SensorReader PWM Refactor.
Refactored the pwm trigger and pwm detecter out of the year specific.
Change-Id: Ie89332fe6e1bcc0f465b742055ec4cf392a20c7e
diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index bc3ac04..910de08 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -276,3 +276,20 @@
"//aos/logging",
],
)
+
+cc_library(
+ name = "sensor_reader",
+ srcs = [
+ "sensor_reader.cc",
+ ],
+ hdrs = [
+ "sensor_reader.h"
+ ],
+ restricted_to = ["//tools:roborio"],
+ deps = [
+ "//aos:init",
+ "//aos/time:time",
+ "//aos/stl_mutex",
+ "//third_party:wpilib",
+ ],
+)
diff --git a/frc971/wpilib/sensor_reader.cc b/frc971/wpilib/sensor_reader.cc
new file mode 100644
index 0000000..f2123a1
--- /dev/null
+++ b/frc971/wpilib/sensor_reader.cc
@@ -0,0 +1,87 @@
+#include "frc971/wpilib/sensor_reader.h"
+
+#include "aos/init.h"
+#include "aos/util/compiler_memory_barrier.h"
+#include "frc971/wpilib/ahal/DigitalInput.h"
+#include "frc971/wpilib/ahal/Utility.h"
+
+namespace frc971 {
+namespace wpilib {
+
+SensorReader::SensorReader() {}
+
+void SensorReader::set_pwm_trigger(
+ ::std::unique_ptr<frc::DigitalInput> pwm_trigger) {
+ medium_encoder_filter_.Add(pwm_trigger.get());
+ pwm_trigger_ = ::std::move(pwm_trigger);
+}
+
+void SensorReader::RunPWMDetecter() {
+ ::aos::SetCurrentThreadRealtimePriority(41);
+
+ pwm_trigger_->RequestInterrupts();
+ // Rising edge only.
+ pwm_trigger_->SetUpSourceEdge(true, false);
+
+ monotonic_clock::time_point last_posedge_monotonic =
+ monotonic_clock::min_time;
+
+ while (run_) {
+ auto ret = pwm_trigger_->WaitForInterrupt(1.0, true);
+ if (ret == frc::InterruptableSensorBase::WaitResult::kRisingEdge) {
+ // Grab all the clocks.
+ const double pwm_fpga_time = pwm_trigger_->ReadRisingTimestamp();
+
+ aos_compiler_memory_barrier();
+ const double fpga_time_before = frc::GetFPGATime() * 1e-6;
+ aos_compiler_memory_barrier();
+ const monotonic_clock::time_point monotonic_now = monotonic_clock::now();
+ aos_compiler_memory_barrier();
+ const double fpga_time_after = frc::GetFPGATime() * 1e-6;
+ aos_compiler_memory_barrier();
+
+ const double fpga_offset =
+ (fpga_time_after + fpga_time_before) / 2.0 - pwm_fpga_time;
+
+ // Compute when the edge was.
+ const monotonic_clock::time_point monotonic_edge =
+ monotonic_now - chrono::duration_cast<chrono::nanoseconds>(
+ chrono::duration<double>(fpga_offset));
+
+ LOG(DEBUG, "Got PWM pulse %f spread, %f offset, %lld trigger\n",
+ fpga_time_after - fpga_time_before, fpga_offset,
+ monotonic_edge.time_since_epoch().count());
+
+ // Compute bounds on the timestep and sampling times.
+ const double fpga_sample_length = fpga_time_after - fpga_time_before;
+ const chrono::nanoseconds elapsed_time =
+ monotonic_edge - last_posedge_monotonic;
+
+ last_posedge_monotonic = monotonic_edge;
+
+ // Verify that the values are sane.
+ if (fpga_sample_length > 2e-5 || fpga_sample_length < 0) {
+ continue;
+ }
+ if (fpga_offset < 0 || fpga_offset > 0.00015) {
+ continue;
+ }
+ if (elapsed_time > chrono::microseconds(5050) + chrono::microseconds(4) ||
+ elapsed_time < chrono::microseconds(5050) - chrono::microseconds(4)) {
+ continue;
+ }
+ // Good edge!
+ {
+ ::std::unique_lock<::aos::stl_mutex> locker(tick_time_mutex_);
+ last_tick_time_monotonic_timepoint_ = last_posedge_monotonic;
+ last_period_ = elapsed_time;
+ }
+ } else {
+ LOG(INFO, "PWM triggered %d\n", ret);
+ }
+ }
+ pwm_trigger_->CancelInterrupts();
+}
+
+} // namespace wpilib
+} // namespace frc971
diff --git a/frc971/wpilib/sensor_reader.h b/frc971/wpilib/sensor_reader.h
new file mode 100644
index 0000000..23646f1
--- /dev/null
+++ b/frc971/wpilib/sensor_reader.h
@@ -0,0 +1,44 @@
+#ifndef FRC971_WPILIB_SENSOR_READER_H_
+#define FRC971_WPILIB_SENSOR_READER_H_
+
+#include <atomic>
+#include <chrono>
+
+#include "aos/stl_mutex/stl_mutex.h"
+#include "aos/time/time.h"
+#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
+#include "frc971/wpilib/ahal/DigitalInput.h"
+
+using ::aos::monotonic_clock;
+namespace chrono = ::std::chrono;
+
+namespace frc971 {
+namespace wpilib {
+
+class SensorReader {
+ public:
+ SensorReader();
+
+ void set_pwm_trigger(::std::unique_ptr<frc::DigitalInput> pwm_trigger);
+
+ protected:
+ void RunPWMDetecter();
+
+ ::std::unique_ptr<frc::DigitalInput> pwm_trigger_;
+
+ frc::DigitalGlitchFilter fast_encoder_filter_, medium_encoder_filter_,
+ hall_filter_;
+
+ // Mutex to manage access to the period and tick time variables.
+ ::aos::stl_mutex tick_time_mutex_;
+ monotonic_clock::time_point last_tick_time_monotonic_timepoint_ =
+ monotonic_clock::min_time;
+ chrono::nanoseconds last_period_ = chrono::microseconds(5050);
+
+ ::std::atomic<bool> run_{true};
+};
+
+} // namespace wpilib
+} // namespace frc971
+
+#endif // FRC971_WPILIB_SENSOR_READER_H_
diff --git a/y2019/BUILD b/y2019/BUILD
index 8705da0..7c987f6 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -46,6 +46,7 @@
"//frc971/wpilib:logging_queue",
"//frc971/wpilib:loop_output_handler",
"//frc971/wpilib:pdp_fetcher",
+ "//frc971/wpilib:sensor_reader",
"//frc971/wpilib:wpilib_interface",
"//frc971/wpilib:wpilib_robot_base",
"//third_party:wpilib",
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 5d78649..2483f40 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -23,9 +23,7 @@
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
#include "aos/make_unique.h"
-#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
-#include "aos/util/compiler_memory_barrier.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
@@ -33,16 +31,14 @@
#include "frc971/autonomous/auto.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/wpilib/ADIS16448.h"
-#include "frc971/wpilib/buffered_pcm.h"
-#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
#include "frc971/wpilib/dma_edge_counting.h"
#include "frc971/wpilib/encoder_and_potentiometer.h"
-#include "frc971/wpilib/interrupt_edge_counting.h"
#include "frc971/wpilib/joystick_sender.h"
#include "frc971/wpilib/logging.q.h"
#include "frc971/wpilib/loop_output_handler.h"
#include "frc971/wpilib/pdp_fetcher.h"
+#include "frc971/wpilib/sensor_reader.h"
#include "frc971/wpilib/wpilib_interface.h"
#include "frc971/wpilib/wpilib_robot_base.h"
@@ -105,7 +101,7 @@
"medium encoders are too fast");
// Class to send position messages with sensor readings to our loops.
-class SensorReader {
+class SensorReader : public ::frc971::wpilib::SensorReader {
public:
SensorReader() {
// Set to filter out anything shorter than 1/4 of the minimum pulse width
@@ -133,11 +129,6 @@
drivetrain_right_encoder_ = ::std::move(encoder);
}
- void set_pwm_trigger(::std::unique_ptr<frc::DigitalInput> pwm_trigger) {
- medium_encoder_filter_.Add(pwm_trigger.get());
- pwm_trigger_ = ::std::move(pwm_trigger);
- }
-
// All of the DMA-related set_* calls must be made before this, and it
// doesn't hurt to do all of them.
void set_dma(::std::unique_ptr<DMA> dma) {
@@ -145,76 +136,6 @@
new ::frc971::wpilib::DMASynchronizer(::std::move(dma)));
}
- void RunPWMDetecter() {
- ::aos::SetCurrentThreadRealtimePriority(41);
-
- pwm_trigger_->RequestInterrupts();
- // Rising edge only.
- pwm_trigger_->SetUpSourceEdge(true, false);
-
- monotonic_clock::time_point last_posedge_monotonic =
- monotonic_clock::min_time;
-
- while (run_) {
- auto ret = pwm_trigger_->WaitForInterrupt(1.0, true);
- if (ret == frc::InterruptableSensorBase::WaitResult::kRisingEdge) {
- // Grab all the clocks.
- const double pwm_fpga_time = pwm_trigger_->ReadRisingTimestamp();
-
- aos_compiler_memory_barrier();
- const double fpga_time_before = frc::GetFPGATime() * 1e-6;
- aos_compiler_memory_barrier();
- const monotonic_clock::time_point monotonic_now =
- monotonic_clock::now();
- aos_compiler_memory_barrier();
- const double fpga_time_after = frc::GetFPGATime() * 1e-6;
- aos_compiler_memory_barrier();
-
- const double fpga_offset =
- (fpga_time_after + fpga_time_before) / 2.0 - pwm_fpga_time;
-
- // Compute when the edge was.
- const monotonic_clock::time_point monotonic_edge =
- monotonic_now - chrono::duration_cast<chrono::nanoseconds>(
- chrono::duration<double>(fpga_offset));
-
- LOG(DEBUG, "Got PWM pulse %f spread, %f offset, %lld trigger\n",
- fpga_time_after - fpga_time_before, fpga_offset,
- monotonic_edge.time_since_epoch().count());
-
- // Compute bounds on the timestep and sampling times.
- const double fpga_sample_length = fpga_time_after - fpga_time_before;
- const chrono::nanoseconds elapsed_time =
- monotonic_edge - last_posedge_monotonic;
-
- last_posedge_monotonic = monotonic_edge;
-
- // Verify that the values are sane.
- if (fpga_sample_length > 2e-5 || fpga_sample_length < 0) {
- continue;
- }
- if (fpga_offset < 0 || fpga_offset > 0.00015) {
- continue;
- }
- if (elapsed_time >
- chrono::microseconds(5050) + chrono::microseconds(4) ||
- elapsed_time <
- chrono::microseconds(5050) - chrono::microseconds(4)) {
- continue;
- }
- // Good edge!
- {
- ::std::unique_lock<::aos::stl_mutex> locker(tick_time_mutex_);
- last_tick_time_monotonic_timepoint_ = last_posedge_monotonic;
- last_period_ = elapsed_time;
- }
- } else {
- LOG(INFO, "PWM triggered %d\n", ret);
- }
- }
- pwm_trigger_->CancelInterrupts();
- }
-
void operator()() {
::aos::SetCurrentThreadName("SensorReader");
@@ -293,23 +214,10 @@
int32_t my_pid_;
- // Mutex to manage access to the period and tick time variables.
- ::aos::stl_mutex tick_time_mutex_;
- monotonic_clock::time_point last_tick_time_monotonic_timepoint_ =
- monotonic_clock::min_time;
- chrono::nanoseconds last_period_ = chrono::microseconds(5050);
-
::std::unique_ptr<::frc971::wpilib::DMASynchronizer> dma_synchronizer_;
- frc::DigitalGlitchFilter fast_encoder_filter_, medium_encoder_filter_,
- hall_filter_;
-
::std::unique_ptr<frc::Encoder> drivetrain_left_encoder_,
drivetrain_right_encoder_;
-
- ::std::unique_ptr<frc::DigitalInput> pwm_trigger_;
-
- ::std::atomic<bool> run_{true};
};
class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler {