digitalIndex].value.CancelCallback(interrupt->callbackId);
- }
- interrupt->callbackId = -1;
-}
int64_t HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
int32_t* status) {
auto interrupt = interruptHandles->Get(interruptHandle);
@@ -535,24 +396,6 @@
interrupt->trigType = analogTriggerType;
interrupt->portHandle = digitalSourceHandle;
}
-void HAL_AttachInterruptHandler(HAL_InterruptHandle interruptHandle,
- HAL_InterruptHandlerFunction handler,
- void* param, int32_t* status) {
- auto interrupt = interruptHandles->Get(interruptHandle);
- if (interrupt == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- interrupt->callbackFunction = handler;
- interrupt->callbackParam = param;
-}
-
-void HAL_AttachInterruptHandlerThreaded(HAL_InterruptHandle interruptHandle,
- HAL_InterruptHandlerFunction handler,
- void* param, int32_t* status) {
- HAL_AttachInterruptHandler(interruptHandle, handler, param, status);
-}
void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
@@ -569,6 +412,19 @@
void HAL_ReleaseWaitingInterrupt(HAL_InterruptHandle interruptHandle,
int32_t* status) {
- // Requires a fairly large rewrite to get working
+ auto interrupt = interruptHandles->Get(interruptHandle);
+ if (interrupt == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ synchronousInterruptHandles->ForEach(
+ [interruptHandle](SynchronousWaitDataHandle handle,
+ SynchronousWaitData* data) {
+ if (data->interruptHandle == interruptHandle) {
+ data->waitPredicate = true;
+ data->waitCond.notify_all();
+ }
+ });
}
} // extern "C"
diff --git a/hal/src/main/native/sim/MockHooks.cpp b/hal/src/main/native/sim/MockHooks.cpp
index 8fe387f..4e20c6a 100644
--- a/hal/src/main/native/sim/MockHooks.cpp
+++ b/hal/src/main/native/sim/MockHooks.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <algorithm>
#include <atomic>
@@ -11,6 +8,7 @@
#include <cstdio>
#include <thread>
+#include <fmt/format.h>
#include <wpi/timestamp.h>
#include "MockHooksInternal.h"
@@ -23,21 +21,25 @@
static std::atomic<uint64_t> programPauseTime{0};
static std::atomic<uint64_t> programStepTime{0};
-namespace hal {
-namespace init {
-void InitializeMockHooks() { wpi::SetNowImpl(GetFPGATime); }
-} // namespace init
-} // namespace hal
+namespace hal::init {
+void InitializeMockHooks() {
+ wpi::SetNowImpl(GetFPGATime);
+}
+} // namespace hal::init
namespace hal {
void RestartTiming() {
programStartTime = wpi::NowDefault();
programStepTime = 0;
- if (programPauseTime != 0) programPauseTime = programStartTime.load();
+ if (programPauseTime != 0) {
+ programPauseTime = programStartTime.load();
+ }
}
void PauseTiming() {
- if (programPauseTime == 0) programPauseTime = wpi::NowDefault();
+ if (programPauseTime == 0) {
+ programPauseTime = wpi::NowDefault();
+ }
}
void ResumeTiming() {
@@ -47,20 +49,32 @@
}
}
-bool IsTimingPaused() { return programPauseTime != 0; }
+bool IsTimingPaused() {
+ return programPauseTime != 0;
+}
-void StepTiming(uint64_t delta) { programStepTime += delta; }
+void StepTiming(uint64_t delta) {
+ programStepTime += delta;
+}
uint64_t GetFPGATime() {
uint64_t curTime = programPauseTime;
- if (curTime == 0) curTime = wpi::NowDefault();
+ if (curTime == 0) {
+ curTime = wpi::NowDefault();
+ }
return curTime + programStepTime - programStartTime;
}
-double GetFPGATimestamp() { return GetFPGATime() * 1.0e-6; }
+double GetFPGATimestamp() {
+ return GetFPGATime() * 1.0e-6;
+}
-void SetProgramStarted() { programStarted = true; }
-bool GetProgramStarted() { return programStarted; }
+void SetProgramStarted() {
+ programStarted = true;
+}
+bool GetProgramStarted() {
+ return programStarted;
+}
} // namespace hal
using namespace hal;
@@ -70,16 +84,22 @@
int count = 0;
while (!programStarted) {
count++;
- std::printf("Waiting for program start signal: %d\n", count);
+ fmt::print("Waiting for program start signal: {}\n", count);
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
}
-void HALSIM_SetProgramStarted(void) { SetProgramStarted(); }
+void HALSIM_SetProgramStarted(void) {
+ SetProgramStarted();
+}
-HAL_Bool HALSIM_GetProgramStarted(void) { return GetProgramStarted(); }
+HAL_Bool HALSIM_GetProgramStarted(void) {
+ return GetProgramStarted();
+}
-void HALSIM_RestartTiming(void) { RestartTiming(); }
+void HALSIM_RestartTiming(void) {
+ RestartTiming();
+}
void HALSIM_PauseTiming(void) {
PauseTiming();
@@ -91,7 +111,9 @@
ResumeNotifiers();
}
-HAL_Bool HALSIM_IsTimingPaused(void) { return IsTimingPaused(); }
+HAL_Bool HALSIM_IsTimingPaused(void) {
+ return IsTimingPaused();
+}
void HALSIM_StepTiming(uint64_t delta) {
WaitNotifiers();
diff --git a/hal/src/main/native/sim/MockHooksInternal.h b/hal/src/main/native/sim/MockHooksInternal.h
index c53f120..ace09da 100644
--- a/hal/src/main/native/sim/MockHooksInternal.h
+++ b/hal/src/main/native/sim/MockHooksInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/Notifier.cpp b/hal/src/main/native/sim/Notifier.cpp
index a697275..49f1c80 100644
--- a/hal/src/main/native/sim/Notifier.cpp
+++ b/hal/src/main/native/sim/Notifier.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Notifier.h"
@@ -71,7 +68,9 @@
}
} // namespace init
-void PauseNotifiers() { notifiersPaused = true; }
+void PauseNotifiers() {
+ notifiersPaused = true;
+}
void ResumeNotifiers() {
notifiersPaused = false;
@@ -110,7 +109,9 @@
// No longer need to wait for it, put at end so it can be erased
std::swap(it, waiters[--end]);
}
- if (count == 0) break;
+ if (count == 0) {
+ break;
+ }
waiters.resize(count);
notifiersWaiterCond.wait_for(ulock, std::chrono::duration<double>(1));
}
@@ -151,7 +152,9 @@
// No longer need to wait for it, put at end so it can be erased
it.swap(waiters[--end]);
}
- if (count == 0) break;
+ if (count == 0) {
+ break;
+ }
waiters.resize(count);
notifiersWaiterCond.wait_for(ulock, std::chrono::duration<double>(1));
}
@@ -171,17 +174,26 @@
return handle;
}
+HAL_Bool HAL_SetNotifierThreadPriority(HAL_Bool realTime, int32_t priority,
+ int32_t* status) {
+ return true;
+}
+
void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
- if (!notifier) return;
+ if (!notifier) {
+ return;
+ }
std::scoped_lock lock(notifier->mutex);
notifier->name = name;
}
void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
- if (!notifier) return;
+ if (!notifier) {
+ return;
+ }
{
std::scoped_lock lock(notifier->mutex);
@@ -193,7 +205,9 @@
void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
auto notifier = notifierHandles->Free(notifierHandle);
- if (!notifier) return;
+ if (!notifier) {
+ return;
+ }
// Just in case HAL_StopNotifier() wasn't called...
{
@@ -207,7 +221,9 @@
void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle,
uint64_t triggerTime, int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
- if (!notifier) return;
+ if (!notifier) {
+ return;
+ }
{
std::scoped_lock lock(notifier->mutex);
@@ -222,7 +238,9 @@
void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
- if (!notifier) return;
+ if (!notifier) {
+ return;
+ }
{
std::scoped_lock lock(notifier->mutex);
@@ -233,7 +251,9 @@
uint64_t HAL_WaitForNotifierAlarm(HAL_NotifierHandle notifierHandle,
int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
- if (!notifier) return 0;
+ if (!notifier) {
+ return 0;
+ }
std::unique_lock ulock(notifiersWaiterMutex);
std::unique_lock lock(notifier->mutex);
@@ -268,8 +288,9 @@
notifierHandles->ForEach([&](HAL_NotifierHandle, Notifier* notifier) {
std::scoped_lock lock(notifier->mutex);
if (notifier->active && notifier->waitTimeValid &&
- timeout > notifier->waitTime)
+ timeout > notifier->waitTime) {
timeout = notifier->waitTime;
+ }
});
return timeout;
}
@@ -278,7 +299,9 @@
int32_t count = 0;
notifierHandles->ForEach([&](HAL_NotifierHandle, Notifier* notifier) {
std::scoped_lock lock(notifier->mutex);
- if (notifier->active) ++count;
+ if (notifier->active) {
+ ++count;
+ }
});
return count;
}
@@ -287,7 +310,9 @@
int32_t num = 0;
notifierHandles->ForEach([&](HAL_NotifierHandle handle, Notifier* notifier) {
std::scoped_lock lock(notifier->mutex);
- if (!notifier->active) return;
+ if (!notifier->active) {
+ return;
+ }
if (num < size) {
arr[num].handle = handle;
if (notifier->name.empty()) {
diff --git a/hal/src/main/native/sim/NotifierInternal.h b/hal/src/main/native/sim/NotifierInternal.h
index e6692ca..81d906e 100644
--- a/hal/src/main/native/sim/NotifierInternal.h
+++ b/hal/src/main/native/sim/NotifierInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/PDP.cpp b/hal/src/main/native/sim/PDP.cpp
deleted file mode 100644
index cc095d0..0000000
--- a/hal/src/main/native/sim/PDP.cpp
+++ /dev/null
@@ -1,104 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "hal/PDP.h"
-
-#include "CANAPIInternal.h"
-#include "HALInitializer.h"
-#include "PortsInternal.h"
-#include "hal/CANAPI.h"
-#include "hal/Errors.h"
-#include "mockdata/PDPDataInternal.h"
-
-using namespace hal;
-
-static constexpr HAL_CANManufacturer manufacturer =
- HAL_CANManufacturer::HAL_CAN_Man_kCTRE;
-
-static constexpr HAL_CANDeviceType deviceType =
- HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution;
-
-namespace hal {
-namespace init {
-void InitializePDP() {}
-} // namespace init
-} // namespace hal
-
-extern "C" {
-HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
- if (!HAL_CheckPDPModule(module)) {
- *status = PARAMETER_OUT_OF_RANGE;
- return HAL_kInvalidHandle;
- }
- hal::init::CheckInit();
- SimPDPData[module].initialized = true;
- auto handle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
-
- if (*status != 0) {
- HAL_CleanCAN(handle);
- return HAL_kInvalidHandle;
- }
-
- return handle;
-}
-
-HAL_Bool HAL_CheckPDPModule(int32_t module) {
- return module < kNumPDPModules && module >= 0;
-}
-
-HAL_Bool HAL_CheckPDPChannel(int32_t channel) {
- return channel < kNumPDPChannels && channel >= 0;
-}
-
-void HAL_CleanPDP(HAL_PDPHandle handle) { HAL_CleanCAN(handle); }
-
-double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
- auto module = hal::can::GetCANModuleFromHandle(handle, status);
- if (*status != 0) {
- return 0.0;
- }
- return SimPDPData[module].temperature;
-}
-double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
- auto module = hal::can::GetCANModuleFromHandle(handle, status);
- if (*status != 0) {
- return 0.0;
- }
- return SimPDPData[module].voltage;
-}
-double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
- int32_t* status) {
- auto module = hal::can::GetCANModuleFromHandle(handle, status);
- if (*status != 0) {
- return 0.0;
- }
- return SimPDPData[module].current[channel];
-}
-void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
- int32_t* status) {
- auto module = hal::can::GetCANModuleFromHandle(handle, status);
- if (*status != 0) {
- return;
- }
-
- auto& data = SimPDPData[module];
- for (int i = 0; i < kNumPDPChannels; i++) {
- currents[i] = data.current[i];
- }
-}
-double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
- return 0.0;
-}
-double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
- return 0.0;
-}
-double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
- return 0.0;
-}
-void HAL_ResetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {}
-void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status) {}
-} // extern "C"
diff --git a/hal/src/main/native/sim/PWM.cpp b/hal/src/main/native/sim/PWM.cpp
index 228b540..698769f 100644
--- a/hal/src/main/native/sim/PWM.cpp
+++ b/hal/src/main/native/sim/PWM.cpp
@@ -1,37 +1,35 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/PWM.h"
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/PWMDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializePWM() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
+ const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
- if (*status != 0) return HAL_kInvalidHandle;
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
- *status = PARAMETER_OUT_OF_RANGE;
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
+ kNumPWMChannels, channel);
return HAL_kInvalidHandle;
}
@@ -43,16 +41,20 @@
channel = remapMXPPWMChannel(channel) + 10; // remap MXP to proper channel
}
- auto handle =
- digitalChannelHandles->Allocate(channel, HAL_HandleEnum::PWM, status);
+ HAL_DigitalHandle handle;
- if (*status != 0)
+ auto port = digitalChannelHandles->Allocate(channel, HAL_HandleEnum::PWM,
+ &handle, status);
+
+ if (*status != 0) {
+ if (port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
+ port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
+ kNumPWMChannels, channel);
+ }
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::PWM);
- if (port == nullptr) { // would only occur on thread issue.
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
}
port->channel = origChannel;
@@ -62,6 +64,8 @@
// Defaults to allow an always valid config.
HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
+ port->previousAllocation = allocationLocation ? allocationLocation : "";
+
return handle;
}
void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
@@ -92,7 +96,9 @@
// calculate the loop time in milliseconds
double loopTime =
HAL_GetPWMLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
- if (*status != 0) return;
+ if (*status != 0) {
+ return;
+ }
int32_t maxPwm = static_cast<int32_t>((max - kDefaultPwmCenter) / loopTime +
kDefaultPwmStepsDown - 1);
@@ -252,8 +258,12 @@
}
double speed = SimPWMData[port->channel].speed;
- if (speed > 1) speed = 1;
- if (speed < -1) speed = -1;
+ if (speed > 1) {
+ speed = 1;
+ }
+ if (speed < -1) {
+ speed = -1;
+ }
return speed;
}
@@ -269,8 +279,12 @@
}
double position = SimPWMData[port->channel].position;
- if (position > 1) position = 1;
- if (position < 0) position = 0;
+ if (position > 1) {
+ position = 1;
+ }
+ if (position < 0) {
+ position = 0;
+ }
return position;
}
@@ -296,7 +310,11 @@
SimPWMData[port->channel].periodScale = squelchMask;
}
-int32_t HAL_GetPWMLoopTiming(int32_t* status) { return kExpectedLoopTiming; }
+int32_t HAL_GetPWMLoopTiming(int32_t* status) {
+ return kExpectedLoopTiming;
+}
-uint64_t HAL_GetPWMCycleStartTime(int32_t* status) { return 0; }
+uint64_t HAL_GetPWMCycleStartTime(int32_t* status) {
+ return 0;
+}
} // extern "C"
diff --git a/hal/src/main/native/sim/Ports.cpp b/hal/src/main/native/sim/Ports.cpp
index 2f670b3..08ca975 100644
--- a/hal/src/main/native/sim/Ports.cpp
+++ b/hal/src/main/native/sim/Ports.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Ports.h"
@@ -11,31 +8,81 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializePorts() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
-int32_t HAL_GetNumAccumulators(void) { return kNumAccumulators; }
-int32_t HAL_GetNumAnalogTriggers(void) { return kNumAnalogTriggers; }
-int32_t HAL_GetNumAnalogInputs(void) { return kNumAnalogInputs; }
-int32_t HAL_GetNumAnalogOutputs(void) { return kNumAnalogOutputs; }
-int32_t HAL_GetNumCounters(void) { return kNumCounters; }
-int32_t HAL_GetNumDigitalHeaders(void) { return kNumDigitalHeaders; }
-int32_t HAL_GetNumPWMHeaders(void) { return kNumPWMHeaders; }
-int32_t HAL_GetNumDigitalChannels(void) { return kNumDigitalChannels; }
-int32_t HAL_GetNumPWMChannels(void) { return kNumPWMChannels; }
-int32_t HAL_GetNumDigitalPWMOutputs(void) { return kNumDigitalPWMOutputs; }
-int32_t HAL_GetNumEncoders(void) { return kNumEncoders; }
-int32_t HAL_GetNumInterrupts(void) { return kNumInterrupts; }
-int32_t HAL_GetNumRelayChannels(void) { return kNumRelayChannels; }
-int32_t HAL_GetNumRelayHeaders(void) { return kNumRelayHeaders; }
-int32_t HAL_GetNumPCMModules(void) { return kNumPCMModules; }
-int32_t HAL_GetNumSolenoidChannels(void) { return kNumSolenoidChannels; }
-int32_t HAL_GetNumPDPModules(void) { return kNumPDPModules; }
-int32_t HAL_GetNumPDPChannels(void) { return kNumPDPChannels; }
-int32_t HAL_GetNumDutyCycles(void) { return kNumDutyCycles; }
-int32_t HAL_GetNumAddressableLEDs(void) { return kNumAddressableLEDs; }
+int32_t HAL_GetNumAccumulators(void) {
+ return kNumAccumulators;
+}
+int32_t HAL_GetNumAnalogTriggers(void) {
+ return kNumAnalogTriggers;
+}
+int32_t HAL_GetNumAnalogInputs(void) {
+ return kNumAnalogInputs;
+}
+int32_t HAL_GetNumAnalogOutputs(void) {
+ return kNumAnalogOutputs;
+}
+int32_t HAL_GetNumCounters(void) {
+ return kNumCounters;
+}
+int32_t HAL_GetNumDigitalHeaders(void) {
+ return kNumDigitalHeaders;
+}
+int32_t HAL_GetNumPWMHeaders(void) {
+ return kNumPWMHeaders;
+}
+int32_t HAL_GetNumDigitalChannels(void) {
+ return kNumDigitalChannels;
+}
+int32_t HAL_GetNumPWMChannels(void) {
+ return kNumPWMChannels;
+}
+int32_t HAL_GetNumDigitalPWMOutputs(void) {
+ return kNumDigitalPWMOutputs;
+}
+int32_t HAL_GetNumEncoders(void) {
+ return kNumEncoders;
+}
+int32_t HAL_GetNumInterrupts(void) {
+ return kNumInterrupts;
+}
+int32_t HAL_GetNumRelayChannels(void) {
+ return kNumRelayChannels;
+}
+int32_t HAL_GetNumRelayHeaders(void) {
+ return kNumRelayHeaders;
+}
+int32_t HAL_GetNumCTREPCMModules(void) {
+ return kNumCTREPCMModules;
+}
+int32_t HAL_GetNumCTRESolenoidChannels(void) {
+ return kNumCTRESolenoidChannels;
+}
+int32_t HAL_GetNumCTREPDPModules(void) {
+ return kNumCTREPDPModules;
+}
+int32_t HAL_GetNumCTREPDPChannels(void) {
+ return kNumCTREPDPChannels;
+}
+int32_t HAL_GetNumREVPDHModules(void) {
+ return kNumREVPDHModules;
+}
+int32_t HAL_GetNumREVPDHChannels(void) {
+ return kNumREVPDHChannels;
+}
+int32_t HAL_GetNumREVPHModules(void) {
+ return kNumREVPHModules;
+}
+int32_t HAL_GetNumREVPHChannels(void) {
+ return kNumREVPHChannels;
+}
+int32_t HAL_GetNumDutyCycles(void) {
+ return kNumDutyCycles;
+}
+int32_t HAL_GetNumAddressableLEDs(void) {
+ return kNumAddressableLEDs;
+}
} // extern "C"
diff --git a/hal/src/main/native/sim/PortsInternal.h b/hal/src/main/native/sim/PortsInternal.h
index d143aca..2d1a205 100644
--- a/hal/src/main/native/sim/PortsInternal.h
+++ b/hal/src/main/native/sim/PortsInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -24,10 +21,14 @@
constexpr int32_t kNumInterrupts = 8;
constexpr int32_t kNumRelayChannels = 8;
constexpr int32_t kNumRelayHeaders = kNumRelayChannels / 2;
-constexpr int32_t kNumPCMModules = 63;
-constexpr int32_t kNumSolenoidChannels = 8;
-constexpr int32_t kNumPDPModules = 63;
-constexpr int32_t kNumPDPChannels = 16;
+constexpr int32_t kNumCTREPCMModules = 63;
+constexpr int32_t kNumCTRESolenoidChannels = 8;
+constexpr int32_t kNumCTREPDPModules = 63;
+constexpr int32_t kNumCTREPDPChannels = 16;
+constexpr int32_t kNumREVPDHModules = 63;
+constexpr int32_t kNumREVPDHChannels = 24;
constexpr int32_t kNumDutyCycles = 8;
constexpr int32_t kNumAddressableLEDs = 1;
+constexpr int32_t kNumREVPHModules = 63;
+constexpr int32_t kNumREVPHChannels = 16;
} // namespace hal
diff --git a/hal/src/main/native/sim/Power.cpp b/hal/src/main/native/sim/Power.cpp
index e8ce710..08d5638 100644
--- a/hal/src/main/native/sim/Power.cpp
+++ b/hal/src/main/native/sim/Power.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Power.h"
@@ -11,16 +8,18 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializePower() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
// TODO: Fix the naming in here
extern "C" {
-double HAL_GetVinVoltage(int32_t* status) { return SimRoboRioData->vInVoltage; }
-double HAL_GetVinCurrent(int32_t* status) { return SimRoboRioData->vInCurrent; }
+double HAL_GetVinVoltage(int32_t* status) {
+ return SimRoboRioData->vInVoltage;
+}
+double HAL_GetVinCurrent(int32_t* status) {
+ return SimRoboRioData->vInCurrent;
+}
double HAL_GetUserVoltage6V(int32_t* status) {
return SimRoboRioData->userVoltage6V;
}
@@ -57,4 +56,10 @@
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
return SimRoboRioData->userFaults3V3;
}
+void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
+ SimRoboRioData->brownoutVoltage = voltage;
+}
+double HAL_GetBrownoutVoltage(int32_t* status) {
+ return SimRoboRioData->brownoutVoltage;
+}
} // extern "C"
diff --git a/hal/src/main/native/sim/PowerDistribution.cpp b/hal/src/main/native/sim/PowerDistribution.cpp
new file mode 100644
index 0000000..85646cf
--- /dev/null
+++ b/hal/src/main/native/sim/PowerDistribution.cpp
@@ -0,0 +1,158 @@
+// 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.
+
+#include "hal/PowerDistribution.h"
+
+#include <fmt/format.h>
+
+#include "CANAPIInternal.h"
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "mockdata/PowerDistributionDataInternal.h"
+
+using namespace hal;
+
+static constexpr HAL_CANManufacturer manufacturer =
+ HAL_CANManufacturer::HAL_CAN_Man_kCTRE;
+
+static constexpr HAL_CANDeviceType deviceType =
+ HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution;
+
+namespace hal::init {
+void InitializePowerDistribution() {}
+} // namespace hal::init
+
+extern "C" {
+HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
+ int32_t module, HAL_PowerDistributionType type,
+ const char* allocationLocation, int32_t* status) {
+ if (!HAL_CheckPowerDistributionModule(module, type)) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
+ return HAL_kInvalidHandle;
+ }
+ hal::init::CheckInit();
+ SimPowerDistributionData[module].initialized = true;
+ auto handle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
+
+ if (*status != 0) {
+ HAL_CleanCAN(handle);
+ return HAL_kInvalidHandle;
+ }
+
+ return handle;
+}
+
+int32_t HAL_GetPowerDistributionModuleNumber(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ auto module = hal::can::GetCANModuleFromHandle(handle, status);
+ if (*status != 0) {
+ return 0;
+ }
+ return module;
+}
+
+HAL_Bool HAL_CheckPowerDistributionModule(int32_t module,
+ HAL_PowerDistributionType type) {
+ if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
+ return module < kNumCTREPDPModules && module >= 0;
+ } else {
+ return module < kNumREVPDHModules && module >= 1;
+ }
+}
+
+HAL_Bool HAL_CheckPowerDistributionChannel(HAL_PowerDistributionHandle handle,
+ int32_t channel) {
+ // TODO make this grab from the handle directly
+ if (false) {
+ return channel < kNumCTREPDPChannels && channel >= 0;
+ } else {
+ return channel < kNumREVPDHChannels && channel >= 0;
+ }
+}
+
+HAL_PowerDistributionType HAL_GetPowerDistributionType(
+ HAL_PowerDistributionHandle handle, int32_t* status) {
+ return HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE;
+}
+
+int32_t HAL_GetPowerDistributionNumChannels(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ // TODO make this grab from the handle directly
+ if (false) {
+ return kNumCTREPDPChannels;
+ } else {
+ return kNumREVPDHChannels;
+ }
+}
+
+void HAL_CleanPowerDistribution(HAL_PowerDistributionHandle handle) {
+ HAL_CleanCAN(handle);
+}
+
+double HAL_GetPowerDistributionTemperature(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ auto module = hal::can::GetCANModuleFromHandle(handle, status);
+ if (*status != 0) {
+ return 0.0;
+ }
+ return SimPowerDistributionData[module].temperature;
+}
+double HAL_GetPowerDistributionVoltage(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ auto module = hal::can::GetCANModuleFromHandle(handle, status);
+ if (*status != 0) {
+ return 0.0;
+ }
+ return SimPowerDistributionData[module].voltage;
+}
+double HAL_GetPowerDistributionChannelCurrent(
+ HAL_PowerDistributionHandle handle, int32_t channel, int32_t* status) {
+ auto module = hal::can::GetCANModuleFromHandle(handle, status);
+ if (*status != 0) {
+ return 0.0;
+ }
+ return SimPowerDistributionData[module].current[channel];
+}
+void HAL_GetPowerDistributionAllChannelCurrents(
+ HAL_PowerDistributionHandle handle, double* currents,
+ int32_t currentsLength, int32_t* status) {
+ auto module = hal::can::GetCANModuleFromHandle(handle, status);
+ if (*status != 0) {
+ return;
+ }
+
+ auto& data = SimPowerDistributionData[module];
+ int toCopy = (std::min)(currentsLength, kNumPDSimChannels);
+ for (int i = 0; i < toCopy; i++) {
+ currents[i] = data.current[i];
+ }
+}
+double HAL_GetPowerDistributionTotalCurrent(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ return 0.0;
+}
+double HAL_GetPowerDistributionTotalPower(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ return 0.0;
+}
+double HAL_GetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+ int32_t* status) {
+ return 0.0;
+}
+void HAL_ResetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+ int32_t* status) {}
+void HAL_ClearPowerDistributionStickyFaults(HAL_PowerDistributionHandle handle,
+ int32_t* status) {}
+void HAL_SetPowerDistributionSwitchableChannel(
+ HAL_PowerDistributionHandle handle, HAL_Bool state, int32_t* status) {}
+
+HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
+ HAL_PowerDistributionHandle handle, int32_t* status) {
+ return false;
+}
+} // extern "C"
diff --git a/hal/src/main/native/sim/REVPH.cpp b/hal/src/main/native/sim/REVPH.cpp
new file mode 100644
index 0000000..9ddb655
--- /dev/null
+++ b/hal/src/main/native/sim/REVPH.cpp
@@ -0,0 +1,181 @@
+// 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.
+
+#include "hal/REVPH.h"
+
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
+#include "mockdata/REVPHDataInternal.h"
+
+using namespace hal;
+
+namespace {
+struct PCM {
+ int32_t module;
+ wpi::mutex lock;
+ std::string previousAllocation;
+};
+} // namespace
+
+static IndexedHandleResource<HAL_REVPHHandle, PCM, kNumREVPHModules,
+ HAL_HandleEnum::REVPH>* pcmHandles;
+
+namespace hal::init {
+void InitializeREVPH() {
+ static IndexedHandleResource<HAL_REVPHHandle, PCM, kNumREVPHModules,
+ HAL_HandleEnum::REVPH>
+ pH;
+ pcmHandles = &pH;
+}
+} // namespace hal::init
+
+HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
+ const char* allocationLocation,
+ int32_t* status) {
+ hal::init::CheckInit();
+
+ if (module == 0) {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+ kNumREVPHModules, module);
+ return HAL_kInvalidHandle;
+ }
+
+ HAL_REVPHHandle handle;
+ auto pcm = pcmHandles->Allocate(module, &handle, status);
+
+ if (*status != 0) {
+ if (pcm) {
+ hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
+ pcm->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+ kNumREVPHModules, module);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
+ pcm->previousAllocation = allocationLocation ? allocationLocation : "";
+ pcm->module = module;
+
+ SimREVPHData[module].initialized = true;
+ // Enable closed loop
+ SimREVPHData[module].closedLoopEnabled = true;
+
+ return handle;
+}
+
+void HAL_FreeREVPH(HAL_REVPHHandle handle) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ pcmHandles->Free(handle);
+ return;
+ }
+ SimREVPHData[pcm->module].initialized = false;
+ pcmHandles->Free(handle);
+}
+
+HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
+ return module >= 1 && module < kNumREVPDHModules;
+}
+
+HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {
+ return channel < kNumREVPHChannels && channel >= 0;
+}
+
+HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ return SimREVPHData[pcm->module].compressorOn;
+}
+
+void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ SimREVPHData[pcm->module].closedLoopEnabled = enabled;
+}
+
+HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ return SimREVPHData[pcm->module].closedLoopEnabled;
+}
+
+HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ return SimREVPHData[pcm->module].pressureSwitch;
+}
+
+double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
+ int32_t* status) {
+ return 0;
+}
+
+double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ return SimREVPHData[pcm->module].compressorCurrent;
+}
+
+int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ std::scoped_lock lock{pcm->lock};
+ auto& data = SimREVPHData[pcm->module].solenoidOutput;
+ uint8_t ret = 0;
+ for (int i = 0; i < kNumREVPHChannels; i++) {
+ ret |= (data[i] << i);
+ }
+ return ret;
+}
+void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ auto& data = SimREVPHData[pcm->module].solenoidOutput;
+ std::scoped_lock lock{pcm->lock};
+ for (int i = 0; i < kNumREVPHChannels; i++) {
+ auto indexMask = (1 << i);
+ if ((mask & indexMask) != 0) {
+ data[i] = (values & indexMask) != 0;
+ }
+ }
+}
+
+void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
+ int32_t* status) {}
diff --git a/hal/src/main/native/sim/Relay.cpp b/hal/src/main/native/sim/Relay.cpp
index acecec4..4dfcdaf 100644
--- a/hal/src/main/native/sim/Relay.cpp
+++ b/hal/src/main/native/sim/Relay.cpp
@@ -1,13 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Relay.h"
+#include <string>
+
#include "HALInitializer.h"
+#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/handles/IndexedHandleResource.h"
#include "mockdata/RelayDataInternal.h"
@@ -18,49 +18,58 @@
struct Relay {
uint8_t channel;
bool fwd;
+ std::string previousAllocation;
};
} // namespace
static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
HAL_HandleEnum::Relay>* relayHandles;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeRelay() {
static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
HAL_HandleEnum::Relay>
rH;
relayHandles = &rH;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
+ const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
- if (*status != 0) return HAL_kInvalidHandle;
-
- int16_t channel = getPortHandleChannel(portHandle);
- if (channel == InvalidHandleIndex) {
- *status = PARAMETER_OUT_OF_RANGE;
+ if (*status != 0) {
return HAL_kInvalidHandle;
}
- if (!fwd) channel += kNumRelayHeaders; // add 4 to reverse channels
-
- auto handle = relayHandles->Allocate(channel, status);
-
- if (*status != 0)
- return HAL_kInvalidHandle; // failed to allocate. Pass error back.
-
- auto port = relayHandles->Get(handle);
- if (port == nullptr) { // would only occur on thread issue.
- *status = HAL_HANDLE_ERROR;
+ int16_t channel = getPortHandleChannel(portHandle);
+ if (channel == InvalidHandleIndex || channel >= kNumRelayChannels) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Relay", 0,
+ kNumRelayChannels, channel);
return HAL_kInvalidHandle;
}
if (!fwd) {
+ channel += kNumRelayHeaders; // add 4 to reverse channels
+ }
+
+ HAL_RelayHandle handle;
+ auto port = relayHandles->Allocate(channel, &handle, status);
+
+ if (*status != 0) {
+ if (port) {
+ hal::SetLastErrorPreviouslyAllocated(status, "Relay", channel,
+ port->previousAllocation);
+ } else {
+ hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Relay", 0,
+ kNumRelayChannels, channel);
+ }
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+ }
+
+ if (!fwd) {
// Subtract number of headers to put channel in range
channel -= kNumRelayHeaders;
@@ -73,6 +82,7 @@
}
port->channel = static_cast<uint8_t>(channel);
+ port->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
@@ -80,11 +90,14 @@
void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) {
auto port = relayHandles->Get(relayPortHandle);
relayHandles->Free(relayPortHandle);
- if (port == nullptr) return;
- if (port->fwd)
+ if (port == nullptr) {
+ return;
+ }
+ if (port->fwd) {
SimRelayData[port->channel].initializedForward = false;
- else
+ } else {
SimRelayData[port->channel].initializedReverse = false;
+ }
}
HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
@@ -101,10 +114,11 @@
*status = HAL_HANDLE_ERROR;
return;
}
- if (port->fwd)
+ if (port->fwd) {
SimRelayData[port->channel].forward = on;
- else
+ } else {
SimRelayData[port->channel].reverse = on;
+ }
}
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
@@ -113,9 +127,10 @@
*status = HAL_HANDLE_ERROR;
return false;
}
- if (port->fwd)
+ if (port->fwd) {
return SimRelayData[port->channel].forward;
- else
+ } else {
return SimRelayData[port->channel].reverse;
+ }
}
} // extern "C"
diff --git a/hal/src/main/native/sim/SPI.cpp b/hal/src/main/native/sim/SPI.cpp
index 1c90a98..bf362a8 100644
--- a/hal/src/main/native/sim/SPI.cpp
+++ b/hal/src/main/native/sim/SPI.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/SPI.h"
@@ -12,11 +9,9 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeSPI() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -35,13 +30,17 @@
int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) {
return SimSPIData[port].Read(buffer, count);
}
-void HAL_CloseSPI(HAL_SPIPort port) { SimSPIData[port].initialized = false; }
+void HAL_CloseSPI(HAL_SPIPort port) {
+ SimSPIData[port].initialized = false;
+}
void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) {}
void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh) {}
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {}
void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {}
-int32_t HAL_GetSPIHandle(HAL_SPIPort port) { return 0; }
+int32_t HAL_GetSPIHandle(HAL_SPIPort port) {
+ return 0;
+}
void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {}
void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status) {}
diff --git a/hal/src/main/native/sim/SerialPort.cpp b/hal/src/main/native/sim/SerialPort.cpp
index 2df2ebe..83ba971 100644
--- a/hal/src/main/native/sim/SerialPort.cpp
+++ b/hal/src/main/native/sim/SerialPort.cpp
@@ -1,19 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/SerialPort.h"
#include "HALInitializer.h"
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeSerialPort() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
HAL_SerialPortHandle HAL_InitializeSerialPort(HAL_SerialPort port,
@@ -29,7 +24,9 @@
return HAL_kInvalidHandle;
}
-int HAL_GetSerialFD(HAL_SerialPortHandle handle, int32_t* status) { return -1; }
+int HAL_GetSerialFD(HAL_SerialPortHandle handle, int32_t* status) {
+ return -1;
+}
void HAL_SetSerialBaudRate(HAL_SerialPortHandle handle, int32_t baud,
int32_t* status) {}
diff --git a/hal/src/main/native/sim/SimDevice.cpp b/hal/src/main/native/sim/SimDevice.cpp
index a8f8f80..b6c637c 100644
--- a/hal/src/main/native/sim/SimDevice.cpp
+++ b/hal/src/main/native/sim/SimDevice.cpp
@@ -1,25 +1,19 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/SimDevice.h"
-#include <wpi/SmallString.h>
-#include <wpi/raw_ostream.h>
+#include <fmt/format.h>
#include "HALInitializer.h"
#include "mockdata/SimDeviceDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeSimDevice() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
extern "C" {
@@ -33,19 +27,29 @@
}
HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
- const char* name, HAL_Bool readonly,
+ const char* name, int32_t direction,
const struct HAL_Value* initialValue) {
- return SimSimDeviceData->CreateValue(device, name, readonly, 0, nullptr,
- *initialValue);
+ return SimSimDeviceData->CreateValue(device, name, direction, 0, nullptr,
+ nullptr, *initialValue);
}
HAL_SimValueHandle HAL_CreateSimValueEnum(HAL_SimDeviceHandle device,
- const char* name, HAL_Bool readonly,
+ const char* name, int32_t direction,
int32_t numOptions,
const char** options,
int32_t initialValue) {
- return SimSimDeviceData->CreateValue(device, name, readonly, numOptions,
- options, HAL_MakeEnum(initialValue));
+ return SimSimDeviceData->CreateValue(device, name, direction, numOptions,
+ options, nullptr,
+ HAL_MakeEnum(initialValue));
+}
+
+HAL_SimValueHandle HAL_CreateSimValueEnumDouble(
+ HAL_SimDeviceHandle device, const char* name, int32_t direction,
+ int32_t numOptions, const char** options, const double* optionValues,
+ int32_t initialValue) {
+ return SimSimDeviceData->CreateValue(device, name, direction, numOptions,
+ options, optionValues,
+ HAL_MakeEnum(initialValue));
}
void HAL_GetSimValue(HAL_SimValueHandle handle, struct HAL_Value* value) {
@@ -56,20 +60,17 @@
SimSimDeviceData->SetValue(handle, *value);
}
-hal::SimDevice::SimDevice(const char* name, int index) {
- wpi::SmallString<128> fullname;
- wpi::raw_svector_ostream os(fullname);
- os << name << '[' << index << ']';
+void HAL_ResetSimValue(HAL_SimValueHandle handle) {
+ SimSimDeviceData->ResetValue(handle);
+}
- m_handle = HAL_CreateSimDevice(fullname.c_str());
+hal::SimDevice::SimDevice(const char* name, int index) {
+ m_handle = HAL_CreateSimDevice(fmt::format("{}[{}]", name, index).c_str());
}
hal::SimDevice::SimDevice(const char* name, int index, int channel) {
- wpi::SmallString<128> fullname;
- wpi::raw_svector_ostream os(fullname);
- os << name << '[' << index << ',' << channel << ']';
-
- m_handle = HAL_CreateSimDevice(fullname.c_str());
+ m_handle = HAL_CreateSimDevice(
+ fmt::format("{}[{},{}]", name, index, channel).c_str());
}
} // extern "C"
diff --git a/hal/src/main/native/sim/Solenoid.cpp b/hal/src/main/native/sim/Solenoid.cpp
deleted file mode 100644
index 1881a32..0000000
--- a/hal/src/main/native/sim/Solenoid.cpp
+++ /dev/null
@@ -1,145 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "hal/Solenoid.h"
-
-#include "HALInitializer.h"
-#include "PortsInternal.h"
-#include "hal/Errors.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/IndexedHandleResource.h"
-#include "hal/simulation/PCMData.h"
-
-namespace {
-struct Solenoid {
- uint8_t module;
- uint8_t channel;
-};
-} // namespace
-
-using namespace hal;
-
-static IndexedHandleResource<HAL_SolenoidHandle, Solenoid,
- kNumPCMModules * kNumSolenoidChannels,
- HAL_HandleEnum::Solenoid>* solenoidHandles;
-
-namespace hal {
-namespace init {
-void InitializeSolenoid() {
- static IndexedHandleResource<HAL_SolenoidHandle, Solenoid,
- kNumPCMModules * kNumSolenoidChannels,
- HAL_HandleEnum::Solenoid>
- sH;
- solenoidHandles = &sH;
-}
-} // namespace init
-} // namespace hal
-
-extern "C" {
-HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
- int32_t* status) {
- hal::init::CheckInit();
- int16_t channel = getPortHandleChannel(portHandle);
- int16_t module = getPortHandleModule(portHandle);
- if (channel == InvalidHandleIndex) {
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
- }
-
- if (!HAL_CheckSolenoidChannel(channel)) {
- *status = RESOURCE_OUT_OF_RANGE;
- return HAL_kInvalidHandle;
- }
-
- if (!HAL_CheckSolenoidModule(module)) {
- *status = RESOURCE_OUT_OF_RANGE;
- return HAL_kInvalidHandle;
- }
-
- auto handle = solenoidHandles->Allocate(
- module * kNumSolenoidChannels + channel, status);
- if (handle == HAL_kInvalidHandle) { // out of resources
- *status = NO_AVAILABLE_RESOURCES;
- return HAL_kInvalidHandle;
- }
- auto solenoidPort = solenoidHandles->Get(handle);
- if (solenoidPort == nullptr) { // would only occur on thread issues
- *status = HAL_HANDLE_ERROR;
- return HAL_kInvalidHandle;
- }
- solenoidPort->module = static_cast<uint8_t>(module);
- solenoidPort->channel = static_cast<uint8_t>(channel);
-
- HALSIM_SetPCMSolenoidInitialized(module, channel, true);
-
- return handle;
-}
-void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoidPortHandle) {
- auto port = solenoidHandles->Get(solenoidPortHandle);
- if (port == nullptr) return;
- solenoidHandles->Free(solenoidPortHandle);
- HALSIM_SetPCMSolenoidInitialized(port->module, port->channel, false);
-}
-HAL_Bool HAL_CheckSolenoidModule(int32_t module) {
- return module < kNumPCMModules && module >= 0;
-}
-
-HAL_Bool HAL_CheckSolenoidChannel(int32_t channel) {
- return channel < kNumSolenoidChannels && channel >= 0;
-}
-HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoidPortHandle,
- int32_t* status) {
- auto port = solenoidHandles->Get(solenoidPortHandle);
- if (port == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return false;
- }
-
- return HALSIM_GetPCMSolenoidOutput(port->module, port->channel);
-}
-int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status) {
- int32_t total = 0;
- for (int i = 0; i < kNumSolenoidChannels; i++) {
- int32_t channel = HALSIM_GetPCMSolenoidOutput(module, i) ? 1 : 0;
- total = total + (channel << i);
- }
-
- return total;
-}
-void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value,
- int32_t* status) {
- auto port = solenoidHandles->Get(solenoidPortHandle);
- if (port == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- HALSIM_SetPCMSolenoidOutput(port->module, port->channel, value);
-}
-
-void HAL_SetAllSolenoids(int32_t module, int32_t state, int32_t* status) {
- for (int i = 0; i < kNumSolenoidChannels; i++) {
- int set = state & 1;
- HALSIM_SetPCMSolenoidOutput(module, i, set);
- state >>= 1;
- }
-}
-
-int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status) {
- return 0;
-}
-HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status) {
- return 0;
-}
-HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status) {
- return 0;
-}
-void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status) {}
-void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
- int32_t durMS, int32_t* status) {}
-void HAL_FireOneShot(HAL_SolenoidHandle solenoidPortHandle, int32_t* status) {}
-} // extern "C"
diff --git a/hal/src/main/native/sim/Threads.cpp b/hal/src/main/native/sim/Threads.cpp
index 2aa2c4b..94b6090 100644
--- a/hal/src/main/native/sim/Threads.cpp
+++ b/hal/src/main/native/sim/Threads.cpp
@@ -1,17 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/Threads.h"
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeThreads() {}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
int32_t* status) {
diff --git a/hal/src/main/native/sim/mockdata/AccelerometerData.cpp b/hal/src/main/native/sim/mockdata/AccelerometerData.cpp
index 66e129a..8ed4d78 100644
--- a/hal/src/main/native/sim/mockdata/AccelerometerData.cpp
+++ b/hal/src/main/native/sim/mockdata/AccelerometerData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "AccelerometerDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAccelerometerData() {
static AccelerometerData sad[1];
::hal::SimAccelerometerData = sad;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
AccelerometerData* hal::SimAccelerometerData;
void AccelerometerData::ResetData() {
diff --git a/hal/src/main/native/sim/mockdata/AccelerometerDataInternal.h b/hal/src/main/native/sim/mockdata/AccelerometerDataInternal.h
index e2e0a80..24be83e 100644
--- a/hal/src/main/native/sim/mockdata/AccelerometerDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AccelerometerDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/AddressableLEDData.cpp b/hal/src/main/native/sim/mockdata/AddressableLEDData.cpp
index fe4611e..0945ec9 100644
--- a/hal/src/main/native/sim/mockdata/AddressableLEDData.cpp
+++ b/hal/src/main/native/sim/mockdata/AddressableLEDData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <algorithm>
#include <cstring>
@@ -13,14 +10,12 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAddressableLEDData() {
static AddressableLEDData sad[kNumAddressableLEDs];
::hal::SimAddressableLEDData = sad;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
AddressableLEDData* hal::SimAddressableLEDData;
@@ -44,7 +39,9 @@
int32_t AddressableLEDData::GetData(HAL_AddressableLEDData* d) {
std::scoped_lock lock(m_dataMutex);
int32_t len = length;
- if (d) std::memcpy(d, m_data, len * sizeof(d[0]));
+ if (d) {
+ std::memcpy(d, m_data, len * sizeof(d[0]));
+ }
return len;
}
@@ -53,8 +50,9 @@
int32_t HALSIM_FindAddressableLEDForChannel(int32_t channel) {
for (int i = 0; i < kNumAddressableLEDs; ++i) {
if (SimAddressableLEDData[i].initialized &&
- SimAddressableLEDData[i].outputPort == channel)
+ SimAddressableLEDData[i].outputPort == channel) {
return i;
+ }
}
return -1;
}
diff --git a/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h b/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
index f0b7998..3382eed 100644
--- a/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/AnalogGyroData.cpp b/hal/src/main/native/sim/mockdata/AnalogGyroData.cpp
index 2508d9b..bb4e278 100644
--- a/hal/src/main/native/sim/mockdata/AnalogGyroData.cpp
+++ b/hal/src/main/native/sim/mockdata/AnalogGyroData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "AnalogGyroDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogGyroData() {
static AnalogGyroData agd[kNumAccumulators];
::hal::SimAnalogGyroData = agd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
AnalogGyroData* hal::SimAnalogGyroData;
void AnalogGyroData::ResetData() {
diff --git a/hal/src/main/native/sim/mockdata/AnalogGyroDataInternal.h b/hal/src/main/native/sim/mockdata/AnalogGyroDataInternal.h
index ff12b60..d88c56d 100644
--- a/hal/src/main/native/sim/mockdata/AnalogGyroDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AnalogGyroDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/AnalogInData.cpp b/hal/src/main/native/sim/mockdata/AnalogInData.cpp
index a2a871c..a93cad0 100644
--- a/hal/src/main/native/sim/mockdata/AnalogInData.cpp
+++ b/hal/src/main/native/sim/mockdata/AnalogInData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "AnalogInDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogInData() {
static AnalogInData sind[kNumAnalogInputs];
::hal::SimAnalogInData = sind;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
AnalogInData* hal::SimAnalogInData;
void AnalogInData::ResetData() {
diff --git a/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h b/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
index 90d707c..953c8f8 100644
--- a/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/AnalogOutData.cpp b/hal/src/main/native/sim/mockdata/AnalogOutData.cpp
index d4b9116..0ec39e0 100644
--- a/hal/src/main/native/sim/mockdata/AnalogOutData.cpp
+++ b/hal/src/main/native/sim/mockdata/AnalogOutData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "AnalogOutDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogOutData() {
static AnalogOutData siod[kNumAnalogOutputs];
::hal::SimAnalogOutData = siod;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
AnalogOutData* hal::SimAnalogOutData;
void AnalogOutData::ResetData() {
diff --git a/hal/src/main/native/sim/mockdata/AnalogOutDataInternal.h b/hal/src/main/native/sim/mockdata/AnalogOutDataInternal.h
index 779ee96..d4a61b2 100644
--- a/hal/src/main/native/sim/mockdata/AnalogOutDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AnalogOutDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/AnalogTriggerData.cpp b/hal/src/main/native/sim/mockdata/AnalogTriggerData.cpp
index ba33522..72184da 100644
--- a/hal/src/main/native/sim/mockdata/AnalogTriggerData.cpp
+++ b/hal/src/main/native/sim/mockdata/AnalogTriggerData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "AnalogTriggerDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeAnalogTriggerData() {
static AnalogTriggerData satd[kNumAnalogTriggers];
::hal::SimAnalogTriggerData = satd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
AnalogTriggerData* hal::SimAnalogTriggerData;
void AnalogTriggerData::ResetData() {
@@ -32,8 +27,9 @@
int32_t HALSIM_FindAnalogTriggerForChannel(int32_t channel) {
for (int i = 0; i < kNumAnalogTriggers; ++i) {
if (SimAnalogTriggerData[i].initialized &&
- SimAnalogTriggerData[i].inputPort == channel)
+ SimAnalogTriggerData[i].inputPort == channel) {
return i;
+ }
}
return -1;
}
diff --git a/hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h b/hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h
index 74fe5f8..16aab79 100644
--- a/hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/CTREPCMData.cpp b/hal/src/main/native/sim/mockdata/CTREPCMData.cpp
new file mode 100644
index 0000000..bfc0b61
--- /dev/null
+++ b/hal/src/main/native/sim/mockdata/CTREPCMData.cpp
@@ -0,0 +1,83 @@
+// 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.
+
+#include "../PortsInternal.h"
+#include "CTREPCMDataInternal.h"
+
+using namespace hal;
+
+namespace hal::init {
+void InitializeCTREPCMData() {
+ static CTREPCMData spd[kNumCTREPCMModules];
+ ::hal::SimCTREPCMData = spd;
+}
+} // namespace hal::init
+
+CTREPCMData* hal::SimCTREPCMData;
+void CTREPCMData::ResetData() {
+ for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+ solenoidOutput[i].Reset(false);
+ }
+ initialized.Reset(false);
+ compressorOn.Reset(false);
+ closedLoopEnabled.Reset(true);
+ pressureSwitch.Reset(false);
+ compressorCurrent.Reset(0.0);
+}
+
+extern "C" {
+void HALSIM_ResetCTREPCMData(int32_t index) {
+ SimCTREPCMData[index].ResetData();
+}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
+ HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, CTREPCM##CAPINAME, \
+ SimCTREPCMData, LOWERNAME)
+
+HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, CTREPCMSolenoidOutput,
+ SimCTREPCMData, solenoidOutput)
+DEFINE_CAPI(HAL_Bool, Initialized, initialized)
+DEFINE_CAPI(HAL_Bool, CompressorOn, compressorOn)
+DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, closedLoopEnabled)
+DEFINE_CAPI(HAL_Bool, PressureSwitch, pressureSwitch)
+DEFINE_CAPI(double, CompressorCurrent, compressorCurrent)
+
+void HALSIM_GetCTREPCMAllSolenoids(int32_t index, uint8_t* values) {
+ auto& data = SimCTREPCMData[index].solenoidOutput;
+ uint8_t ret = 0;
+ for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+ ret |= (data[i] << i);
+ }
+ *values = ret;
+}
+
+void HALSIM_SetCTREPCMAllSolenoids(int32_t index, uint8_t values) {
+ auto& data = SimCTREPCMData[index].solenoidOutput;
+ for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+ data[i] = (values & 0x1) != 0;
+ values >>= 1;
+ }
+}
+
+#define REGISTER(NAME) \
+ SimCTREPCMData[index].NAME.RegisterCallback(callback, param, initialNotify)
+
+void HALSIM_RegisterCTREPCMAllNonSolenoidCallbacks(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify) {
+ REGISTER(initialized);
+ REGISTER(compressorOn);
+ REGISTER(closedLoopEnabled);
+ REGISTER(pressureSwitch);
+ REGISTER(compressorCurrent);
+}
+
+void HALSIM_RegisterCTREPCMAllSolenoidCallbacks(int32_t index, int32_t channel,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify) {
+ REGISTER(solenoidOutput[channel]);
+}
+} // extern "C"
diff --git a/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h b/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h
new file mode 100644
index 0000000..56a6a09
--- /dev/null
+++ b/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h
@@ -0,0 +1,43 @@
+// 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 "../PortsInternal.h"
+#include "hal/simulation/CTREPCMData.h"
+#include "hal/simulation/SimDataValue.h"
+
+namespace hal {
+class CTREPCMData {
+ HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
+ HAL_SIMDATAVALUE_DEFINE_NAME(SolenoidOutput)
+ HAL_SIMDATAVALUE_DEFINE_NAME(CompressorOn)
+ HAL_SIMDATAVALUE_DEFINE_NAME(ClosedLoopEnabled)
+ HAL_SIMDATAVALUE_DEFINE_NAME(PressureSwitch)
+ HAL_SIMDATAVALUE_DEFINE_NAME(CompressorCurrent)
+
+ static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr HAL_Bool
+ GetSolenoidOutputDefault() {
+ return false;
+ }
+
+ public:
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetSolenoidOutputName,
+ GetSolenoidOutputDefault>
+ solenoidOutput[kNumCTRESolenoidChannels];
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetCompressorOnName> compressorOn{
+ false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetClosedLoopEnabledName>
+ closedLoopEnabled{true};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetPressureSwitchName> pressureSwitch{
+ false};
+ SimDataValue<double, HAL_MakeDouble, GetCompressorCurrentName>
+ compressorCurrent{0.0};
+
+ virtual void ResetData();
+};
+extern CTREPCMData* SimCTREPCMData;
+} // namespace hal
diff --git a/hal/src/main/native/sim/mockdata/CanDataInternal.cpp b/hal/src/main/native/sim/mockdata/CanDataInternal.cpp
index e37d865..0ace401 100644
--- a/hal/src/main/native/sim/mockdata/CanDataInternal.cpp
+++ b/hal/src/main/native/sim/mockdata/CanDataInternal.cpp
@@ -1,22 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "CanDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeCanData() {
static CanData scd;
::hal::SimCanData = &scd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
CanData* hal::SimCanData;
@@ -31,7 +26,9 @@
extern "C" {
-void HALSIM_ResetCanData(void) { SimCanData->ResetData(); }
+void HALSIM_ResetCanData(void) {
+ SimCanData->ResetData();
+}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMCALLBACKREGISTRY_DEFINE_CAPI_NOINDEX(TYPE, HALSIM, Can##CAPINAME, \
diff --git a/hal/src/main/native/sim/mockdata/CanDataInternal.h b/hal/src/main/native/sim/mockdata/CanDataInternal.h
index df5b290..c2b7282 100644
--- a/hal/src/main/native/sim/mockdata/CanDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/CanDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/DIOData.cpp b/hal/src/main/native/sim/mockdata/DIOData.cpp
index a9c61fd..cdca84b 100644
--- a/hal/src/main/native/sim/mockdata/DIOData.cpp
+++ b/hal/src/main/native/sim/mockdata/DIOData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "DIODataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeDIOData() {
static DIOData sdd[kNumDigitalChannels];
::hal::SimDIOData = sdd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
DIOData* hal::SimDIOData;
void DIOData::ResetData() {
@@ -30,7 +25,9 @@
}
extern "C" {
-void HALSIM_ResetDIOData(int32_t index) { SimDIOData[index].ResetData(); }
+void HALSIM_ResetDIOData(int32_t index) {
+ SimDIOData[index].ResetData();
+}
HAL_SimDeviceHandle HALSIM_GetDIOSimDevice(int32_t index) {
return SimDIOData[index].simDevice;
diff --git a/hal/src/main/native/sim/mockdata/DIODataInternal.h b/hal/src/main/native/sim/mockdata/DIODataInternal.h
index c3266d5..9e6828b 100644
--- a/hal/src/main/native/sim/mockdata/DIODataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DIODataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/DigitalPWMData.cpp b/hal/src/main/native/sim/mockdata/DigitalPWMData.cpp
index 541d7cf..da4236a 100644
--- a/hal/src/main/native/sim/mockdata/DigitalPWMData.cpp
+++ b/hal/src/main/native/sim/mockdata/DigitalPWMData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "DigitalPWMDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeDigitalPWMData() {
static DigitalPWMData sdpd[kNumDigitalPWMOutputs];
::hal::SimDigitalPWMData = sdpd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
DigitalPWMData* hal::SimDigitalPWMData;
void DigitalPWMData::ResetData() {
@@ -29,8 +24,10 @@
extern "C" {
int32_t HALSIM_FindDigitalPWMForChannel(int32_t channel) {
for (int i = 0; i < kNumDigitalPWMOutputs; ++i) {
- if (SimDigitalPWMData[i].initialized && SimDigitalPWMData[i].pin == channel)
+ if (SimDigitalPWMData[i].initialized &&
+ SimDigitalPWMData[i].pin == channel) {
return i;
+ }
}
return -1;
}
diff --git a/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h b/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
index f2c7a5e..fe06389 100644
--- a/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/DriverStationData.cpp b/hal/src/main/native/sim/mockdata/DriverStationData.cpp
index dae1dd4..c704f2b 100644
--- a/hal/src/main/native/sim/mockdata/DriverStationData.cpp
+++ b/hal/src/main/native/sim/mockdata/DriverStationData.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <cstring>
@@ -12,18 +9,18 @@
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeDriverStationData() {
static DriverStationData dsd;
::hal::SimDriverStationData = &dsd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
DriverStationData* hal::SimDriverStationData;
-DriverStationData::DriverStationData() { ResetData(); }
+DriverStationData::DriverStationData() {
+ ResetData();
+}
void DriverStationData::ResetData() {
enabled.Reset(false);
@@ -63,7 +60,8 @@
int32_t DriverStationData::RegisterJoystick##name##Callback( \
int32_t joystickNum, HAL_Joystick##name##Callback callback, void* param, \
HAL_Bool initialNotify) { \
- if (joystickNum < 0 || joystickNum >= kNumJoysticks) return 0; \
+ if (joystickNum < 0 || joystickNum >= kNumJoysticks) \
+ return 0; \
std::scoped_lock lock(m_joystickDataMutex); \
int32_t uid = m_joystick##name##Callbacks.Register(callback, param); \
if (initialNotify) { \
@@ -82,14 +80,16 @@
\
void DriverStationData::GetJoystick##name(int32_t joystickNum, \
HAL_Joystick##name* d) { \
- if (joystickNum < 0 || joystickNum >= kNumJoysticks) return; \
+ if (joystickNum < 0 || joystickNum >= kNumJoysticks) \
+ return; \
std::scoped_lock lock(m_joystickDataMutex); \
*d = m_joystickData[joystickNum].data##data2; \
} \
\
void DriverStationData::SetJoystick##name(int32_t joystickNum, \
const HAL_Joystick##name* d) { \
- if (joystickNum < 0 || joystickNum >= kNumJoysticks) return; \
+ if (joystickNum < 0 || joystickNum >= kNumJoysticks) \
+ return; \
std::scoped_lock lock(m_joystickDataMutex); \
m_joystickData[joystickNum].data##data2 = *d; \
m_joystick##name##Callbacks(joystickNum, d); \
@@ -103,14 +103,18 @@
void DriverStationData::GetJoystickDescriptor(
int32_t joystickNum, HAL_JoystickDescriptor* descriptor) {
- if (joystickNum < 0 || joystickNum >= kNumJoysticks) return;
+ if (joystickNum < 0 || joystickNum >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
*descriptor = m_joystickData[joystickNum].descriptor;
}
void DriverStationData::SetJoystickDescriptor(
int32_t joystickNum, const HAL_JoystickDescriptor* descriptor) {
- if (joystickNum < 0 || joystickNum >= kNumJoysticks) return;
+ if (joystickNum < 0 || joystickNum >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[joystickNum].descriptor = *descriptor;
// Always ensure name is null terminated
@@ -121,8 +125,9 @@
int32_t DriverStationData::RegisterJoystickOutputsCallback(
int32_t joystickNum, HAL_JoystickOutputsCallback callback, void* param,
HAL_Bool initialNotify) {
- if (joystickNum < 0 || joystickNum >= DriverStationData::kNumJoysticks)
+ if (joystickNum < 0 || joystickNum >= DriverStationData::kNumJoysticks) {
return 0;
+ }
std::scoped_lock lock(m_joystickDataMutex);
int32_t uid = m_joystickOutputsCallbacks.Register(callback, param);
if (initialNotify) {
@@ -141,7 +146,9 @@
int64_t* outputs,
int32_t* leftRumble,
int32_t* rightRumble) {
- if (joystickNum < 0 || joystickNum >= kNumJoysticks) return;
+ if (joystickNum < 0 || joystickNum >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
*leftRumble = m_joystickData[joystickNum].outputs.leftRumble;
*outputs = m_joystickData[joystickNum].outputs.outputs;
@@ -151,7 +158,9 @@
void DriverStationData::SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble,
int32_t rightRumble) {
- if (joystickNum < 0 || joystickNum >= kNumJoysticks) return;
+ if (joystickNum < 0 || joystickNum >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[joystickNum].outputs.leftRumble = leftRumble;
m_joystickData[joystickNum].outputs.outputs = outputs;
@@ -207,23 +216,32 @@
m_newDataCallbacks(&empty);
}
-void DriverStationData::NotifyNewData() { HAL_ReleaseDSMutex(); }
+void DriverStationData::NotifyNewData() {
+ HAL_ReleaseDSMutex();
+}
void DriverStationData::SetJoystickButton(int32_t stick, int32_t button,
HAL_Bool state) {
- if (stick < 0 || stick >= kNumJoysticks) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
- if (state)
+ if (state) {
m_joystickData[stick].buttons.buttons |= 1 << (button - 1);
- else
+ } else {
m_joystickData[stick].buttons.buttons &= ~(1 << (button - 1));
+ }
m_joystickButtonsCallbacks(stick, &m_joystickData[stick].buttons);
}
void DriverStationData::SetJoystickAxis(int32_t stick, int32_t axis,
double value) {
- if (stick < 0 || stick >= kNumJoysticks) return;
- if (axis < 0 || axis >= HAL_kMaxJoystickAxes) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
+ if (axis < 0 || axis >= HAL_kMaxJoystickAxes) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[stick].axes.axes[axis] = value;
m_joystickAxesCallbacks(stick, &m_joystickData[stick].axes);
@@ -231,22 +249,30 @@
void DriverStationData::SetJoystickPOV(int32_t stick, int32_t pov,
int32_t value) {
- if (stick < 0 || stick >= kNumJoysticks) return;
- if (pov < 0 || pov >= HAL_kMaxJoystickPOVs) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
+ if (pov < 0 || pov >= HAL_kMaxJoystickPOVs) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[stick].povs.povs[pov] = value;
m_joystickPOVsCallbacks(stick, &m_joystickData[stick].povs);
}
void DriverStationData::SetJoystickButtons(int32_t stick, uint32_t buttons) {
- if (stick < 0 || stick >= kNumJoysticks) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[stick].buttons.buttons = buttons;
m_joystickButtonsCallbacks(stick, &m_joystickData[stick].buttons);
}
void DriverStationData::SetJoystickAxisCount(int32_t stick, int32_t count) {
- if (stick < 0 || stick >= kNumJoysticks) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[stick].axes.count = count;
m_joystickData[stick].descriptor.axisCount = count;
@@ -255,7 +281,9 @@
}
void DriverStationData::SetJoystickPOVCount(int32_t stick, int32_t count) {
- if (stick < 0 || stick >= kNumJoysticks) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[stick].povs.count = count;
m_joystickData[stick].descriptor.povCount = count;
@@ -264,7 +292,9 @@
}
void DriverStationData::SetJoystickButtonCount(int32_t stick, int32_t count) {
- if (stick < 0 || stick >= kNumJoysticks) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[stick].buttons.count = count;
m_joystickData[stick].descriptor.buttonCount = count;
@@ -288,21 +318,27 @@
}
void DriverStationData::SetJoystickIsXbox(int32_t stick, HAL_Bool isXbox) {
- if (stick < 0 || stick >= kNumJoysticks) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[stick].descriptor.isXbox = isXbox;
m_joystickDescriptorCallbacks(stick, &m_joystickData[stick].descriptor);
}
void DriverStationData::SetJoystickType(int32_t stick, int32_t type) {
- if (stick < 0 || stick >= kNumJoysticks) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[stick].descriptor.type = type;
m_joystickDescriptorCallbacks(stick, &m_joystickData[stick].descriptor);
}
void DriverStationData::SetJoystickName(int32_t stick, const char* name) {
- if (stick < 0 || stick >= kNumJoysticks) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
std::strncpy(m_joystickData[stick].descriptor.name, name,
sizeof(m_joystickData[stick].descriptor.name) - 1);
@@ -312,8 +348,12 @@
void DriverStationData::SetJoystickAxisType(int32_t stick, int32_t axis,
int32_t type) {
- if (stick < 0 || stick >= kNumJoysticks) return;
- if (axis < 0 || axis >= HAL_kMaxJoystickAxes) return;
+ if (stick < 0 || stick >= kNumJoysticks) {
+ return;
+ }
+ if (axis < 0 || axis >= HAL_kMaxJoystickAxes) {
+ return;
+ }
std::scoped_lock lock(m_joystickDataMutex);
m_joystickData[stick].descriptor.axisTypes[axis] = type;
m_joystickDescriptorCallbacks(stick, &m_joystickData[stick].descriptor);
@@ -354,7 +394,9 @@
}
extern "C" {
-void HALSIM_ResetDriverStationData(void) { SimDriverStationData->ResetData(); }
+void HALSIM_ResetDriverStationData(void) {
+ SimDriverStationData->ResetData();
+}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI_NOINDEX(TYPE, HALSIM, DriverStation##CAPINAME, \
diff --git a/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h b/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
index 2a50742..e0f545e 100644
--- a/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/DutyCycleData.cpp b/hal/src/main/native/sim/mockdata/DutyCycleData.cpp
index 660522d..de677a5 100644
--- a/hal/src/main/native/sim/mockdata/DutyCycleData.cpp
+++ b/hal/src/main/native/sim/mockdata/DutyCycleData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "DutyCycleDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeDutyCycleData() {
static DutyCycleData sed[kNumDutyCycles];
::hal::SimDutyCycleData = sed;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
DutyCycleData* hal::SimDutyCycleData;
@@ -33,8 +28,9 @@
int32_t HALSIM_FindDutyCycleForChannel(int32_t channel) {
for (int i = 0; i < kNumDutyCycles; ++i) {
if (SimDutyCycleData[i].initialized &&
- SimDutyCycleData[i].digitalChannel == channel)
+ SimDutyCycleData[i].digitalChannel == channel) {
return i;
+ }
}
return -1;
}
diff --git a/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h b/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h
index e69f9aa..0eb8aff 100644
--- a/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/EncoderData.cpp b/hal/src/main/native/sim/mockdata/EncoderData.cpp
index 0b17ac3..62ff744 100644
--- a/hal/src/main/native/sim/mockdata/EncoderData.cpp
+++ b/hal/src/main/native/sim/mockdata/EncoderData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "EncoderDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeEncoderData() {
static EncoderData sed[kNumEncoders];
::hal::SimEncoderData = sed;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
EncoderData* hal::SimEncoderData;
void EncoderData::ResetData() {
@@ -38,10 +33,13 @@
extern "C" {
int32_t HALSIM_FindEncoderForChannel(int32_t channel) {
for (int i = 0; i < kNumEncoders; ++i) {
- if (!SimEncoderData[i].initialized) continue;
+ if (!SimEncoderData[i].initialized) {
+ continue;
+ }
if (SimEncoderData[i].digitalChannelA == channel ||
- SimEncoderData[i].digitalChannelB == channel)
+ SimEncoderData[i].digitalChannelB == channel) {
return i;
+ }
}
return -1;
}
diff --git a/hal/src/main/native/sim/mockdata/EncoderDataInternal.h b/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
index 3848f1d..bd0db11 100644
--- a/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/I2CData.cpp b/hal/src/main/native/sim/mockdata/I2CData.cpp
index 713064e..0ac813d 100644
--- a/hal/src/main/native/sim/mockdata/I2CData.cpp
+++ b/hal/src/main/native/sim/mockdata/I2CData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "I2CDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeI2CData() {
static I2CData sid[2];
::hal::SimI2CData = sid;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
I2CData* hal::SimI2CData;
@@ -37,7 +32,9 @@
}
extern "C" {
-void HALSIM_ResetI2CData(int32_t index) { SimI2CData[index].ResetData(); }
+void HALSIM_ResetI2CData(int32_t index) {
+ SimI2CData[index].ResetData();
+}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, I2C##CAPINAME, SimI2CData, \
diff --git a/hal/src/main/native/sim/mockdata/I2CDataInternal.h b/hal/src/main/native/sim/mockdata/I2CDataInternal.h
index 4822222..6dd4739 100644
--- a/hal/src/main/native/sim/mockdata/I2CDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/I2CDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/PCMData.cpp b/hal/src/main/native/sim/mockdata/PCMData.cpp
deleted file mode 100644
index 6193b05..0000000
--- a/hal/src/main/native/sim/mockdata/PCMData.cpp
+++ /dev/null
@@ -1,90 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "../PortsInternal.h"
-#include "PCMDataInternal.h"
-
-using namespace hal;
-
-namespace hal {
-namespace init {
-void InitializePCMData() {
- static PCMData spd[kNumPCMModules];
- ::hal::SimPCMData = spd;
-}
-} // namespace init
-} // namespace hal
-
-PCMData* hal::SimPCMData;
-void PCMData::ResetData() {
- for (int i = 0; i < kNumSolenoidChannels; i++) {
- solenoidInitialized[i].Reset(false);
- solenoidOutput[i].Reset(false);
- }
- compressorInitialized.Reset(false);
- compressorOn.Reset(false);
- closedLoopEnabled.Reset(true);
- pressureSwitch.Reset(false);
- compressorCurrent.Reset(0.0);
-}
-
-extern "C" {
-void HALSIM_ResetPCMData(int32_t index) { SimPCMData[index].ResetData(); }
-
-#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
- HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PCM##CAPINAME, SimPCMData, \
- LOWERNAME)
-
-HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, PCMSolenoidInitialized,
- SimPCMData, solenoidInitialized)
-HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, PCMSolenoidOutput,
- SimPCMData, solenoidOutput)
-DEFINE_CAPI(HAL_Bool, CompressorInitialized, compressorInitialized)
-DEFINE_CAPI(HAL_Bool, CompressorOn, compressorOn)
-DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, closedLoopEnabled)
-DEFINE_CAPI(HAL_Bool, PressureSwitch, pressureSwitch)
-DEFINE_CAPI(double, CompressorCurrent, compressorCurrent)
-
-void HALSIM_GetPCMAllSolenoids(int32_t index, uint8_t* values) {
- auto& data = SimPCMData[index].solenoidOutput;
- uint8_t ret = 0;
- for (int i = 0; i < kNumSolenoidChannels; i++) {
- ret |= (data[i] << i);
- }
- *values = ret;
-}
-
-void HALSIM_SetPCMAllSolenoids(int32_t index, uint8_t values) {
- auto& data = SimPCMData[index].solenoidOutput;
- for (int i = 0; i < kNumSolenoidChannels; i++) {
- data[i] = (values & 0x1) != 0;
- values >>= 1;
- }
-}
-
-#define REGISTER(NAME) \
- SimPCMData[index].NAME.RegisterCallback(callback, param, initialNotify)
-
-void HALSIM_RegisterPCMAllNonSolenoidCallbacks(int32_t index,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify) {
- REGISTER(compressorInitialized);
- REGISTER(compressorOn);
- REGISTER(closedLoopEnabled);
- REGISTER(pressureSwitch);
- REGISTER(compressorCurrent);
-}
-
-void HALSIM_RegisterPCMAllSolenoidCallbacks(int32_t index, int32_t channel,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify) {
- REGISTER(solenoidInitialized[channel]);
- REGISTER(solenoidOutput[channel]);
-}
-} // extern "C"
diff --git a/hal/src/main/native/sim/mockdata/PCMDataInternal.h b/hal/src/main/native/sim/mockdata/PCMDataInternal.h
deleted file mode 100644
index 0d3752e..0000000
--- a/hal/src/main/native/sim/mockdata/PCMDataInternal.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "../PortsInternal.h"
-#include "hal/simulation/PCMData.h"
-#include "hal/simulation/SimDataValue.h"
-
-namespace hal {
-class PCMData {
- HAL_SIMDATAVALUE_DEFINE_NAME(SolenoidInitialized)
- HAL_SIMDATAVALUE_DEFINE_NAME(SolenoidOutput)
- HAL_SIMDATAVALUE_DEFINE_NAME(CompressorInitialized)
- HAL_SIMDATAVALUE_DEFINE_NAME(CompressorOn)
- HAL_SIMDATAVALUE_DEFINE_NAME(ClosedLoopEnabled)
- HAL_SIMDATAVALUE_DEFINE_NAME(PressureSwitch)
- HAL_SIMDATAVALUE_DEFINE_NAME(CompressorCurrent)
-
- static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr HAL_Bool
- GetSolenoidInitializedDefault() {
- return false;
- }
- static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr HAL_Bool
- GetSolenoidOutputDefault() {
- return false;
- }
-
- public:
- SimDataValue<HAL_Bool, HAL_MakeBoolean, GetSolenoidInitializedName,
- GetSolenoidInitializedDefault>
- solenoidInitialized[kNumSolenoidChannels];
- SimDataValue<HAL_Bool, HAL_MakeBoolean, GetSolenoidOutputName,
- GetSolenoidOutputDefault>
- solenoidOutput[kNumSolenoidChannels];
- SimDataValue<HAL_Bool, HAL_MakeBoolean, GetCompressorInitializedName>
- compressorInitialized{false};
- SimDataValue<HAL_Bool, HAL_MakeBoolean, GetCompressorOnName> compressorOn{
- false};
- SimDataValue<HAL_Bool, HAL_MakeBoolean, GetClosedLoopEnabledName>
- closedLoopEnabled{true};
- SimDataValue<HAL_Bool, HAL_MakeBoolean, GetPressureSwitchName> pressureSwitch{
- false};
- SimDataValue<double, HAL_MakeDouble, GetCompressorCurrentName>
- compressorCurrent{0.0};
-
- virtual void ResetData();
-};
-extern PCMData* SimPCMData;
-} // namespace hal
diff --git a/hal/src/main/native/sim/mockdata/PDPData.cpp b/hal/src/main/native/sim/mockdata/PDPData.cpp
deleted file mode 100644
index 1c150bb..0000000
--- a/hal/src/main/native/sim/mockdata/PDPData.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "../PortsInternal.h"
-#include "PDPDataInternal.h"
-
-using namespace hal;
-
-namespace hal {
-namespace init {
-void InitializePDPData() {
- static PDPData spd[kNumPDPModules];
- ::hal::SimPDPData = spd;
-}
-} // namespace init
-} // namespace hal
-
-PDPData* hal::SimPDPData;
-void PDPData::ResetData() {
- initialized.Reset(false);
- temperature.Reset(0.0);
- voltage.Reset(12.0);
- for (int i = 0; i < kNumPDPChannels; i++) {
- current[i].Reset(0.0);
- }
-}
-
-extern "C" {
-void HALSIM_ResetPDPData(int32_t index) { SimPDPData[index].ResetData(); }
-
-#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
- HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PDP##CAPINAME, SimPDPData, \
- LOWERNAME)
-
-DEFINE_CAPI(HAL_Bool, Initialized, initialized)
-DEFINE_CAPI(double, Temperature, temperature)
-DEFINE_CAPI(double, Voltage, voltage)
-HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(double, HALSIM, PDPCurrent, SimPDPData,
- current)
-
-void HALSIM_GetPDPAllCurrents(int32_t index, double* currents) {
- auto& data = SimPDPData[index].current;
- for (int i = 0; i < kNumPDPChannels; i++) {
- currents[i] = data[i];
- }
-}
-
-void HALSIM_SetPDPAllCurrents(int32_t index, const double* currents) {
- auto& data = SimPDPData[index].current;
- for (int i = 0; i < kNumPDPChannels; i++) {
- data[i] = currents[i];
- }
-}
-
-#define REGISTER(NAME) \
- SimPDPData[index].NAME.RegisterCallback(callback, param, initialNotify)
-
-void HALSIM_RegisterPDPAllNonCurrentCallbacks(int32_t index, int32_t channel,
- HAL_NotifyCallback callback,
- void* param,
- HAL_Bool initialNotify) {
- REGISTER(initialized);
- REGISTER(temperature);
- REGISTER(voltage);
-}
-} // extern "C"
diff --git a/hal/src/main/native/sim/mockdata/PDPDataInternal.h b/hal/src/main/native/sim/mockdata/PDPDataInternal.h
deleted file mode 100644
index 3392eaa..0000000
--- a/hal/src/main/native/sim/mockdata/PDPDataInternal.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "../PortsInternal.h"
-#include "hal/simulation/PDPData.h"
-#include "hal/simulation/SimDataValue.h"
-
-namespace hal {
-class PDPData {
- HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
- HAL_SIMDATAVALUE_DEFINE_NAME(Temperature)
- HAL_SIMDATAVALUE_DEFINE_NAME(Voltage)
- HAL_SIMDATAVALUE_DEFINE_NAME(Current)
-
- static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr double GetCurrentDefault() {
- return 0.0;
- }
-
- public:
- SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
- false};
- SimDataValue<double, HAL_MakeDouble, GetTemperatureName> temperature{0.0};
- SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{12.0};
- SimDataValue<double, HAL_MakeDouble, GetCurrentName, GetCurrentDefault>
- current[kNumPDPChannels];
-
- virtual void ResetData();
-};
-extern PDPData* SimPDPData;
-} // namespace hal
diff --git a/hal/src/main/native/sim/mockdata/PWMData.cpp b/hal/src/main/native/sim/mockdata/PWMData.cpp
index 4d2121d..a221d13 100644
--- a/hal/src/main/native/sim/mockdata/PWMData.cpp
+++ b/hal/src/main/native/sim/mockdata/PWMData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "PWMDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializePWMData() {
static PWMData spd[kNumPWMChannels];
::hal::SimPWMData = spd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
PWMData* hal::SimPWMData;
void PWMData::ResetData() {
@@ -30,7 +25,9 @@
}
extern "C" {
-void HALSIM_ResetPWMData(int32_t index) { SimPWMData[index].ResetData(); }
+void HALSIM_ResetPWMData(int32_t index) {
+ SimPWMData[index].ResetData();
+}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PWM##CAPINAME, SimPWMData, \
diff --git a/hal/src/main/native/sim/mockdata/PWMDataInternal.h b/hal/src/main/native/sim/mockdata/PWMDataInternal.h
index 028e25a..737ced6 100644
--- a/hal/src/main/native/sim/mockdata/PWMDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/PWMDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/PowerDistributionData.cpp b/hal/src/main/native/sim/mockdata/PowerDistributionData.cpp
new file mode 100644
index 0000000..9c5b826
--- /dev/null
+++ b/hal/src/main/native/sim/mockdata/PowerDistributionData.cpp
@@ -0,0 +1,72 @@
+// 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.
+
+#include "../PortsInternal.h"
+#include "PowerDistributionDataInternal.h"
+
+using namespace hal;
+
+namespace hal::init {
+void InitializePowerDistributionData() {
+ static PowerDistributionData spd[kNumPDSimModules];
+ ::hal::SimPowerDistributionData = spd;
+}
+} // namespace hal::init
+
+PowerDistributionData* hal::SimPowerDistributionData;
+void PowerDistributionData::ResetData() {
+ initialized.Reset(false);
+ temperature.Reset(0.0);
+ voltage.Reset(12.0);
+ for (int i = 0; i < kNumPDSimChannels; i++) {
+ current[i].Reset(0.0);
+ }
+}
+
+extern "C" {
+void HALSIM_ResetPowerDistributionData(int32_t index) {
+ SimPowerDistributionData[index].ResetData();
+}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
+ HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PowerDistribution##CAPINAME, \
+ SimPowerDistributionData, LOWERNAME)
+
+DEFINE_CAPI(HAL_Bool, Initialized, initialized)
+DEFINE_CAPI(double, Temperature, temperature)
+DEFINE_CAPI(double, Voltage, voltage)
+HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(double, HALSIM, PowerDistributionCurrent,
+ SimPowerDistributionData, current)
+
+void HALSIM_GetPowerDistributionAllCurrents(int32_t index, double* currents,
+ int length) {
+ auto& data = SimPowerDistributionData[index].current;
+ int toCopy = (std::min)(length, kNumPDSimChannels);
+ for (int i = 0; i < toCopy; i++) {
+ currents[i] = data[i];
+ }
+}
+
+void HALSIM_SetPowerDistributionAllCurrents(int32_t index,
+ const double* currents,
+ int length) {
+ auto& data = SimPowerDistributionData[index].current;
+ int toCopy = (std::min)(length, kNumPDSimChannels);
+ for (int i = 0; i < toCopy; i++) {
+ data[i] = currents[i];
+ }
+}
+
+#define REGISTER(NAME) \
+ SimPowerDistributionData[index].NAME.RegisterCallback(callback, param, \
+ initialNotify)
+
+void HALSIM_RegisterPowerDistributionAllNonCurrentCallbacks(
+ int32_t index, int32_t channel, HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify) {
+ REGISTER(initialized);
+ REGISTER(temperature);
+ REGISTER(voltage);
+}
+} // extern "C"
diff --git a/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h b/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
new file mode 100644
index 0000000..4876dbd
--- /dev/null
+++ b/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
@@ -0,0 +1,36 @@
+// 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 "../PortsInternal.h"
+#include "hal/simulation/PowerDistributionData.h"
+#include "hal/simulation/SimDataValue.h"
+
+namespace hal {
+constexpr int32_t kNumPDSimModules = hal::kNumREVPDHModules;
+constexpr int32_t kNumPDSimChannels = hal::kNumREVPDHChannels;
+
+class PowerDistributionData {
+ HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
+ HAL_SIMDATAVALUE_DEFINE_NAME(Temperature)
+ HAL_SIMDATAVALUE_DEFINE_NAME(Voltage)
+ HAL_SIMDATAVALUE_DEFINE_NAME(Current)
+
+ static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr double GetCurrentDefault() {
+ return 0.0;
+ }
+
+ public:
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
+ SimDataValue<double, HAL_MakeDouble, GetTemperatureName> temperature{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{12.0};
+ SimDataValue<double, HAL_MakeDouble, GetCurrentName, GetCurrentDefault>
+ current[kNumPDSimChannels];
+
+ virtual void ResetData();
+};
+extern PowerDistributionData* SimPowerDistributionData;
+} // namespace hal
diff --git a/hal/src/main/native/sim/mockdata/REVPHData.cpp b/hal/src/main/native/sim/mockdata/REVPHData.cpp
new file mode 100644
index 0000000..6c0ed5a
--- /dev/null
+++ b/hal/src/main/native/sim/mockdata/REVPHData.cpp
@@ -0,0 +1,83 @@
+// 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.
+
+#include "../PortsInternal.h"
+#include "REVPHDataInternal.h"
+
+using namespace hal;
+
+namespace hal::init {
+void InitializeREVPHData() {
+ static REVPHData spd[kNumREVPHModules];
+ ::hal::SimREVPHData = spd;
+}
+} // namespace hal::init
+
+REVPHData* hal::SimREVPHData;
+void REVPHData::ResetData() {
+ for (int i = 0; i < kNumREVPHChannels; i++) {
+ solenoidOutput[i].Reset(false);
+ }
+ initialized.Reset(false);
+ compressorOn.Reset(false);
+ closedLoopEnabled.Reset(true);
+ pressureSwitch.Reset(false);
+ compressorCurrent.Reset(0.0);
+}
+
+extern "C" {
+void HALSIM_ResetREVPHData(int32_t index) {
+ SimREVPHData[index].ResetData();
+}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
+ HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, REVPH##CAPINAME, SimREVPHData, \
+ LOWERNAME)
+
+HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, REVPHSolenoidOutput,
+ SimREVPHData, solenoidOutput)
+DEFINE_CAPI(HAL_Bool, Initialized, initialized)
+DEFINE_CAPI(HAL_Bool, CompressorOn, compressorOn)
+DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, closedLoopEnabled)
+DEFINE_CAPI(HAL_Bool, PressureSwitch, pressureSwitch)
+DEFINE_CAPI(double, CompressorCurrent, compressorCurrent)
+
+void HALSIM_GetREVPHAllSolenoids(int32_t index, uint8_t* values) {
+ auto& data = SimREVPHData[index].solenoidOutput;
+ uint8_t ret = 0;
+ for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+ ret |= (data[i] << i);
+ }
+ *values = ret;
+}
+
+void HALSIM_SetREVPHAllSolenoids(int32_t index, uint8_t values) {
+ auto& data = SimREVPHData[index].solenoidOutput;
+ for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+ data[i] = (values & 0x1) != 0;
+ values >>= 1;
+ }
+}
+
+#define REGISTER(NAME) \
+ SimREVPHData[index].NAME.RegisterCallback(callback, param, initialNotify)
+
+void HALSIM_RegisterREVPHAllNonSolenoidCallbacks(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify) {
+ REGISTER(initialized);
+ REGISTER(compressorOn);
+ REGISTER(closedLoopEnabled);
+ REGISTER(pressureSwitch);
+ REGISTER(compressorCurrent);
+}
+
+void HALSIM_RegisterREVPHAllSolenoidCallbacks(int32_t index, int32_t channel,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify) {
+ REGISTER(solenoidOutput[channel]);
+}
+} // extern "C"
diff --git a/hal/src/main/native/sim/mockdata/REVPHDataInternal.h b/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
new file mode 100644
index 0000000..ebf4964
--- /dev/null
+++ b/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
@@ -0,0 +1,43 @@
+// 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 "../PortsInternal.h"
+#include "hal/simulation/REVPHData.h"
+#include "hal/simulation/SimDataValue.h"
+
+namespace hal {
+class REVPHData {
+ HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
+ HAL_SIMDATAVALUE_DEFINE_NAME(SolenoidOutput)
+ HAL_SIMDATAVALUE_DEFINE_NAME(CompressorOn)
+ HAL_SIMDATAVALUE_DEFINE_NAME(ClosedLoopEnabled)
+ HAL_SIMDATAVALUE_DEFINE_NAME(PressureSwitch)
+ HAL_SIMDATAVALUE_DEFINE_NAME(CompressorCurrent)
+
+ static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr HAL_Bool
+ GetSolenoidOutputDefault() {
+ return false;
+ }
+
+ public:
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetSolenoidOutputName,
+ GetSolenoidOutputDefault>
+ solenoidOutput[kNumREVPHChannels];
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetCompressorOnName> compressorOn{
+ false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetClosedLoopEnabledName>
+ closedLoopEnabled{true};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetPressureSwitchName> pressureSwitch{
+ false};
+ SimDataValue<double, HAL_MakeDouble, GetCompressorCurrentName>
+ compressorCurrent{0.0};
+
+ virtual void ResetData();
+};
+extern REVPHData* SimREVPHData;
+} // namespace hal
diff --git a/hal/src/main/native/sim/mockdata/RelayData.cpp b/hal/src/main/native/sim/mockdata/RelayData.cpp
index 4623203..ffe3bd5 100644
--- a/hal/src/main/native/sim/mockdata/RelayData.cpp
+++ b/hal/src/main/native/sim/mockdata/RelayData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "RelayDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeRelayData() {
static RelayData srd[kNumRelayHeaders];
::hal::SimRelayData = srd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
RelayData* hal::SimRelayData;
void RelayData::ResetData() {
@@ -28,7 +23,9 @@
}
extern "C" {
-void HALSIM_ResetRelayData(int32_t index) { SimRelayData[index].ResetData(); }
+void HALSIM_ResetRelayData(int32_t index) {
+ SimRelayData[index].ResetData();
+}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, Relay##CAPINAME, SimRelayData, \
diff --git a/hal/src/main/native/sim/mockdata/RelayDataInternal.h b/hal/src/main/native/sim/mockdata/RelayDataInternal.h
index d62ea2f..b6fec87 100644
--- a/hal/src/main/native/sim/mockdata/RelayDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/RelayDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/RoboRioData.cpp b/hal/src/main/native/sim/mockdata/RoboRioData.cpp
index 76406f5..6932620 100644
--- a/hal/src/main/native/sim/mockdata/RoboRioData.cpp
+++ b/hal/src/main/native/sim/mockdata/RoboRioData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "RoboRioDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeRoboRioData() {
static RoboRioData srrd;
::hal::SimRoboRioData = &srrd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
RoboRioData* hal::SimRoboRioData;
void RoboRioData::ResetData() {
@@ -36,10 +31,13 @@
userFaults6V.Reset(0);
userFaults5V.Reset(0);
userFaults3V3.Reset(0);
+ brownoutVoltage.Reset(6.75);
}
extern "C" {
-void HALSIM_ResetRoboRioData(void) { SimRoboRioData->ResetData(); }
+void HALSIM_ResetRoboRioData(void) {
+ SimRoboRioData->ResetData();
+}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI_NOINDEX(TYPE, HALSIM, RoboRio##CAPINAME, \
@@ -60,6 +58,7 @@
DEFINE_CAPI(int32_t, UserFaults6V, userFaults6V)
DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
+DEFINE_CAPI(double, BrownoutVoltage, brownoutVoltage)
#define REGISTER(NAME) \
SimRoboRioData->NAME.RegisterCallback(callback, param, initialNotify)
@@ -81,5 +80,6 @@
REGISTER(userFaults6V);
REGISTER(userFaults5V);
REGISTER(userFaults3V3);
+ REGISTER(brownoutVoltage);
}
} // extern "C"
diff --git a/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h b/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
index 2fb3456..99e61ea 100644
--- a/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -27,6 +24,7 @@
HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults6V)
HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults5V)
HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults3V3)
+ HAL_SIMDATAVALUE_DEFINE_NAME(BrownoutVoltage)
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFPGAButtonName> fpgaButton{false};
@@ -49,6 +47,8 @@
SimDataValue<int32_t, HAL_MakeInt, GetUserFaults6VName> userFaults6V{0};
SimDataValue<int32_t, HAL_MakeInt, GetUserFaults5VName> userFaults5V{0};
SimDataValue<int32_t, HAL_MakeInt, GetUserFaults3V3Name> userFaults3V3{0};
+ SimDataValue<double, HAL_MakeDouble, GetBrownoutVoltageName> brownoutVoltage{
+ 6.75};
virtual void ResetData();
};
diff --git a/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp b/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
index db7dc1d..6c5f341 100644
--- a/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
+++ b/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "SPIAccelerometerDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeSPIAccelerometerData() {
static SPIAccelerometerData ssad[5];
::hal::SimSPIAccelerometerData = ssad;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
SPIAccelerometerData* hal::SimSPIAccelerometerData;
void SPIAccelerometerData::ResetData() {
diff --git a/hal/src/main/native/sim/mockdata/SPIAccelerometerDataInternal.h b/hal/src/main/native/sim/mockdata/SPIAccelerometerDataInternal.h
index 59c6685..db405f8 100644
--- a/hal/src/main/native/sim/mockdata/SPIAccelerometerDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/SPIAccelerometerDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/SPIData.cpp b/hal/src/main/native/sim/mockdata/SPIData.cpp
index 106ab7f..9499b9b 100644
--- a/hal/src/main/native/sim/mockdata/SPIData.cpp
+++ b/hal/src/main/native/sim/mockdata/SPIData.cpp
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "../PortsInternal.h"
#include "SPIDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeSPIData() {
static SPIData ssd[5];
::hal::SimSPIData = ssd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
SPIData* hal::SimSPIData;
void SPIData::ResetData() {
@@ -52,7 +47,9 @@
}
extern "C" {
-void HALSIM_ResetSPIData(int32_t index) { SimSPIData[index].ResetData(); }
+void HALSIM_ResetSPIData(int32_t index) {
+ SimSPIData[index].ResetData();
+}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, SPI##CAPINAME, SimSPIData, \
diff --git a/hal/src/main/native/sim/mockdata/SPIDataInternal.h b/hal/src/main/native/sim/mockdata/SPIDataInternal.h
index ff0a6c9..eb5a5a7 100644
--- a/hal/src/main/native/sim/mockdata/SPIDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/SPIDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
diff --git a/hal/src/main/native/sim/mockdata/SimDeviceData.cpp b/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
index 6c0a7f2..9c7fdbc 100644
--- a/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
+++ b/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
@@ -1,50 +1,55 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "hal/simulation/SimDeviceData.h" // NOLINT(build/include_order)
#include <algorithm>
+#include <wpi/StringExtras.h>
+
#include "SimDeviceDataInternal.h"
using namespace hal;
-namespace hal {
-namespace init {
+namespace hal::init {
void InitializeSimDeviceData() {
static SimDeviceData sdd;
::hal::SimSimDeviceData = &sdd;
}
-} // namespace init
-} // namespace hal
+} // namespace hal::init
SimDeviceData* hal::SimSimDeviceData;
SimDeviceData::Device* SimDeviceData::LookupDevice(HAL_SimDeviceHandle handle) {
- if (handle <= 0) return nullptr;
- --handle;
- if (static_cast<uint32_t>(handle) >= m_devices.size() || !m_devices[handle])
+ if (handle <= 0) {
return nullptr;
+ }
+ --handle;
+ if (static_cast<uint32_t>(handle) >= m_devices.size() || !m_devices[handle]) {
+ return nullptr;
+ }
return m_devices[handle].get();
}
SimDeviceData::Value* SimDeviceData::LookupValue(HAL_SimValueHandle handle) {
- if (handle <= 0) return nullptr;
+ if (handle <= 0) {
+ return nullptr;
+ }
// look up device
Device* deviceImpl = LookupDevice(handle >> 16);
- if (!deviceImpl) return nullptr;
+ if (!deviceImpl) {
+ return nullptr;
+ }
// look up value
handle &= 0xffff;
--handle;
if (static_cast<uint32_t>(handle) >= deviceImpl->values.size() ||
- !deviceImpl->values[handle])
+ !deviceImpl->values[handle]) {
return nullptr;
+ }
return deviceImpl->values[handle].get();
}
@@ -68,7 +73,9 @@
bool SimDeviceData::IsDeviceEnabled(const char* name) {
std::scoped_lock lock(m_mutex);
for (const auto& elem : m_prefixEnabled) {
- if (wpi::StringRef{name}.startswith(elem.first)) return elem.second;
+ if (wpi::starts_with(name, elem.first)) {
+ return elem.second;
+ }
}
return true;
}
@@ -78,18 +85,24 @@
// don't create if disabled
for (const auto& elem : m_prefixEnabled) {
- if (wpi::StringRef{name}.startswith(elem.first)) {
- if (elem.second) break; // enabled
- return 0; // disabled
+ if (wpi::starts_with(name, elem.first)) {
+ if (elem.second) {
+ break; // enabled
+ }
+ return 0; // disabled
}
}
// check for duplicates and don't overwrite them
- if (m_deviceMap.count(name) > 0) return 0;
+ if (m_deviceMap.count(name) > 0) {
+ return 0;
+ }
// don't allow more than 4096 devices (limit driven by 12-bit allocation in
// value changed callback uid)
- if (m_devices.size() >= 4095) return 0;
+ if (m_devices.size() >= 4095) {
+ return 0;
+ }
// create and save
auto deviceImpl = std::make_shared<Device>(name);
@@ -108,9 +121,13 @@
--handle;
// see if it exists
- if (handle < 0 || static_cast<uint32_t>(handle) >= m_devices.size()) return;
+ if (handle < 0 || static_cast<uint32_t>(handle) >= m_devices.size()) {
+ return;
+ }
auto deviceImpl = std::move(m_devices[handle]);
- if (!deviceImpl) return;
+ if (!deviceImpl) {
+ return;
+ }
// remove from map
m_deviceMap.erase(deviceImpl->name);
@@ -122,27 +139,32 @@
m_deviceFreed(deviceImpl->name.c_str(), handle + 1);
}
-HAL_SimValueHandle SimDeviceData::CreateValue(HAL_SimDeviceHandle device,
- const char* name, bool readonly,
- int32_t numOptions,
- const char** options,
- const HAL_Value& initialValue) {
+HAL_SimValueHandle SimDeviceData::CreateValue(
+ HAL_SimDeviceHandle device, const char* name, int32_t direction,
+ int32_t numOptions, const char** options, const double* optionValues,
+ const HAL_Value& initialValue) {
std::scoped_lock lock(m_mutex);
// look up device
Device* deviceImpl = LookupDevice(device);
- if (!deviceImpl) return 0;
+ if (!deviceImpl) {
+ return 0;
+ }
// check for duplicates and don't overwrite them
auto it = deviceImpl->valueMap.find(name);
- if (it != deviceImpl->valueMap.end()) return 0;
+ if (it != deviceImpl->valueMap.end()) {
+ return 0;
+ }
// don't allow more than 4096 values per device (limit driven by 12-bit
// allocation in value changed callback uid)
- if (deviceImpl->values.size() >= 4095) return 0;
+ if (deviceImpl->values.size() >= 4095) {
+ return 0;
+ }
// create and save; encode device into handle
- auto valueImplPtr = std::make_unique<Value>(name, readonly, initialValue);
+ auto valueImplPtr = std::make_unique<Value>(name, direction, initialValue);
Value* valueImpl = valueImplPtr.get();
HAL_SimValueHandle valueHandle =
(device << 16) |
@@ -159,10 +181,14 @@
valueImpl->enumOptions.back().c_str());
}
}
+ // copy option values (if any provided)
+ if (numOptions > 0 && optionValues) {
+ valueImpl->enumOptionValues.assign(optionValues, optionValues + numOptions);
+ }
deviceImpl->valueMap[name] = valueImpl;
// notify callbacks
- deviceImpl->valueCreated(name, valueHandle, readonly, &initialValue);
+ deviceImpl->valueCreated(name, valueHandle, direction, &initialValue);
return valueHandle;
}
@@ -185,13 +211,56 @@
const HAL_Value& value) {
std::scoped_lock lock(m_mutex);
Value* valueImpl = LookupValue(handle);
- if (!valueImpl) return;
+ if (!valueImpl) {
+ return;
+ }
valueImpl->value = value;
// notify callbacks
valueImpl->changed(valueImpl->name.c_str(), valueImpl->handle,
- valueImpl->readonly, &value);
+ valueImpl->direction, &value);
+}
+
+void SimDeviceData::ResetValue(HAL_SimValueHandle handle) {
+ std::scoped_lock lock(m_mutex);
+ Value* valueImpl = LookupValue(handle);
+ if (!valueImpl) {
+ return;
+ }
+
+ // don't notify reset if we aren't going to actually reset anything
+ switch (valueImpl->value.type) {
+ case HAL_INT:
+ case HAL_LONG:
+ case HAL_DOUBLE:
+ break;
+ default:
+ return;
+ }
+
+ // notify reset callbacks (done here so they're called with the old value)
+ valueImpl->reset(valueImpl->name.c_str(), valueImpl->handle,
+ valueImpl->direction, &valueImpl->value);
+
+ // set user-facing value to 0
+ switch (valueImpl->value.type) {
+ case HAL_INT:
+ valueImpl->value.data.v_int = 0;
+ break;
+ case HAL_LONG:
+ valueImpl->value.data.v_long = 0;
+ break;
+ case HAL_DOUBLE:
+ valueImpl->value.data.v_double = 0;
+ break;
+ default:
+ return;
+ }
+
+ // notify changed callbacks
+ valueImpl->changed(valueImpl->name.c_str(), valueImpl->handle,
+ valueImpl->direction, &valueImpl->value);
}
int32_t SimDeviceData::RegisterDeviceCreatedCallback(
@@ -204,15 +273,20 @@
// initial notifications
if (initialNotify) {
- for (auto&& device : m_devices)
- callback(device->name.c_str(), param, device->handle);
+ for (auto&& device : m_devices) {
+ if (wpi::starts_with(device->name, prefix)) {
+ callback(device->name.c_str(), param, device->handle);
+ }
+ }
}
return index;
}
void SimDeviceData::CancelDeviceCreatedCallback(int32_t uid) {
- if (uid <= 0) return;
+ if (uid <= 0) {
+ return;
+ }
std::scoped_lock lock(m_mutex);
m_deviceCreated.Cancel(uid);
}
@@ -224,7 +298,9 @@
}
void SimDeviceData::CancelDeviceFreedCallback(int32_t uid) {
- if (uid <= 0) return;
+ if (uid <= 0) {
+ return;
+ }
std::scoped_lock lock(m_mutex);
m_deviceFreed.Cancel(uid);
}
@@ -232,11 +308,14 @@
HAL_SimDeviceHandle SimDeviceData::GetDeviceHandle(const char* name) {
std::scoped_lock lock(m_mutex);
auto it = m_deviceMap.find(name);
- if (it == m_deviceMap.end()) return 0;
- if (auto deviceImpl = it->getValue().lock())
- return deviceImpl->handle;
- else
+ if (it == m_deviceMap.end()) {
return 0;
+ }
+ if (auto deviceImpl = it->getValue().lock()) {
+ return deviceImpl->handle;
+ } else {
+ return 0;
+ }
}
const char* SimDeviceData::GetDeviceName(HAL_SimDeviceHandle handle) {
@@ -244,7 +323,9 @@
// look up device
Device* deviceImpl = LookupDevice(handle);
- if (!deviceImpl) return nullptr;
+ if (!deviceImpl) {
+ return nullptr;
+ }
return deviceImpl->name.c_str();
}
@@ -253,8 +334,9 @@
HALSIM_SimDeviceCallback callback) {
std::scoped_lock lock(m_mutex);
for (auto&& device : m_devices) {
- if (wpi::StringRef{device->name}.startswith(prefix))
+ if (wpi::starts_with(device->name, prefix)) {
callback(device->name.c_str(), param, device->handle);
+ }
}
}
@@ -263,16 +345,19 @@
bool initialNotify) {
std::scoped_lock lock(m_mutex);
Device* deviceImpl = LookupDevice(device);
- if (!deviceImpl) return -1;
+ if (!deviceImpl) {
+ return -1;
+ }
// register callback
int32_t index = deviceImpl->valueCreated.Register(callback, param);
// initial notifications
if (initialNotify) {
- for (auto&& value : deviceImpl->values)
- callback(value->name.c_str(), param, value->handle, value->readonly,
+ for (auto&& value : deviceImpl->values) {
+ callback(value->name.c_str(), param, value->handle, value->direction,
&value->value);
+ }
}
// encode device into uid
@@ -280,10 +365,14 @@
}
void SimDeviceData::CancelValueCreatedCallback(int32_t uid) {
- if (uid <= 0) return;
+ if (uid <= 0) {
+ return;
+ }
std::scoped_lock lock(m_mutex);
Device* deviceImpl = LookupDevice(uid >> 16);
- if (!deviceImpl) return;
+ if (!deviceImpl) {
+ return;
+ }
deviceImpl->valueCreated.Cancel(uid & 0xffff);
}
@@ -292,15 +381,18 @@
bool initialNotify) {
std::scoped_lock lock(m_mutex);
Value* valueImpl = LookupValue(handle);
- if (!valueImpl) return -1;
+ if (!valueImpl) {
+ return -1;
+ }
// register callback
int32_t index = valueImpl->changed.Register(callback, param);
// initial notification
- if (initialNotify)
+ if (initialNotify) {
callback(valueImpl->name.c_str(), param, valueImpl->handle,
- valueImpl->readonly, &valueImpl->value);
+ valueImpl->direction, &valueImpl->value);
+ }
// encode device and value into uid
return (((handle >> 16) & 0xfff) << 19) | ((handle & 0xfff) << 7) |
@@ -308,23 +400,62 @@
}
void SimDeviceData::CancelValueChangedCallback(int32_t uid) {
- if (uid <= 0) return;
+ if (uid <= 0) {
+ return;
+ }
std::scoped_lock lock(m_mutex);
Value* valueImpl = LookupValue(((uid >> 19) << 16) | ((uid >> 7) & 0xfff));
- if (!valueImpl) return;
+ if (!valueImpl) {
+ return;
+ }
valueImpl->changed.Cancel(uid & 0x7f);
}
+int32_t SimDeviceData::RegisterValueResetCallback(
+ HAL_SimValueHandle handle, void* param, HALSIM_SimValueCallback callback,
+ bool initialNotify) {
+ std::scoped_lock lock(m_mutex);
+ Value* valueImpl = LookupValue(handle);
+ if (!valueImpl) {
+ return -1;
+ }
+
+ // register callback
+ int32_t index = valueImpl->reset.Register(callback, param);
+
+ // encode device and value into uid
+ return (((handle >> 16) & 0xfff) << 19) | ((handle & 0xfff) << 7) |
+ (index & 0x7f);
+}
+
+void SimDeviceData::CancelValueResetCallback(int32_t uid) {
+ if (uid <= 0) {
+ return;
+ }
+ std::scoped_lock lock(m_mutex);
+ Value* valueImpl = LookupValue(((uid >> 19) << 16) | ((uid >> 7) & 0xfff));
+ if (!valueImpl) {
+ return;
+ }
+ valueImpl->reset.Cancel(uid & 0x7f);
+}
+
HAL_SimValueHandle SimDeviceData::GetValueHandle(HAL_SimDeviceHandle device,
const char* name) {
std::scoped_lock lock(m_mutex);
Device* deviceImpl = LookupDevice(device);
- if (!deviceImpl) return 0;
+ if (!deviceImpl) {
+ return 0;
+ }
// lookup value
auto it = deviceImpl->valueMap.find(name);
- if (it == deviceImpl->valueMap.end()) return 0;
- if (!it->getValue()) return 0;
+ if (it == deviceImpl->valueMap.end()) {
+ return 0;
+ }
+ if (!it->getValue()) {
+ return 0;
+ }
return it->getValue()->handle;
}
@@ -332,11 +463,14 @@
HALSIM_SimValueCallback callback) {
std::scoped_lock lock(m_mutex);
Device* deviceImpl = LookupDevice(device);
- if (!deviceImpl) return;
+ if (!deviceImpl) {
+ return;
+ }
- for (auto&& value : deviceImpl->values)
- callback(value->name.c_str(), param, value->handle, value->readonly,
+ for (auto&& value : deviceImpl->values) {
+ callback(value->name.c_str(), param, value->handle, value->direction,
&value->value);
+ }
}
const char** SimDeviceData::GetValueEnumOptions(HAL_SimValueHandle handle,
@@ -345,7 +479,9 @@
std::scoped_lock lock(m_mutex);
Value* valueImpl = LookupValue(handle);
- if (!valueImpl) return nullptr;
+ if (!valueImpl) {
+ return nullptr;
+ }
// get list of options (safe to return as they never change)
auto& options = valueImpl->cstrEnumOptions;
@@ -353,6 +489,22 @@
return options.data();
}
+const double* SimDeviceData::GetValueEnumDoubleValues(HAL_SimValueHandle handle,
+ int32_t* numOptions) {
+ *numOptions = 0;
+
+ std::scoped_lock lock(m_mutex);
+ Value* valueImpl = LookupValue(handle);
+ if (!valueImpl) {
+ return nullptr;
+ }
+
+ // get list of option values (safe to return as they never change)
+ auto& optionValues = valueImpl->enumOptionValues;
+ *numOptions = optionValues.size();
+ return optionValues.data();
+}
+
void SimDeviceData::ResetData() {
std::scoped_lock lock(m_mutex);
m_devices.clear();
@@ -383,8 +535,9 @@
SimSimDeviceData->CancelDeviceCreatedCallback(uid);
}
-int32_t HALSIM_RegisterSimDeviceFreedCallback(
- const char* prefix, void* param, HALSIM_SimDeviceCallback callback) {
+int32_t HALSIM_RegisterSimDeviceFreedCallback(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback,
+ HAL_Bool initialNotify) {
return SimSimDeviceData->RegisterDeviceFreedCallback(prefix, param, callback);
}
@@ -401,7 +554,9 @@
}
HAL_SimDeviceHandle HALSIM_GetSimValueDeviceHandle(HAL_SimValueHandle handle) {
- if (handle <= 0) return 0;
+ if (handle <= 0) {
+ return 0;
+ }
return handle >> 16;
}
@@ -434,6 +589,18 @@
SimSimDeviceData->CancelValueChangedCallback(uid);
}
+int32_t HALSIM_RegisterSimValueResetCallback(HAL_SimValueHandle handle,
+ void* param,
+ HALSIM_SimValueCallback callback,
+ HAL_Bool initialNotify) {
+ return SimSimDeviceData->RegisterValueResetCallback(handle, param, callback,
+ initialNotify);
+}
+
+void HALSIM_CancelSimValueResetCallback(int32_t uid) {
+ SimSimDeviceData->CancelValueResetCallback(uid);
+}
+
HAL_SimValueHandle HALSIM_GetSimValueHandle(HAL_SimDeviceHandle device,
const char* name) {
return SimSimDeviceData->GetValueHandle(device, name);
@@ -449,6 +616,13 @@
return SimSimDeviceData->GetValueEnumOptions(handle, numOptions);
}
-void HALSIM_ResetSimDeviceData(void) { SimSimDeviceData->ResetData(); }
+const double* HALSIM_GetSimValueEnumDoubleValues(HAL_SimValueHandle handle,
+ int32_t* numOptions) {
+ return SimSimDeviceData->GetValueEnumDoubleValues(handle, numOptions);
+}
+
+void HALSIM_ResetSimDeviceData(void) {
+ SimSimDeviceData->ResetData();
+}
} // extern "C"
diff --git a/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h b/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
index 63c2288..deff6ed 100644
--- a/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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
@@ -14,6 +11,7 @@
#include <utility>
#include <vector>
+#include <wpi/StringExtras.h>
#include <wpi/StringMap.h>
#include <wpi/UidVector.h>
#include <wpi/spinlock.h>
@@ -36,17 +34,25 @@
public:
void Cancel(int32_t uid) {
- if (m_callbacks) m_callbacks->erase(uid - 1);
+ if (m_callbacks) {
+ m_callbacks->erase(uid - 1);
+ }
}
void Reset() {
- if (m_callbacks) m_callbacks->clear();
+ if (m_callbacks) {
+ m_callbacks->clear();
+ }
}
int32_t Register(CallbackFunction callback, void* param) {
// Must return -1 on a null callback for error handling
- if (callback == nullptr) return -1;
- if (!m_callbacks) m_callbacks = std::make_unique<CallbackVector>();
+ if (callback == nullptr) {
+ return -1;
+ }
+ if (!m_callbacks) {
+ m_callbacks = std::make_unique<CallbackVector>();
+ }
return m_callbacks->emplace_back(param,
reinterpret_cast<RawFunctor>(callback)) +
1;
@@ -87,17 +93,25 @@
public:
void Cancel(int32_t uid) {
- if (m_callbacks) m_callbacks->erase(uid - 1);
+ if (m_callbacks) {
+ m_callbacks->erase(uid - 1);
+ }
}
void Reset() {
- if (m_callbacks) m_callbacks->clear();
+ if (m_callbacks) {
+ m_callbacks->clear();
+ }
}
int32_t Register(const char* prefix, void* param, CallbackFunction callback) {
// Must return -1 on a null callback for error handling
- if (callback == nullptr) return -1;
- if (!m_callbacks) m_callbacks = std::make_unique<CallbackVector>();
+ if (callback == nullptr) {
+ return -1;
+ }
+ if (!m_callbacks) {
+ m_callbacks = std::make_unique<CallbackVector>();
+ }
return m_callbacks->emplace_back(prefix, param, callback) + 1;
}
@@ -105,7 +119,7 @@
void Invoke(const char* name, U&&... u) const {
if (m_callbacks) {
for (auto&& cb : *m_callbacks) {
- if (wpi::StringRef{name}.startswith(cb.prefix)) {
+ if (wpi::starts_with(name, cb.prefix)) {
cb.callback(name, cb.param, std::forward<U>(u)...);
}
}
@@ -126,16 +140,18 @@
class SimDeviceData {
private:
struct Value {
- Value(const char* name_, bool readonly_, const HAL_Value& value_)
- : name{name_}, readonly{readonly_}, value{value_} {}
+ Value(const char* name_, int32_t direction_, const HAL_Value& value_)
+ : name{name_}, direction{direction_}, value{value_} {}
HAL_SimValueHandle handle{0};
std::string name;
- bool readonly;
+ int32_t direction;
HAL_Value value;
std::vector<std::string> enumOptions;
std::vector<const char*> cstrEnumOptions;
+ std::vector<double> enumOptionValues;
impl::SimUnnamedCallbackRegistry<HALSIM_SimValueCallback> changed;
+ impl::SimUnnamedCallbackRegistry<HALSIM_SimValueCallback> reset;
};
struct Device {
@@ -168,11 +184,13 @@
HAL_SimDeviceHandle CreateDevice(const char* name);
void FreeDevice(HAL_SimDeviceHandle handle);
HAL_SimValueHandle CreateValue(HAL_SimDeviceHandle device, const char* name,
- bool readonly, int32_t numOptions,
+ int32_t direction, int32_t numOptions,
const char** options,
+ const double* optionValues,
const HAL_Value& initialValue);
HAL_Value GetValue(HAL_SimValueHandle handle);
void SetValue(HAL_SimValueHandle handle, const HAL_Value& value);
+ void ResetValue(HAL_SimValueHandle handle);
int32_t RegisterDeviceCreatedCallback(const char* prefix, void* param,
HALSIM_SimDeviceCallback callback,
@@ -203,6 +221,12 @@
void CancelValueChangedCallback(int32_t uid);
+ int32_t RegisterValueResetCallback(HAL_SimValueHandle handle, void* param,
+ HALSIM_SimValueCallback callback,
+ bool initialNotify);
+
+ void CancelValueResetCallback(int32_t uid);
+
HAL_SimValueHandle GetValueHandle(HAL_SimDeviceHandle device,
const char* name);
@@ -212,6 +236,9 @@
const char** GetValueEnumOptions(HAL_SimValueHandle handle,
int32_t* numOptions);
+ const double* GetValueEnumDoubleValues(HAL_SimValueHandle handle,
+ int32_t* numOptions);
+
void ResetData();
};
extern SimDeviceData* SimSimDeviceData;
diff --git a/hal/src/test/native/cpp/HALTest.cpp b/hal/src/test/native/cpp/HALTest.cpp
new file mode 100644
index 0000000..62a4f85
--- /dev/null
+++ b/hal/src/test/native/cpp/HALTest.cpp
@@ -0,0 +1,12 @@
+// 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.
+
+#include "gtest/gtest.h"
+#include "hal/HAL.h"
+
+namespace hal {
+TEST(HALTest, RuntimeType) {
+ EXPECT_EQ(HAL_RuntimeType::HAL_Runtime_Simulation, HAL_GetRuntimeType());
+}
+} // namespace hal
diff --git a/hal/src/test/native/cpp/HALTests.cpp b/hal/src/test/native/cpp/HALTests.cpp
deleted file mode 100644
index b387c14..0000000
--- a/hal/src/test/native/cpp/HALTests.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "gtest/gtest.h"
-#include "hal/HAL.h"
-#include "hal/Solenoid.h"
-
-namespace hal {
-TEST(HALTests, RuntimeType) {
- EXPECT_EQ(HAL_RuntimeType::HAL_Mock, HAL_GetRuntimeType());
-}
-
-TEST(HALSOLENOID, SolenoidTest) {
- int32_t status = 0;
- HAL_InitializeSolenoidPort(0, &status);
- EXPECT_NE(status, 0);
-}
-} // namespace hal
diff --git a/hal/src/test/native/cpp/can/CANTest.cpp b/hal/src/test/native/cpp/can/CANTest.cpp
index 427bb54..db9dbf5 100644
--- a/hal/src/test/native/cpp/can/CANTest.cpp
+++ b/hal/src/test/native/cpp/can/CANTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "gtest/gtest.h"
#include "hal/CANAPI.h"
@@ -41,7 +38,7 @@
int32_t handle;
};
-TEST(HALCanTests, CanIdPackingTest) {
+TEST(CANTest, CanIdPacking) {
int32_t status = 0;
int32_t deviceId = 12;
CANTestStore testStore(deviceId, &status);
diff --git a/hal/src/test/native/cpp/handles/HandleTest.cpp b/hal/src/test/native/cpp/handles/HandleTest.cpp
new file mode 100644
index 0000000..5c98f7f
--- /dev/null
+++ b/hal/src/test/native/cpp/handles/HandleTest.cpp
@@ -0,0 +1,25 @@
+// 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.
+
+#include "gtest/gtest.h"
+#include "hal/HAL.h"
+#include "hal/handles/IndexedClassedHandleResource.h"
+
+#define HAL_TestHandle HAL_Handle
+
+namespace {
+class MyTestClass {};
+} // namespace
+
+namespace hal {
+TEST(HandleTest, ClassedHandle) {
+ hal::IndexedClassedHandleResource<HAL_TestHandle, MyTestClass, 8,
+ HAL_HandleEnum::Vendor>
+ testClass;
+ int32_t status = 0;
+ testClass.Allocate(0, std::make_unique<MyTestClass>(), &status);
+ EXPECT_EQ(0, status);
+}
+
+} // namespace hal
diff --git a/hal/src/test/native/cpp/handles/HandleTests.cpp b/hal/src/test/native/cpp/handles/HandleTests.cpp
deleted file mode 100644
index e893c78..0000000
--- a/hal/src/test/native/cpp/handles/HandleTests.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "gtest/gtest.h"
-#include "hal/HAL.h"
-#include "hal/handles/IndexedClassedHandleResource.h"
-
-#define HAL_TestHandle HAL_Handle
-
-namespace {
-class MyTestClass {};
-} // namespace
-
-namespace hal {
-TEST(HandleTests, ClassedHandleTest) {
- hal::IndexedClassedHandleResource<HAL_TestHandle, MyTestClass, 8,
- HAL_HandleEnum::Vendor>
- testClass;
- int32_t status = 0;
- testClass.Allocate(0, std::make_unique<MyTestClass>(), &status);
- EXPECT_EQ(0, status);
-}
-
-} // namespace hal
diff --git a/hal/src/test/native/cpp/main.cpp b/hal/src/test/native/cpp/main.cpp
index 33990f0..7981c04 100644
--- a/hal/src/test/native/cpp/main.cpp
+++ b/hal/src/test/native/cpp/main.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "gtest/gtest.h"
#include "hal/HAL.h"
diff --git a/hal/src/test/native/cpp/mockdata/AnalogInDataTests.cpp b/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
similarity index 69%
rename from hal/src/test/native/cpp/mockdata/AnalogInDataTests.cpp
rename to hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
index c102480..284ebd6 100644
--- a/hal/src/test/native/cpp/mockdata/AnalogInDataTests.cpp
+++ b/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "gtest/gtest.h"
#include "hal/AnalogInput.h"
@@ -22,7 +19,7 @@
gTestAnalogInCallbackValue = *value;
}
-TEST(AnalogInSimTests, TestAnalogInInitialization) {
+TEST(AnalogInSimTest, AnalogInInitialization) {
const int INDEX_TO_TEST = 1;
int callbackParam = 0;
@@ -31,24 +28,25 @@
false);
ASSERT_TRUE(0 != callbackId);
- int32_t status;
+ int32_t status = 0;
HAL_PortHandle portHandle;
HAL_DigitalHandle analogInHandle;
// Use out of range index
- status = 0;
portHandle = 8000;
gTestAnalogInCallbackName = "Unset";
- analogInHandle = HAL_InitializeAnalogInputPort(portHandle, &status);
+ analogInHandle = HAL_InitializeAnalogInputPort(portHandle, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, analogInHandle);
- EXPECT_EQ(PARAMETER_OUT_OF_RANGE, status);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
+ EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestAnalogInCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestAnalogInCallbackName = "Unset";
- analogInHandle = HAL_InitializeAnalogInputPort(portHandle, &status);
+ analogInHandle = HAL_InitializeAnalogInputPort(portHandle, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != analogInHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestAnalogInCallbackName.c_str());
@@ -57,8 +55,10 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestAnalogInCallbackName = "Unset";
- analogInHandle = HAL_InitializeAnalogInputPort(portHandle, &status);
+ analogInHandle = HAL_InitializeAnalogInputPort(portHandle, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, analogInHandle);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestAnalogInCallbackName.c_str());
@@ -72,9 +72,10 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestAnalogInCallbackName = "Unset";
- analogInHandle = HAL_InitializeAnalogInputPort(portHandle, &status);
+ analogInHandle = HAL_InitializeAnalogInputPort(portHandle, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != analogInHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestAnalogInCallbackName.c_str());
+ HALSIM_CancelAnalogInInitializedCallback(INDEX_TO_TEST, callbackId);
}
} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/AnalogOutDataTests.cpp b/hal/src/test/native/cpp/mockdata/AnalogOutDataTest.cpp
similarity index 69%
rename from hal/src/test/native/cpp/mockdata/AnalogOutDataTests.cpp
rename to hal/src/test/native/cpp/mockdata/AnalogOutDataTest.cpp
index d6c9f70..15a5fa6 100644
--- a/hal/src/test/native/cpp/mockdata/AnalogOutDataTests.cpp
+++ b/hal/src/test/native/cpp/mockdata/AnalogOutDataTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "gtest/gtest.h"
#include "hal/AnalogOutput.h"
@@ -22,7 +19,7 @@
gTestAnalogOutCallbackValue = *value;
}
-TEST(AnalogOutSimTests, TestAnalogOutInitialization) {
+TEST(AnalogOutSimTest, AnalogOutInitialization) {
const int INDEX_TO_TEST = 1;
int callbackParam = 0;
@@ -31,24 +28,27 @@
false);
ASSERT_TRUE(0 != callbackId);
- int32_t status;
+ int32_t status = 0;
HAL_PortHandle portHandle;
HAL_DigitalHandle analogOutHandle;
// Use out of range index
- status = 0;
portHandle = 8000;
gTestAnalogOutCallbackName = "Unset";
- analogOutHandle = HAL_InitializeAnalogOutputPort(portHandle, &status);
+ analogOutHandle =
+ HAL_InitializeAnalogOutputPort(portHandle, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, analogOutHandle);
- EXPECT_EQ(PARAMETER_OUT_OF_RANGE, status);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
+ EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestAnalogOutCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestAnalogOutCallbackName = "Unset";
- analogOutHandle = HAL_InitializeAnalogOutputPort(portHandle, &status);
+ analogOutHandle =
+ HAL_InitializeAnalogOutputPort(portHandle, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != analogOutHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestAnalogOutCallbackName.c_str());
@@ -57,8 +57,11 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestAnalogOutCallbackName = "Unset";
- analogOutHandle = HAL_InitializeAnalogOutputPort(portHandle, &status);
+ analogOutHandle =
+ HAL_InitializeAnalogOutputPort(portHandle, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, analogOutHandle);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestAnalogOutCallbackName.c_str());
@@ -72,9 +75,11 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestAnalogOutCallbackName = "Unset";
- analogOutHandle = HAL_InitializeAnalogOutputPort(portHandle, &status);
+ analogOutHandle =
+ HAL_InitializeAnalogOutputPort(portHandle, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != analogOutHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestAnalogOutCallbackName.c_str());
+ HALSIM_CancelAnalogOutInitializedCallback(INDEX_TO_TEST, callbackId);
}
} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/DIODataTests.cpp b/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
similarity index 69%
rename from hal/src/test/native/cpp/mockdata/DIODataTests.cpp
rename to hal/src/test/native/cpp/mockdata/DIODataTest.cpp
index 248f841..e8ab350 100644
--- a/hal/src/test/native/cpp/mockdata/DIODataTests.cpp
+++ b/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "gtest/gtest.h"
#include "hal/DIO.h"
@@ -22,7 +19,7 @@
gTestDigitalIoCallbackValue = *value;
}
-TEST(DigitalIoSimTests, TestDigitalIoInitialization) {
+TEST(DigitalIoSimTest, DigitalIoInitialization) {
const int INDEX_TO_TEST = 3;
int callbackParam = 0;
@@ -31,24 +28,25 @@
false);
ASSERT_TRUE(0 != callbackId);
- int32_t status;
+ int32_t status = 0;
HAL_PortHandle portHandle;
HAL_DigitalHandle digitalIoHandle;
// Use out of range index
- status = 0;
portHandle = 8000;
gTestDigitalIoCallbackName = "Unset";
- digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, &status);
+ digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, digitalIoHandle);
- EXPECT_EQ(PARAMETER_OUT_OF_RANGE, status);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
+ EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestDigitalIoCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestDigitalIoCallbackName = "Unset";
- digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, &status);
+ digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != digitalIoHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestDigitalIoCallbackName.c_str());
@@ -57,8 +55,10 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestDigitalIoCallbackName = "Unset";
- digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, &status);
+ digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, digitalIoHandle);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestDigitalIoCallbackName.c_str());
@@ -72,10 +72,11 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestDigitalIoCallbackName = "Unset";
- digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, &status);
+ digitalIoHandle = HAL_InitializeDIOPort(portHandle, true, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != digitalIoHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestDigitalIoCallbackName.c_str());
+ HALSIM_CancelDIOInitializedCallback(INDEX_TO_TEST, callbackId);
}
} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/DriverStationDataTests.cpp b/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
similarity index 87%
rename from hal/src/test/native/cpp/mockdata/DriverStationDataTests.cpp
rename to hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
index 5cb28c4..4925e16 100644
--- a/hal/src/test/native/cpp/mockdata/DriverStationDataTests.cpp
+++ b/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
@@ -1,20 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include <cstring>
#include "gtest/gtest.h"
#include "hal/HAL.h"
-#include "hal/Solenoid.h"
#include "hal/simulation/DriverStationData.h"
namespace hal {
-TEST(DriverStationTests, JoystickTests) {
+TEST(DriverStationTest, Joystick) {
HAL_JoystickAxes axes;
HAL_JoystickPOVs povs;
HAL_JoystickButtons buttons;
@@ -113,7 +109,7 @@
}
}
-TEST(DriverStationTests, EventInfoTest) {
+TEST(DriverStationTest, EventInfo) {
std::string eventName = "UnitTest";
std::string gameData = "Insert game specific info here :D";
HAL_MatchInfo info;
diff --git a/hal/src/test/native/cpp/mockdata/I2CDataTests.cpp b/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
similarity index 60%
rename from hal/src/test/native/cpp/mockdata/I2CDataTests.cpp
rename to hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
index b78564b..7678a4a 100644
--- a/hal/src/test/native/cpp/mockdata/I2CDataTests.cpp
+++ b/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "gtest/gtest.h"
#include "hal/HAL.h"
@@ -22,10 +19,10 @@
gTestI2CCallbackValue = *value;
}
-TEST(I2CSimTests, TestI2CInitialization) {
+TEST(I2CSimTest, I2CInitialization) {
const int INDEX_TO_TEST = 1;
- int32_t status;
+ int32_t status = 0;
HAL_I2CPort port;
int callbackParam = 0;
@@ -33,7 +30,6 @@
INDEX_TO_TEST, &TestI2CInitializationCallback, &callbackParam, false);
ASSERT_TRUE(0 != callbackId);
- status = 0;
port = HAL_I2C_kMXP;
gTestI2CCallbackName = "Unset";
HAL_InitializeI2C(port, &status);
diff --git a/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp b/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
new file mode 100644
index 0000000..58a94c0
--- /dev/null
+++ b/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
@@ -0,0 +1,82 @@
+// 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.
+
+#include "gtest/gtest.h"
+#include "hal/CTREPCM.h"
+#include "hal/HAL.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/simulation/CTREPCMData.h"
+
+namespace hal {
+
+std::string gTestSolenoidCallbackName;
+HAL_Value gTestSolenoidCallbackValue;
+
+void TestSolenoidInitializationCallback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ gTestSolenoidCallbackName = name;
+ gTestSolenoidCallbackValue = *value;
+}
+
+TEST(PCMDataTest, PCMInitialization) {
+ const int MODULE_TO_TEST = 2;
+
+ int callbackParam = 0;
+ int callbackId = HALSIM_RegisterCTREPCMInitializedCallback(
+ MODULE_TO_TEST, &TestSolenoidInitializationCallback, &callbackParam,
+ false);
+ ASSERT_TRUE(0 != callbackId);
+
+ int32_t status = 0;
+ int32_t module;
+ HAL_CTREPCMHandle pcmHandle;
+
+ // Use out of range index
+ module = 8000;
+ gTestSolenoidCallbackName = "Unset";
+ pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
+ EXPECT_EQ(HAL_kInvalidHandle, pcmHandle);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
+ EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
+ EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
+
+ // Successful setup
+ status = 0;
+ module = MODULE_TO_TEST;
+ gTestSolenoidCallbackName = "Unset";
+ pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
+ EXPECT_TRUE(HAL_kInvalidHandle != pcmHandle);
+ EXPECT_EQ(0, status);
+ EXPECT_STREQ("Initialized", gTestSolenoidCallbackName.c_str());
+
+ // Double initialize... should fail
+ status = 0;
+ module = MODULE_TO_TEST;
+ gTestSolenoidCallbackName = "Unset";
+ pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
+ EXPECT_EQ(HAL_kInvalidHandle, pcmHandle);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
+ EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
+ EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
+
+ // Reset, should allow you to re-register
+ hal::HandleBase::ResetGlobalHandles();
+ HALSIM_ResetCTREPCMData(MODULE_TO_TEST);
+ callbackId = HALSIM_RegisterCTREPCMInitializedCallback(
+ MODULE_TO_TEST, &TestSolenoidInitializationCallback, &callbackParam,
+ false);
+ ASSERT_TRUE(0 != callbackId);
+
+ status = 0;
+ module = MODULE_TO_TEST;
+ gTestSolenoidCallbackName = "Unset";
+ pcmHandle = HAL_InitializeCTREPCM(module, nullptr, &status);
+ EXPECT_TRUE(HAL_kInvalidHandle != pcmHandle);
+ EXPECT_EQ(0, status);
+ EXPECT_STREQ("Initialized", gTestSolenoidCallbackName.c_str());
+}
+
+} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/PCMDataTests.cpp b/hal/src/test/native/cpp/mockdata/PCMDataTests.cpp
deleted file mode 100644
index 5fc19aa..0000000
--- a/hal/src/test/native/cpp/mockdata/PCMDataTests.cpp
+++ /dev/null
@@ -1,83 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "gtest/gtest.h"
-#include "hal/HAL.h"
-#include "hal/Solenoid.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/simulation/PCMData.h"
-
-namespace hal {
-
-std::string gTestSolenoidCallbackName;
-HAL_Value gTestSolenoidCallbackValue;
-
-void TestSolenoidInitializationCallback(const char* name, void* param,
- const struct HAL_Value* value) {
- gTestSolenoidCallbackName = name;
- gTestSolenoidCallbackValue = *value;
-}
-
-TEST(SolenoidSimTests, TestSolenoidInitialization) {
- const int MODULE_TO_TEST = 2;
- const int CHANNEL_TO_TEST = 3;
-
- int callbackParam = 0;
- int callbackId = HALSIM_RegisterPCMSolenoidInitializedCallback(
- MODULE_TO_TEST, CHANNEL_TO_TEST, &TestSolenoidInitializationCallback,
- &callbackParam, false);
- ASSERT_TRUE(0 != callbackId);
-
- int32_t status;
- HAL_PortHandle portHandle;
- HAL_DigitalHandle solenoidHandle;
-
- // Use out of range index
- status = 0;
- portHandle = 8000;
- gTestSolenoidCallbackName = "Unset";
- solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
- EXPECT_EQ(HAL_kInvalidHandle, solenoidHandle);
- EXPECT_EQ(HAL_HANDLE_ERROR, status);
- EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
-
- // Successful setup
- status = 0;
- portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
- gTestSolenoidCallbackName = "Unset";
- solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
- EXPECT_TRUE(HAL_kInvalidHandle != solenoidHandle);
- EXPECT_EQ(0, status);
- EXPECT_STREQ("SolenoidInitialized", gTestSolenoidCallbackName.c_str());
-
- // Double initialize... should fail
- status = 0;
- portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
- gTestSolenoidCallbackName = "Unset";
- solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
- EXPECT_EQ(HAL_kInvalidHandle, solenoidHandle);
- EXPECT_EQ(NO_AVAILABLE_RESOURCES, status);
- EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
-
- // Reset, should allow you to re-register
- hal::HandleBase::ResetGlobalHandles();
- HALSIM_ResetPCMData(MODULE_TO_TEST);
- callbackId = HALSIM_RegisterPCMSolenoidInitializedCallback(
- MODULE_TO_TEST, CHANNEL_TO_TEST, &TestSolenoidInitializationCallback,
- &callbackParam, false);
- ASSERT_TRUE(0 != callbackId);
-
- status = 0;
- portHandle = HAL_GetPortWithModule(MODULE_TO_TEST, CHANNEL_TO_TEST);
- gTestSolenoidCallbackName = "Unset";
- solenoidHandle = HAL_InitializeSolenoidPort(portHandle, &status);
- EXPECT_TRUE(HAL_kInvalidHandle != solenoidHandle);
- EXPECT_EQ(0, status);
- EXPECT_STREQ("SolenoidInitialized", gTestSolenoidCallbackName.c_str());
-}
-
-} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp b/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
new file mode 100644
index 0000000..59b3ea4
--- /dev/null
+++ b/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
@@ -0,0 +1,40 @@
+// 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.
+
+#include "gtest/gtest.h"
+#include "hal/HAL.h"
+#include "hal/PowerDistribution.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/simulation/PowerDistributionData.h"
+
+namespace hal {
+
+std::string gTestPdpCallbackName;
+HAL_Value gTestPdpCallbackValue;
+
+void TestPdpInitializationCallback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ gTestPdpCallbackName = name;
+ gTestPdpCallbackValue = *value;
+}
+
+TEST(PdpSimTest, PdpInitialization) {
+ const int INDEX_TO_TEST = 1;
+
+ int callbackParam = 0;
+ int callbackId = HALSIM_RegisterPowerDistributionInitializedCallback(
+ INDEX_TO_TEST, &TestPdpInitializationCallback, &callbackParam, false);
+ ASSERT_TRUE(0 != callbackId);
+
+ int32_t status = 0;
+
+ // Use out of range index
+ gTestPdpCallbackName = "Unset";
+ HAL_InitializePowerDistribution(
+ INDEX_TO_TEST, HAL_PowerDistributionType_kCTRE, nullptr, &status);
+ EXPECT_EQ(0, status);
+ EXPECT_STREQ("Initialized", gTestPdpCallbackName.c_str());
+}
+
+} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/PDPDataTests.cpp b/hal/src/test/native/cpp/mockdata/PDPDataTests.cpp
deleted file mode 100644
index f980c7c..0000000
--- a/hal/src/test/native/cpp/mockdata/PDPDataTests.cpp
+++ /dev/null
@@ -1,43 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "gtest/gtest.h"
-#include "hal/HAL.h"
-#include "hal/PDP.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/simulation/PDPData.h"
-
-namespace hal {
-
-std::string gTestPdpCallbackName;
-HAL_Value gTestPdpCallbackValue;
-
-void TestPdpInitializationCallback(const char* name, void* param,
- const struct HAL_Value* value) {
- gTestPdpCallbackName = name;
- gTestPdpCallbackValue = *value;
-}
-
-TEST(PdpSimTests, TestPdpInitialization) {
- const int INDEX_TO_TEST = 1;
-
- int callbackParam = 0;
- int callbackId = HALSIM_RegisterPDPInitializedCallback(
- INDEX_TO_TEST, &TestPdpInitializationCallback, &callbackParam, false);
- ASSERT_TRUE(0 != callbackId);
-
- int32_t status;
-
- // Use out of range index
- status = 0;
- gTestPdpCallbackName = "Unset";
- HAL_InitializePDP(INDEX_TO_TEST, &status);
- EXPECT_EQ(0, status);
- EXPECT_STREQ("Initialized", gTestPdpCallbackName.c_str());
-}
-
-} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/PWMDataTests.cpp b/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
similarity index 69%
rename from hal/src/test/native/cpp/mockdata/PWMDataTests.cpp
rename to hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
index daca364..ab14704 100644
--- a/hal/src/test/native/cpp/mockdata/PWMDataTests.cpp
+++ b/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "gtest/gtest.h"
#include "hal/HAL.h"
@@ -22,7 +19,7 @@
gTestPwmCallbackValue = *value;
}
-TEST(PWMSimTests, TestPwmInitialization) {
+TEST(PWMSimTest, PwmInitialization) {
const int INDEX_TO_TEST = 7;
int callbackParam = 0;
@@ -30,24 +27,25 @@
INDEX_TO_TEST, &TestPwmInitializationCallback, &callbackParam, false);
ASSERT_TRUE(0 != callbackId);
- int32_t status;
+ int32_t status = 0;
HAL_PortHandle portHandle;
HAL_DigitalHandle pwmHandle;
// Use out of range index
- status = 0;
portHandle = 8000;
gTestPwmCallbackName = "Unset";
- pwmHandle = HAL_InitializePWMPort(portHandle, &status);
+ pwmHandle = HAL_InitializePWMPort(portHandle, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pwmHandle);
- EXPECT_EQ(PARAMETER_OUT_OF_RANGE, status);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
+ EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestPwmCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestPwmCallbackName = "Unset";
- pwmHandle = HAL_InitializePWMPort(portHandle, &status);
+ pwmHandle = HAL_InitializePWMPort(portHandle, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pwmHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestPwmCallbackName.c_str());
@@ -56,8 +54,10 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestPwmCallbackName = "Unset";
- pwmHandle = HAL_InitializePWMPort(portHandle, &status);
+ pwmHandle = HAL_InitializePWMPort(portHandle, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pwmHandle);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestPwmCallbackName.c_str());
@@ -70,9 +70,10 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestPwmCallbackName = "Unset";
- pwmHandle = HAL_InitializePWMPort(portHandle, &status);
+ pwmHandle = HAL_InitializePWMPort(portHandle, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pwmHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestPwmCallbackName.c_str());
+ HALSIM_CancelPWMInitializedCallback(INDEX_TO_TEST, callbackId);
}
} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/RelayDataTests.cpp b/hal/src/test/native/cpp/mockdata/RelayDataTest.cpp
similarity index 69%
rename from hal/src/test/native/cpp/mockdata/RelayDataTests.cpp
rename to hal/src/test/native/cpp/mockdata/RelayDataTest.cpp
index edc0fb4..eef8631 100644
--- a/hal/src/test/native/cpp/mockdata/RelayDataTests.cpp
+++ b/hal/src/test/native/cpp/mockdata/RelayDataTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "gtest/gtest.h"
#include "hal/HAL.h"
@@ -22,7 +19,7 @@
gTestRelayCallbackValue = *value;
}
-TEST(RelaySimTests, TestRelayInitialization) {
+TEST(RelaySimTest, RelayInitialization) {
const int INDEX_TO_TEST = 3;
int callbackParam = 0;
@@ -30,24 +27,25 @@
INDEX_TO_TEST, &TestRelayInitializationCallback, &callbackParam, false);
ASSERT_TRUE(0 != callbackId);
- int32_t status;
+ int32_t status = 0;
HAL_PortHandle portHandle;
HAL_DigitalHandle pdpHandle;
// Use out of range index
- status = 0;
portHandle = 8000;
gTestRelayCallbackName = "Unset";
- pdpHandle = HAL_InitializeRelayPort(portHandle, true, &status);
+ pdpHandle = HAL_InitializeRelayPort(portHandle, true, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pdpHandle);
- EXPECT_EQ(PARAMETER_OUT_OF_RANGE, status);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
+ EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestRelayCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestRelayCallbackName = "Unset";
- pdpHandle = HAL_InitializeRelayPort(portHandle, true, &status);
+ pdpHandle = HAL_InitializeRelayPort(portHandle, true, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pdpHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("InitializedForward", gTestRelayCallbackName.c_str());
@@ -56,8 +54,10 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestRelayCallbackName = "Unset";
- pdpHandle = HAL_InitializeRelayPort(portHandle, true, &status);
+ pdpHandle = HAL_InitializeRelayPort(portHandle, true, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, pdpHandle);
+ EXPECT_EQ(HAL_USE_LAST_ERROR, status);
+ HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestRelayCallbackName.c_str());
@@ -70,10 +70,11 @@
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestRelayCallbackName = "Unset";
- pdpHandle = HAL_InitializeRelayPort(portHandle, true, &status);
+ pdpHandle = HAL_InitializeRelayPort(portHandle, true, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != pdpHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("InitializedForward", gTestRelayCallbackName.c_str());
+ HALSIM_CancelRelayInitializedForwardCallback(INDEX_TO_TEST, callbackId);
}
} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/SPIDataTests.cpp b/hal/src/test/native/cpp/mockdata/SPIDataTest.cpp
similarity index 60%
rename from hal/src/test/native/cpp/mockdata/SPIDataTests.cpp
rename to hal/src/test/native/cpp/mockdata/SPIDataTest.cpp
index 423db6d..c427eaf 100644
--- a/hal/src/test/native/cpp/mockdata/SPIDataTests.cpp
+++ b/hal/src/test/native/cpp/mockdata/SPIDataTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2020 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. */
-/*----------------------------------------------------------------------------*/
+// 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.
#include "gtest/gtest.h"
#include "hal/HAL.h"
@@ -22,10 +19,10 @@
gTestSpiCallbackValue = *value;
}
-TEST(SpiSimTests, TestSpiInitialization) {
+TEST(SpiSimTest, SpiInitialization) {
const int INDEX_TO_TEST = 2;
- int32_t status;
+ int32_t status = 0;
HAL_SPIPort port;
int callbackParam = 0;
@@ -33,7 +30,6 @@
INDEX_TO_TEST, &TestSpiInitializationCallback, &callbackParam, false);
ASSERT_TRUE(0 != callbackId);
- status = 0;
port = HAL_SPI_kOnboardCS2;
gTestSpiCallbackName = "Unset";
HAL_InitializeSPI(port, &status);
diff --git a/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp b/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp
new file mode 100644
index 0000000..1203fd7
--- /dev/null
+++ b/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp
@@ -0,0 +1,22 @@
+// 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.
+
+#include "gtest/gtest.h"
+#include "hal/SimDevice.h"
+#include "hal/simulation/SimDeviceData.h"
+
+namespace hal {
+
+TEST(SimDeviceSimTest, Enabled) {
+ ASSERT_TRUE(HALSIM_IsSimDeviceEnabled("foo"));
+ HALSIM_SetSimDeviceEnabled("f", false);
+ HALSIM_SetSimDeviceEnabled("foob", true);
+ ASSERT_FALSE(HALSIM_IsSimDeviceEnabled("foo"));
+ ASSERT_TRUE(HALSIM_IsSimDeviceEnabled("foobar"));
+ ASSERT_TRUE(HALSIM_IsSimDeviceEnabled("bar"));
+
+ ASSERT_EQ(HAL_CreateSimDevice("foo"), 0);
+}
+
+} // namespace hal
diff --git a/hal/src/test/native/cpp/mockdata/SimDeviceDataTests.cpp b/hal/src/test/native/cpp/mockdata/SimDeviceDataTests.cpp
deleted file mode 100644
index 8f65f5c..0000000
--- a/hal/src/test/native/cpp/mockdata/SimDeviceDataTests.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 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. */
-/*----------------------------------------------------------------------------*/
-
-#include "gtest/gtest.h"
-#include "hal/SimDevice.h"
-#include "hal/simulation/SimDeviceData.h"
-
-namespace hal {
-
-TEST(SimDeviceSimTests, TestEnabled) {
- ASSERT_TRUE(HALSIM_IsSimDeviceEnabled("foo"));
- HALSIM_SetSimDeviceEnabled("f", false);
- HALSIM_SetSimDeviceEnabled("foob", true);
- ASSERT_FALSE(HALSIM_IsSimDeviceEnabled("foo"));
- ASSERT_TRUE(HALSIM_IsSimDeviceEnabled("foobar"));
- ASSERT_TRUE(HALSIM_IsSimDeviceEnabled("bar"));
-
- ASSERT_EQ(HAL_CreateSimDevice("foo"), 0);
-}
-
-} // namespace hal