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Cleaned up integer type usage in wpilibc (#92)

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Replaced all unsigned types to signed and int32_t with int in wpilibc
This commit is contained in:
Tyler Veness
2016-09-06 00:01:45 -07:00
committed by Peter Johnson
parent ff93050b31
commit 0cd05d1a42
169 changed files with 914 additions and 943 deletions
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8
wpilibc/athena/include/ADXL345_I2C.h
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@@ -24,10 +24,10 @@
*/
class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
protected:
static const uint8_t kAddress = 0x1D;
static const uint8_t kPowerCtlRegister = 0x2D;
static const uint8_t kDataFormatRegister = 0x31;
static const uint8_t kDataRegister = 0x32;
static const int kAddress = 0x1D;
static const int kPowerCtlRegister = 0x2D;
static const int kDataFormatRegister = 0x31;
static const int kDataRegister = 0x32;
static constexpr double kGsPerLSB = 0.00390625;
enum PowerCtlFields {
kPowerCtl_Link = 0x20,

6
wpilibc/athena/include/ADXL345_SPI.h
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@@ -27,9 +27,9 @@ class DigitalOutput;
*/
class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
protected:
static const uint8_t kPowerCtlRegister = 0x2D;
static const uint8_t kDataFormatRegister = 0x31;
static const uint8_t kDataRegister = 0x32;
static const int kPowerCtlRegister = 0x2D;
static const int kDataFormatRegister = 0x31;
static const int kDataRegister = 0x32;
static constexpr double kGsPerLSB = 0.00390625;
enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
enum PowerCtlFields {

2
wpilibc/athena/include/ADXRS450_Gyro.h
View File

@@ -39,5 +39,5 @@ class ADXRS450_Gyro : public GyroBase {
private:
SPI m_spi;
uint16_t ReadRegister(uint8_t reg);
uint16_t ReadRegister(int reg);
};

2
wpilibc/athena/include/AnalogAccelerometer.h
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@@ -25,7 +25,7 @@ class AnalogAccelerometer : public SensorBase,
public PIDSource,
public LiveWindowSendable {
public:
explicit AnalogAccelerometer(int32_t channel);
explicit AnalogAccelerometer(int channel);
explicit AnalogAccelerometer(AnalogInput* channel);
explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
virtual ~AnalogAccelerometer() = default;

13
wpilibc/athena/include/AnalogGyro.h
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@@ -29,23 +29,22 @@ class AnalogInput;
*/
class AnalogGyro : public GyroBase {
public:
static const uint32_t kOversampleBits = 10;
static const uint32_t kAverageBits = 0;
static const int kOversampleBits = 10;
static const int kAverageBits = 0;
static constexpr float kSamplesPerSecond = 50.0;
static constexpr float kCalibrationSampleTime = 5.0;
static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
explicit AnalogGyro(int32_t channel);
explicit AnalogGyro(int channel);
explicit AnalogGyro(AnalogInput* channel);
explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
AnalogGyro(int32_t channel, uint32_t center, float offset);
AnalogGyro(std::shared_ptr<AnalogInput> channel, uint32_t center,
float offset);
AnalogGyro(int channel, int center, float offset);
AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, float offset);
virtual ~AnalogGyro();
float GetAngle() const override;
double GetRate() const override;
virtual uint32_t GetCenter() const;
virtual int GetCenter() const;
virtual float GetOffset() const;
void SetSensitivity(float voltsPerDegreePerSecond);
void SetDeadband(float volts);

32
wpilibc/athena/include/AnalogInput.h
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@@ -34,35 +34,35 @@ class AnalogInput : public SensorBase,
friend class AnalogGyro;
public:
static const uint8_t kAccumulatorModuleNumber = 1;
static const uint32_t kAccumulatorNumChannels = 2;
static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
static const int kAccumulatorModuleNumber = 1;
static const int kAccumulatorNumChannels = 2;
static const int kAccumulatorChannels[kAccumulatorNumChannels];
explicit AnalogInput(uint32_t channel);
explicit AnalogInput(int channel);
virtual ~AnalogInput();
int32_t GetValue() const;
int32_t GetAverageValue() const;
int GetValue() const;
int GetAverageValue() const;
float GetVoltage() const;
float GetAverageVoltage() const;
uint32_t GetChannel() const;
int GetChannel() const;
void SetAverageBits(int32_t bits);
int32_t GetAverageBits() const;
void SetOversampleBits(int32_t bits);
int32_t GetOversampleBits() const;
void SetAverageBits(int bits);
int GetAverageBits() const;
void SetOversampleBits(int bits);
int GetOversampleBits() const;
int32_t GetLSBWeight() const;
int32_t GetOffset() const;
int GetLSBWeight() const;
int GetOffset() const;
bool IsAccumulatorChannel() const;
void InitAccumulator();
void SetAccumulatorInitialValue(int64_t value);
void ResetAccumulator();
void SetAccumulatorCenter(int32_t center);
void SetAccumulatorDeadband(int32_t deadband);
void SetAccumulatorCenter(int center);
void SetAccumulatorDeadband(int deadband);
int64_t GetAccumulatorValue() const;
int64_t GetAccumulatorCount() const;
void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
@@ -80,7 +80,7 @@ class AnalogInput : public SensorBase,
std::shared_ptr<ITable> GetTable() const override;
private:
uint32_t m_channel;
int m_channel;
// TODO: Adjust HAL to avoid use of raw pointers.
HAL_AnalogInputHandle m_port;
int64_t m_accumulatorOffset;

4
wpilibc/athena/include/AnalogOutput.h
View File

@@ -21,7 +21,7 @@
*/
class AnalogOutput : public SensorBase, public LiveWindowSendable {
public:
explicit AnalogOutput(uint32_t channel);
explicit AnalogOutput(int channel);
virtual ~AnalogOutput();
void SetVoltage(float voltage);
@@ -35,7 +35,7 @@ class AnalogOutput : public SensorBase, public LiveWindowSendable {
std::shared_ptr<ITable> GetTable() const override;
protected:
uint32_t m_channel;
int m_channel;
HAL_AnalogOutputHandle m_port;
std::shared_ptr<ITable> m_table;

8
wpilibc/athena/include/AnalogTrigger.h
View File

@@ -19,22 +19,22 @@ class AnalogTrigger : public SensorBase {
friend class AnalogTriggerOutput;
public:
explicit AnalogTrigger(int32_t channel);
explicit AnalogTrigger(int channel);
explicit AnalogTrigger(AnalogInput* channel);
virtual ~AnalogTrigger();
void SetLimitsVoltage(float lower, float upper);
void SetLimitsRaw(int32_t lower, int32_t upper);
void SetLimitsRaw(int lower, int upper);
void SetAveraged(bool useAveragedValue);
void SetFiltered(bool useFilteredValue);
int32_t GetIndex() const;
int GetIndex() const;
bool GetInWindow();
bool GetTriggerState();
std::shared_ptr<AnalogTriggerOutput> CreateOutput(
AnalogTriggerType type) const;
private:
uint8_t m_index;
int m_index;
HAL_AnalogTriggerHandle m_trigger;
AnalogInput* m_analogInput = nullptr;
bool m_ownsAnalog = false;

2
wpilibc/athena/include/AnalogTriggerOutput.h
View File

@@ -54,7 +54,7 @@ class AnalogTriggerOutput : public DigitalSource {
HAL_Handle GetPortHandleForRouting() const override;
AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
bool IsAnalogTrigger() const override;
uint32_t GetChannel() const override;
int GetChannel() const override;
protected:
AnalogTriggerOutput(const AnalogTrigger& trigger,

58
wpilibc/athena/include/CANJaguar.h
View File

@@ -22,7 +22,6 @@
#include "MotorSafety.h"
#include "MotorSafetyHelper.h"
#include "PIDOutput.h"
#include "Resource.h"
#include "tables/ITableListener.h"
/**
@@ -35,7 +34,7 @@ class CANJaguar : public MotorSafety,
public ITableListener {
public:
// The internal PID control loop in the Jaguar runs at 1kHz.
static const int32_t kControllerRate = 1000;
static const int kControllerRate = 1000;
static constexpr double kApproxBusVoltage = 12.0;
// Control mode tags
@@ -52,11 +51,11 @@ class CANJaguar : public MotorSafety,
static const struct PotentiometerStruct {
} Potentiometer;
explicit CANJaguar(uint8_t deviceNumber);
explicit CANJaguar(int deviceNumber);
virtual ~CANJaguar();
uint8_t getDeviceNumber() const;
uint8_t GetHardwareVersion() const;
int getDeviceNumber() const;
int GetHardwareVersion() const;
// PIDOutput interface
void PIDWrite(float output) override;
@@ -91,7 +90,7 @@ class CANJaguar : public MotorSafety,
void SetVoltageMode(QuadEncoderStruct, uint16_t codesPerRev);
void SetVoltageMode(PotentiometerStruct);
void Set(float value, uint8_t syncGroup);
void Set(float value, int syncGroup);
// CANSpeedController interface
float Get() const override;
@@ -115,7 +114,7 @@ class CANJaguar : public MotorSafety,
bool GetReverseLimitOK() const override;
uint16_t GetFaults() const override;
void SetVoltageRampRate(double rampRate) override;
uint32_t GetFirmwareVersion() const override;
int GetFirmwareVersion() const override;
void ConfigNeutralMode(NeutralMode mode) override;
void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
void ConfigPotentiometerTurns(uint16_t turns) override;
@@ -139,7 +138,7 @@ class CANJaguar : public MotorSafety,
bool IsSafetyEnabled() const override;
void SetSafetyEnabled(bool enabled) override;
void GetDescription(std::ostringstream& desc) const override;
uint8_t GetDeviceID() const;
int GetDeviceID() const;
// SpeedController overrides
void SetInverted(bool isInverted) override;
@@ -147,28 +146,27 @@ class CANJaguar : public MotorSafety,
protected:
// Control mode helpers
void SetSpeedReference(uint8_t reference);
uint8_t GetSpeedReference() const;
void SetSpeedReference(int reference);
int GetSpeedReference() const;
void SetPositionReference(uint8_t reference);
uint8_t GetPositionReference() const;
void SetPositionReference(int reference);
int GetPositionReference() const;
uint8_t packPercentage(uint8_t* buffer, double value);
uint8_t packFXP8_8(uint8_t* buffer, double value);
uint8_t packFXP16_16(uint8_t* buffer, double value);
uint8_t packint16_t(uint8_t* buffer, int16_t value);
uint8_t packint32_t(uint8_t* buffer, int32_t value);
int packPercentage(uint8_t* buffer, double value);
int packFXP8_8(uint8_t* buffer, double value);
int packFXP16_16(uint8_t* buffer, double value);
int packInt16(uint8_t* buffer, int16_t value);
int packInt32(uint8_t* buffer, int32_t value);
double unpackPercentage(uint8_t* buffer) const;
double unpackFXP8_8(uint8_t* buffer) const;
double unpackFXP16_16(uint8_t* buffer) const;
int16_t unpackint16_t(uint8_t* buffer) const;
int32_t unpackint32_t(uint8_t* buffer) const;
int16_t unpackInt16(uint8_t* buffer) const;
int32_t unpackInt32(uint8_t* buffer) const;
void sendMessage(uint32_t messageID, const uint8_t* data, uint8_t dataSize,
int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
void requestMessage(uint32_t messageID,
int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
bool getMessage(uint32_t messageID, uint32_t mask, uint8_t* data,
void sendMessage(int messageID, const uint8_t* data, uint8_t dataSize,
int period = CAN_SEND_PERIOD_NO_REPEAT);
void requestMessage(int messageID, int period = CAN_SEND_PERIOD_NO_REPEAT);
bool getMessage(int messageID, uint32_t mask, uint8_t* data,
uint8_t* dataSize) const;
void setupPeriodicStatus();
@@ -176,13 +174,13 @@ class CANJaguar : public MotorSafety,
mutable priority_recursive_mutex m_mutex;
uint8_t m_deviceNumber;
int m_deviceNumber;
float m_value = 0.0f;
// Parameters/configuration
ControlMode m_controlMode = kPercentVbus;
uint8_t m_speedReference = LM_REF_NONE;
uint8_t m_positionReference = LM_REF_NONE;
int m_speedReference = LM_REF_NONE;
int m_positionReference = LM_REF_NONE;
double m_p = 0.0;
double m_i = 0.0;
double m_d = 0.0;
@@ -221,10 +219,10 @@ class CANJaguar : public MotorSafety,
mutable float m_temperature = 0.0f;
mutable double m_position = 0.0;
mutable double m_speed = 0.0;
mutable uint8_t m_limits = 0x00;
mutable int m_limits = 0x00;
mutable uint16_t m_faults = 0x0000;
uint32_t m_firmwareVersion = 0;
uint8_t m_hardwareVersion = 0;
int m_firmwareVersion = 0;
int m_hardwareVersion = 0;
// Which periodic status messages have we received at least once?
mutable std::atomic<bool> m_receivedStatusMessage0{false};

2
wpilibc/athena/include/CANSpeedController.h
View File

@@ -84,7 +84,7 @@ class CANSpeedController : public SpeedController {
virtual bool GetReverseLimitOK() const = 0;
virtual uint16_t GetFaults() const = 0;
virtual void SetVoltageRampRate(double rampRate) = 0;
virtual uint32_t GetFirmwareVersion() const = 0;
virtual int GetFirmwareVersion() const = 0;
virtual void ConfigNeutralMode(NeutralMode mode) = 0;
virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;

42
wpilibc/athena/include/CANTalon.h
View File

@@ -119,7 +119,7 @@ class CANTalon : public MotorSafety,
* Value should be between 1ms and 255ms. If value is zero
* then Talon will default to 1ms. If value exceeds 255ms API will cap it.
*/
unsigned int timeDurMs;
int timeDurMs;
/**
* Which slot to get PIDF gains.
* PID is used for position servo.
@@ -127,7 +127,7 @@ class CANTalon : public MotorSafety,
* Typically this is hardcoded to the a particular slot, but you are free
* gain schedule if need be.
*/
unsigned int profileSlotSelect;
int profileSlotSelect;
/**
* Set to true to only perform the velocity feed-forward and not perform
* position servo. This is useful when learning how the position servo
@@ -181,15 +181,15 @@ class CANTalon : public MotorSafety,
* them into the Talon's low-level buffer, allowing the Talon to act on
* them.
*/
unsigned int topBufferRem;
int topBufferRem;
/**
* The number of points in the top trajectory buffer.
*/
unsigned int topBufferCnt;
int topBufferCnt;
/**
* The number of points in the low level Talon buffer.
*/
unsigned int btmBufferCnt;
int btmBufferCnt;
/**
* Set if isUnderrun ever gets set.
* Only is cleared by clearMotionProfileHasUnderrun() to ensure
@@ -253,7 +253,7 @@ class CANTalon : public MotorSafety,
void SetI(double i) override;
void SetD(double d) override;
void SetF(double f);
void SetIzone(unsigned iz);
void SetIzone(int iz);
void SetPID(double p, double i, double d) override;
virtual void SetPID(double p, double i, double d, double f);
double GetP() const override;
@@ -269,7 +269,7 @@ class CANTalon : public MotorSafety,
double GetPosition() const override;
double GetSpeed() const override;
virtual int GetClosedLoopError() const;
virtual void SetAllowableClosedLoopErr(uint32_t allowableCloseLoopError);
virtual void SetAllowableClosedLoopErr(int allowableCloseLoopError);
virtual int GetAnalogIn() const;
virtual void SetAnalogPosition(int newPosition);
virtual int GetAnalogInRaw() const;
@@ -298,7 +298,7 @@ class CANTalon : public MotorSafety,
void ClearStickyFaults();
void SetVoltageRampRate(double rampRate) override;
virtual void SetVoltageCompensationRampRate(double rampRate);
uint32_t GetFirmwareVersion() const override;
int GetFirmwareVersion() const override;
void ConfigNeutralMode(NeutralMode mode) override;
void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
void ConfigPotentiometerTurns(uint16_t turns) override;
@@ -347,8 +347,8 @@ class CANTalon : public MotorSafety,
* edge, pass false to clear the position on falling edge.
*/
void EnableZeroSensorPositionOnIndex(bool enable, bool risingEdge);
void ConfigSetParameter(uint32_t paramEnum, double value);
bool GetParameter(uint32_t paramEnum, double& dvalue) const;
void ConfigSetParameter(int paramEnum, double value);
bool GetParameter(int paramEnum, double& dvalue) const;
void ConfigFaultTime(float faultTime) override;
virtual void SetControlMode(ControlMode mode);
@@ -469,8 +469,8 @@ class CANTalon : public MotorSafety,
int m_deviceNumber;
std::unique_ptr<CanTalonSRX> m_impl;
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
int m_profile = 0; // Profile from CANTalon to use. Set to zero until we can
// actually test this.
int m_profile = 0; // Profile from CANTalon to use. Set to zero until we
// can actually test this.
bool m_controlEnabled = true;
bool m_stopped = false;
@@ -485,7 +485,7 @@ class CANTalon : public MotorSafety,
* count (4X). Caller can use ConfigEncoderCodesPerRev to set the quadrature
* encoder CPR.
*/
uint32_t m_codesPerRev = 0;
int m_codesPerRev = 0;
/**
* Number of turns per rotation. For example, a 10-turn pot spins ten full
* rotations from a wiper voltage of zero to 3.3 volts. Therefore knowing
@@ -494,14 +494,14 @@ class CANTalon : public MotorSafety,
* behaves as it did during the 2015 season, there are 1024 position units
* from zero to 3.3V.
*/
uint32_t m_numPotTurns = 0;
int m_numPotTurns = 0;
/**
* Although the Talon handles feedback selection, caching the feedback
* selection is helpful at the API level for scaling into rotations and RPM.
*/
FeedbackDevice m_feedbackDevice = QuadEncoder;
static constexpr unsigned int kDelayForSolicitedSignalsUs = 4000;
static constexpr int kDelayForSolicitedSignalsUs = 4000;
/**
* @param devToLookup FeedbackDevice to lookup the scalar for. Because Talon
* allows multiple sensors to be attached simultaneously,
@@ -531,8 +531,8 @@ class CANTalon : public MotorSafety,
* @return fullRotations in native engineering units of the Talon SRX
* firmware.
*/
int32_t ScaleRotationsToNativeUnits(FeedbackDevice devToLookup,
double fullRotations) const;
int ScaleRotationsToNativeUnits(FeedbackDevice devToLookup,
double fullRotations) const;
/**
* @param rpm double precision value representing number of rotations per
* minute of selected feedback sensor. If user has never called
@@ -544,8 +544,7 @@ class CANTalon : public MotorSafety,
* @return sensor velocity in native engineering units of the Talon SRX
* firmware.
*/
int32_t ScaleVelocityToNativeUnits(FeedbackDevice devToLookup,
double rpm) const;
int ScaleVelocityToNativeUnits(FeedbackDevice devToLookup, double rpm) const;
/**
* @param nativePos integral position of the feedback sensor in native
* Talon SRX units. If user has never called the config
@@ -558,7 +557,7 @@ class CANTalon : public MotorSafety,
* performed.
*/
double ScaleNativeUnitsToRotations(FeedbackDevice devToLookup,
int32_t nativePos) const;
int nativePos) const;
/**
* @param nativeVel integral velocity of the feedback sensor in native
* Talon SRX units. If user has never called the config
@@ -570,8 +569,7 @@ class CANTalon : public MotorSafety,
* @return double precision of sensor velocity in RPM, unless config was never
* performed.
*/
double ScaleNativeUnitsToRpm(FeedbackDevice devToLookup,
int32_t nativeVel) const;
double ScaleNativeUnitsToRpm(FeedbackDevice devToLookup, int nativeVel) const;
// LiveWindow stuff.
std::shared_ptr<ITable> m_table;

31
wpilibc/athena/include/CameraServer.h
View File

@@ -23,11 +23,11 @@ class CameraServer : public ErrorBase {
private:
static constexpr uint16_t kPort = 1180;
static constexpr uint8_t kMagicNumber[] = {0x01, 0x00, 0x00, 0x00};
static constexpr uint32_t kSize640x480 = 0;
static constexpr uint32_t kSize320x240 = 1;
static constexpr uint32_t kSize160x120 = 2;
static constexpr int32_t kHardwareCompression = -1;
static constexpr uint32_t kMaxImageSize = 200000;
static constexpr int kSize640x480 = 0;
static constexpr int kSize320x240 = 1;
static constexpr int kSize160x120 = 2;
static constexpr int kHardwareCompression = -1;
static constexpr int kMaxImageSize = 200000;
protected:
CameraServer();
@@ -38,22 +38,21 @@ class CameraServer : public ErrorBase {
priority_recursive_mutex m_imageMutex;
std::condition_variable_any m_newImageVariable;
std::vector<uint8_t*> m_dataPool;
unsigned int m_quality;
int m_quality;
bool m_autoCaptureStarted;
bool m_hwClient;
std::tuple<uint8_t*, unsigned int, unsigned int, bool> m_imageData;
std::tuple<uint8_t*, int, int, bool> m_imageData;
void Serve();
void AutoCapture();
void SetImageData(uint8_t* data, unsigned int size, unsigned int start = 0,
void SetImageData(uint8_t* data, int size, int start = 0,
bool imaqData = false);
void FreeImageData(
std::tuple<uint8_t*, unsigned int, unsigned int, bool> imageData);
void FreeImageData(std::tuple<uint8_t*, int, int, bool> imageData);
struct Request {
uint32_t fps;
int32_t compression;
uint32_t size;
int fps;
int compression;
int size;
};
public:
@@ -76,8 +75,8 @@ class CameraServer : public ErrorBase {
bool IsAutoCaptureStarted();
void SetQuality(unsigned int quality);
unsigned int GetQuality();
void SetQuality(int quality);
int GetQuality();
void SetSize(unsigned int size);
void SetSize(int size);
};

4
wpilibc/athena/include/Compressor.h
View File

@@ -23,7 +23,7 @@ class Compressor : public SensorBase,
public ITableListener {
public:
// Default PCM ID is 0
explicit Compressor(uint8_t pcmID = GetDefaultSolenoidModule());
explicit Compressor(int pcmID = GetDefaultSolenoidModule());
virtual ~Compressor() = default;
void Start();
@@ -59,7 +59,7 @@ class Compressor : public SensorBase,
private:
void SetCompressor(bool on);
uint8_t m_module;
int m_module;
std::shared_ptr<ITable> m_table;
};

12
wpilibc/athena/include/Counter.h
View File

@@ -39,7 +39,7 @@ class Counter : public SensorBase,
kExternalDirection = 3
};
explicit Counter(Mode mode = kTwoPulse);
explicit Counter(int32_t channel);
explicit Counter(int channel);
explicit Counter(DigitalSource* source);
explicit Counter(std::shared_ptr<DigitalSource> source);
DEPRECATED("Use pass-by-reference instead.")
@@ -51,7 +51,7 @@ class Counter : public SensorBase,
std::shared_ptr<DigitalSource> downSource, bool inverted);
virtual ~Counter();
void SetUpSource(int32_t channel);
void SetUpSource(int channel);
void SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType);
void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
AnalogTriggerType triggerType);
@@ -61,7 +61,7 @@ class Counter : public SensorBase,
void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
void ClearUpSource();
void SetDownSource(int32_t channel);
void SetDownSource(int channel);
void SetDownSource(AnalogTrigger* analogTrigger,
AnalogTriggerType triggerType);
void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
@@ -80,7 +80,7 @@ class Counter : public SensorBase,
void SetReverseDirection(bool reverseDirection);
// CounterBase interface
int32_t Get() const override;
int Get() const override;
void Reset() override;
double GetPeriod() const override;
void SetMaxPeriod(double maxPeriod) override;
@@ -90,7 +90,7 @@ class Counter : public SensorBase,
void SetSamplesToAverage(int samplesToAverage);
int GetSamplesToAverage() const;
int32_t GetFPGAIndex() const { return m_index; }
int GetFPGAIndex() const { return m_index; }
void UpdateTable() override;
void StartLiveWindowMode() override;
@@ -108,7 +108,7 @@ class Counter : public SensorBase,
HAL_CounterHandle m_counter = HAL_kInvalidHandle;
private:
int32_t m_index = 0; ///< The index of this counter.
int m_index = 0; ///< The index of this counter.
std::shared_ptr<ITable> m_table;
friend class DigitalGlitchFilter;

2
wpilibc/athena/include/CounterBase.h
View File

@@ -22,7 +22,7 @@ class CounterBase {
enum EncodingType { k1X, k2X, k4X };
virtual ~CounterBase() = default;
virtual int32_t Get() const = 0;
virtual int Get() const = 0;
virtual void Reset() = 0;
virtual double GetPeriod() const = 0;
virtual void SetMaxPeriod(double maxPeriod) = 0;

4
wpilibc/athena/include/DigitalGlitchFilter.h
View File

@@ -34,10 +34,10 @@ class DigitalGlitchFilter : public SensorBase {
void Remove(Encoder* input);
void Remove(Counter* input);
void SetPeriodCycles(uint32_t fpga_cycles);
void SetPeriodCycles(int fpga_cycles);
void SetPeriodNanoSeconds(uint64_t nanoseconds);
uint32_t GetPeriodCycles();
int GetPeriodCycles();
uint64_t GetPeriodNanoSeconds();
private:

6
wpilibc/athena/include/DigitalInput.h
View File

@@ -27,10 +27,10 @@ class DigitalGlitchFilter;
*/
class DigitalInput : public DigitalSource, public LiveWindowSendable {
public:
explicit DigitalInput(uint32_t channel);
explicit DigitalInput(int channel);
virtual ~DigitalInput();
bool Get() const;
uint32_t GetChannel() const override;
int GetChannel() const override;
// Digital Source Interface
HAL_Handle GetPortHandleForRouting() const override;
@@ -45,7 +45,7 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable {
std::shared_ptr<ITable> GetTable() const;
private:
uint32_t m_channel;
int m_channel;
HAL_DigitalHandle m_handle;
std::shared_ptr<ITable> m_table;

8
wpilibc/athena/include/DigitalOutput.h
View File

@@ -25,11 +25,11 @@ class DigitalOutput : public DigitalSource,
public ITableListener,
public LiveWindowSendable {
public:
explicit DigitalOutput(uint32_t channel);
explicit DigitalOutput(int channel);
virtual ~DigitalOutput();
void Set(bool value);
bool Get();
uint32_t GetChannel() const override;
bool Get() const;
int GetChannel() const override;
void Pulse(float length);
bool IsPulsing() const;
void SetPWMRate(float rate);
@@ -52,7 +52,7 @@ class DigitalOutput : public DigitalSource,
std::shared_ptr<ITable> GetTable() const;
private:
uint32_t m_channel;
int m_channel;
HAL_DigitalHandle m_handle;
HAL_DigitalPWMHandle m_pwmGenerator;

2
wpilibc/athena/include/DigitalSource.h
View File

@@ -26,5 +26,5 @@ class DigitalSource : public InterruptableSensorBase {
virtual HAL_Handle GetPortHandleForRouting() const = 0;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
virtual bool IsAnalogTrigger() const = 0;
virtual uint32_t GetChannel() const = 0;
virtual int GetChannel() const = 0;
};

13
wpilibc/athena/include/DoubleSolenoid.h
View File

@@ -28,9 +28,8 @@ class DoubleSolenoid : public SolenoidBase,
public:
enum Value { kOff, kForward, kReverse };
explicit DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel);
DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel,
uint32_t reverseChannel);
explicit DoubleSolenoid(int forwardChannel, int reverseChannel);
DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel);
virtual ~DoubleSolenoid();
virtual void Set(Value value);
virtual Value Get() const;
@@ -47,10 +46,10 @@ class DoubleSolenoid : public SolenoidBase,
std::shared_ptr<ITable> GetTable() const;
private:
uint32_t m_forwardChannel; ///< The forward channel on the module to control.
uint32_t m_reverseChannel; ///< The reverse channel on the module to control.
uint8_t m_forwardMask; ///< The mask for the forward channel.
uint8_t m_reverseMask; ///< The mask for the reverse channel.
int m_forwardChannel; ///< The forward channel on the module to control.
int m_reverseChannel; ///< The reverse channel on the module to control.
int m_forwardMask; ///< The mask for the forward channel.
int m_reverseMask; ///< The mask for the reverse channel.
HAL_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle;
HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle;

28
wpilibc/athena/include/DriverStation.h
View File

@@ -34,25 +34,25 @@ class DriverStation : public SensorBase, public RobotStateInterface {
static DriverStation& GetInstance();
static void ReportError(std::string error);
static void ReportWarning(std::string error);
static void ReportError(bool is_error, int32_t code, const std::string& error,
static void ReportError(bool is_error, int code, const std::string& error,
const std::string& location,
const std::string& stack);
static const uint32_t kJoystickPorts = 6;
static const int kJoystickPorts = 6;
float GetStickAxis(uint32_t stick, uint32_t axis);
int GetStickPOV(uint32_t stick, uint32_t pov);
uint32_t GetStickButtons(uint32_t stick) const;
bool GetStickButton(uint32_t stick, uint8_t button);
float GetStickAxis(int stick, int axis);
int GetStickPOV(int stick, int pov);
int GetStickButtons(int stick) const;
bool GetStickButton(int stick, int button);
int GetStickAxisCount(uint32_t stick) const;
int GetStickPOVCount(uint32_t stick) const;
int GetStickButtonCount(uint32_t stick) const;
int GetStickAxisCount(int stick) const;
int GetStickPOVCount(int stick) const;
int GetStickButtonCount(int stick) const;
bool GetJoystickIsXbox(uint32_t stick) const;
int GetJoystickType(uint32_t stick) const;
std::string GetJoystickName(uint32_t stick) const;
int GetJoystickAxisType(uint32_t stick, uint8_t axis) const;
bool GetJoystickIsXbox(int stick) const;
int GetJoystickType(int stick) const;
std::string GetJoystickName(int stick) const;
int GetJoystickAxisType(int stick, int axis) const;
bool IsEnabled() const override;
bool IsDisabled() const override;
@@ -66,7 +66,7 @@ class DriverStation : public SensorBase, public RobotStateInterface {
bool IsBrownedOut() const;
Alliance GetAlliance() const;
uint32_t GetLocation() const;
int GetLocation() const;
void WaitForData();
double GetMatchTime() const;
float GetBatteryVoltage() const;

12
wpilibc/athena/include/Encoder.h
View File

@@ -46,7 +46,7 @@ class Encoder : public SensorBase,
kResetOnRisingEdge
};
Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
Encoder(int aChannel, int bChannel, bool reverseDirection = false,
EncodingType encodingType = k4X);
Encoder(std::shared_ptr<DigitalSource> aSource,
std::shared_ptr<DigitalSource> bSource, bool reverseDirection = false,
@@ -58,9 +58,9 @@ class Encoder : public SensorBase,
virtual ~Encoder();
// CounterBase interface
int32_t Get() const override;
int32_t GetRaw() const;
int32_t GetEncodingScale() const;
int Get() const override;
int GetRaw() const;
int GetEncodingScale() const;
void Reset() override;
double GetPeriod() const override;
void SetMaxPeriod(double maxPeriod) override;
@@ -76,7 +76,7 @@ class Encoder : public SensorBase,
int GetSamplesToAverage() const;
double PIDGet() override;
void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge);
void SetIndexSource(int channel, IndexingType type = kResetOnRisingEdge);
DEPRECATED("Use pass-by-reference instead.")
void SetIndexSource(DigitalSource* source,
IndexingType type = kResetOnRisingEdge);
@@ -90,7 +90,7 @@ class Encoder : public SensorBase,
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
int32_t GetFPGAIndex() const;
int GetFPGAIndex() const;
private:
void InitEncoder(bool reverseDirection, EncodingType encodingType);

2
wpilibc/athena/include/GearTooth.h
View File

@@ -22,7 +22,7 @@ class GearTooth : public Counter {
public:
/// 55 uSec for threshold
static constexpr double kGearToothThreshold = 55e-6;
explicit GearTooth(uint32_t channel, bool directionSensitive = false);
explicit GearTooth(int channel, bool directionSensitive = false);
explicit GearTooth(DigitalSource* source, bool directionSensitive = false);
explicit GearTooth(std::shared_ptr<DigitalSource> source,
bool directionSensitive = false);

21
wpilibc/athena/include/I2C.h
View File

@@ -20,24 +20,23 @@ class I2C : SensorBase {
public:
enum Port { kOnboard, kMXP };
I2C(Port port, uint8_t deviceAddress);
I2C(Port port, int deviceAddress);
virtual ~I2C();
I2C(const I2C&) = delete;
I2C& operator=(const I2C&) = delete;
bool Transaction(uint8_t* dataToSend, uint8_t sendSize, uint8_t* dataReceived,
uint8_t receiveSize);
bool Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived,
int receiveSize);
bool AddressOnly();
bool Write(uint8_t registerAddress, uint8_t data);
bool WriteBulk(uint8_t* data, uint8_t count);
bool Read(uint8_t registerAddress, uint8_t count, uint8_t* data);
bool ReadOnly(uint8_t count, uint8_t* buffer);
void Broadcast(uint8_t registerAddress, uint8_t data);
bool VerifySensor(uint8_t registerAddress, uint8_t count,
const uint8_t* expected);
bool Write(int registerAddress, uint8_t data);
bool WriteBulk(uint8_t* data, int count);
bool Read(int registerAddress, int count, uint8_t* data);
bool ReadOnly(int count, uint8_t* buffer);
void Broadcast(int registerAddress, uint8_t data);
bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
private:
Port m_port;
uint8_t m_deviceAddress;
int m_deviceAddress;
};

2
wpilibc/athena/include/Jaguar.h
View File

@@ -14,6 +14,6 @@
*/
class Jaguar : public PWMSpeedController {
public:
explicit Jaguar(uint32_t channel);
explicit Jaguar(int channel);
virtual ~Jaguar() = default;
};

42
wpilibc/athena/include/Joystick.h
View File

@@ -27,11 +27,11 @@ class DriverStation;
*/
class Joystick : public GenericHID, public ErrorBase {
public:
static const uint32_t kDefaultXAxis = 0;
static const uint32_t kDefaultYAxis = 1;
static const uint32_t kDefaultZAxis = 2;
static const uint32_t kDefaultTwistAxis = 2;
static const uint32_t kDefaultThrottleAxis = 3;
static const int kDefaultXAxis = 0;
static const int kDefaultYAxis = 1;
static const int kDefaultZAxis = 2;
static const int kDefaultTwistAxis = 2;
static const int kDefaultThrottleAxis = 3;
typedef enum {
kXAxis,
kYAxis,
@@ -40,8 +40,8 @@ class Joystick : public GenericHID, public ErrorBase {
kThrottleAxis,
kNumAxisTypes
} AxisType;
static const uint32_t kDefaultTriggerButton = 1;
static const uint32_t kDefaultTopButton = 2;
static const int kDefaultTriggerButton = 1;
static const int kDefaultTopButton = 2;
typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
typedef enum { kLeftRumble, kRightRumble } RumbleType;
typedef enum {
@@ -63,15 +63,15 @@ class Joystick : public GenericHID, public ErrorBase {
kHIDFlight = 23,
kHID1stPerson = 24
} HIDType;
explicit Joystick(uint32_t port);
Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
explicit Joystick(int port);
Joystick(int port, int numAxisTypes, int numButtonTypes);
virtual ~Joystick() = default;
Joystick(const Joystick&) = delete;
Joystick& operator=(const Joystick&) = delete;
uint32_t GetAxisChannel(AxisType axis) const;
void SetAxisChannel(AxisType axis, uint32_t channel);
int GetAxisChannel(AxisType axis) const;
void SetAxisChannel(AxisType axis, int channel);
float GetX(JoystickHand hand = kRightHand) const override;
float GetY(JoystickHand hand = kRightHand) const override;
@@ -79,15 +79,15 @@ class Joystick : public GenericHID, public ErrorBase {
float GetTwist() const override;
float GetThrottle() const override;
virtual float GetAxis(AxisType axis) const;
float GetRawAxis(uint32_t axis) const override;
float GetRawAxis(int axis) const override;
bool GetTrigger(JoystickHand hand = kRightHand) const override;
bool GetTop(JoystickHand hand = kRightHand) const override;
bool GetBumper(JoystickHand hand = kRightHand) const override;
bool GetRawButton(uint32_t button) const override;
int GetPOV(uint32_t pov = 0) const override;
bool GetRawButton(int button) const override;
int GetPOV(int pov = 0) const override;
bool GetButton(ButtonType button) const;
static Joystick* GetStickForPort(uint32_t port);
static Joystick* GetStickForPort(int port);
virtual float GetMagnitude() const;
virtual float GetDirectionRadians() const;
@@ -104,15 +104,15 @@ class Joystick : public GenericHID, public ErrorBase {
int GetPOVCount() const;
void SetRumble(RumbleType type, float value);
void SetOutput(uint8_t outputNumber, bool value);
void SetOutputs(uint32_t value);
void SetOutput(int outputNumber, bool value);
void SetOutputs(int value);
private:
DriverStation& m_ds;
uint32_t m_port;
std::vector<uint32_t> m_axes;
std::vector<uint32_t> m_buttons;
uint32_t m_outputs = 0;
int m_port;
std::vector<int> m_axes;
std::vector<int> m_buttons;
int m_outputs = 0;
uint16_t m_leftRumble = 0;
uint16_t m_rightRumble = 0;
};

10
wpilibc/athena/include/PWM.h
View File

@@ -42,7 +42,7 @@ class PWM : public SensorBase,
kPeriodMultiplier_4X = 4
};
explicit PWM(uint32_t channel);
explicit PWM(int channel);
virtual ~PWM();
virtual void SetRaw(uint16_t value);
virtual uint16_t GetRaw() const;
@@ -56,11 +56,11 @@ class PWM : public SensorBase,
void EnableDeadbandElimination(bool eliminateDeadband);
void SetBounds(float max, float deadbandMax, float center, float deadbandMin,
float min);
void SetRawBounds(int32_t max, int32_t deadbandMax, int32_t center,
int32_t deadbandMin, int32_t min);
void SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
int min);
void GetRawBounds(int32_t* max, int32_t* deadbandMax, int32_t* center,
int32_t* deadbandMin, int32_t* min);
uint32_t GetChannel() const { return m_channel; }
int GetChannel() const { return m_channel; }
protected:
void ValueChanged(ITable* source, llvm::StringRef key,
@@ -75,6 +75,6 @@ class PWM : public SensorBase,
std::shared_ptr<ITable> m_table;
private:
uint32_t m_channel;
int m_channel;
HAL_DigitalHandle m_handle;
};

2
wpilibc/athena/include/PWMSpeedController.h
View File

@@ -27,7 +27,7 @@ class PWMSpeedController : public SafePWM, public SpeedController {
bool GetInverted() const override;
protected:
explicit PWMSpeedController(uint32_t channel);
explicit PWMSpeedController(int channel);
private:
bool m_isInverted = false;

6
wpilibc/athena/include/PowerDistributionPanel.h
View File

@@ -20,11 +20,11 @@
class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
public:
PowerDistributionPanel();
explicit PowerDistributionPanel(uint8_t module);
explicit PowerDistributionPanel(int module);
float GetVoltage() const;
float GetTemperature() const;
float GetCurrent(uint8_t channel) const;
float GetCurrent(int channel) const;
float GetTotalCurrent() const;
float GetTotalPower() const;
float GetTotalEnergy() const;
@@ -40,5 +40,5 @@ class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
private:
std::shared_ptr<ITable> m_table;
uint8_t m_module;
int m_module;
};

2
wpilibc/athena/include/Preferences.h
View File

@@ -66,7 +66,7 @@ class Preferences : public ErrorBase {
std::shared_ptr<nt::Value> value, bool isNew) override;
void ValueChangedEx(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value,
unsigned int flags) override;
uint32_t flags) override;
};
Listener m_listener;
};

6
wpilibc/athena/include/Relay.h
View File

@@ -38,12 +38,12 @@ class Relay : public MotorSafety,
enum Value { kOff, kOn, kForward, kReverse };
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
explicit Relay(uint32_t channel, Direction direction = kBothDirections);
explicit Relay(int channel, Direction direction = kBothDirections);
virtual ~Relay();
void Set(Value value);
Value Get() const;
uint32_t GetChannel() const;
int GetChannel() const;
void SetExpiration(float timeout) override;
float GetExpiration() const override;
@@ -65,7 +65,7 @@ class Relay : public MotorSafety,
std::shared_ptr<ITable> m_table;
private:
uint32_t m_channel;
int m_channel;
Direction m_direction;
HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;

28
wpilibc/athena/include/RobotDrive.h
View File

@@ -36,9 +36,9 @@ class RobotDrive : public MotorSafety, public ErrorBase {
kRearRightMotor = 3
};
RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel);
RobotDrive(uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel,
uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel);
RobotDrive(int leftMotorChannel, int rightMotorChannel);
RobotDrive(int frontLeftMotorChannel, int rearLeftMotorChannel,
int frontRightMotorChannel, int rearRightMotorChannel);
RobotDrive(SpeedController* leftMotor, SpeedController* rightMotor);
RobotDrive(SpeedController& leftMotor, SpeedController& rightMotor);
RobotDrive(std::shared_ptr<SpeedController> leftMotor,
@@ -61,20 +61,18 @@ class RobotDrive : public MotorSafety, public ErrorBase {
bool squaredInputs = true);
void TankDrive(GenericHID& leftStick, GenericHID& rightStick,
bool squaredInputs = true);
void TankDrive(GenericHID* leftStick, uint32_t leftAxis,
GenericHID* rightStick, uint32_t rightAxis,
bool squaredInputs = true);
void TankDrive(GenericHID& leftStick, uint32_t leftAxis,
GenericHID& rightStick, uint32_t rightAxis,
bool squaredInputs = true);
void TankDrive(GenericHID* leftStick, int leftAxis, GenericHID* rightStick,
int rightAxis, bool squaredInputs = true);
void TankDrive(GenericHID& leftStick, int leftAxis, GenericHID& rightStick,
int rightAxis, bool squaredInputs = true);
void TankDrive(float leftValue, float rightValue, bool squaredInputs = true);
void ArcadeDrive(GenericHID* stick, bool squaredInputs = true);
void ArcadeDrive(GenericHID& stick, bool squaredInputs = true);
void ArcadeDrive(GenericHID* moveStick, uint32_t moveChannel,
GenericHID* rotateStick, uint32_t rotateChannel,
void ArcadeDrive(GenericHID* moveStick, int moveChannel,
GenericHID* rotateStick, int rotateChannel,
bool squaredInputs = true);
void ArcadeDrive(GenericHID& moveStick, uint32_t moveChannel,
GenericHID& rotateStick, uint32_t rotateChannel,
void ArcadeDrive(GenericHID& moveStick, int moveChannel,
GenericHID& rotateStick, int rotateChannel,
bool squaredInputs = true);
void ArcadeDrive(float moveValue, float rotateValue,
bool squaredInputs = true);
@@ -101,7 +99,7 @@ class RobotDrive : public MotorSafety, public ErrorBase {
void Normalize(double* wheelSpeeds);
void RotateVector(double& x, double& y, double angle);
static const int32_t kMaxNumberOfMotors = 4;
static const int kMaxNumberOfMotors = 4;
float m_sensitivity = 0.5;
double m_maxOutput = 1.0;
std::shared_ptr<SpeedController> m_frontLeftMotor;
@@ -111,7 +109,7 @@ class RobotDrive : public MotorSafety, public ErrorBase {
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
private:
int32_t GetNumMotors() {
int GetNumMotors() {
int motors = 0;
if (m_frontLeftMotor) motors++;
if (m_frontRightMotor) motors++;

2
wpilibc/athena/include/SD540.h
View File

@@ -14,6 +14,6 @@
*/
class SD540 : public PWMSpeedController {
public:
explicit SD540(uint32_t channel);
explicit SD540(int channel);
virtual ~SD540() = default;
};

22
wpilibc/athena/include/SPI.h
View File

@@ -42,27 +42,25 @@ class SPI : public SensorBase {
void SetChipSelectActiveHigh();
void SetChipSelectActiveLow();
virtual int32_t Write(uint8_t* data, uint8_t size);
virtual int32_t Read(bool initiate, uint8_t* dataReceived, uint8_t size);
virtual int32_t Transaction(uint8_t* dataToSend, uint8_t* dataReceived,
uint8_t size);
virtual int Write(uint8_t* data, int size);
virtual int Read(bool initiate, uint8_t* dataReceived, int size);
virtual int Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size);
void InitAccumulator(double period, uint32_t cmd, uint8_t xfer_size,
uint32_t valid_mask, uint32_t valid_value,
uint8_t data_shift, uint8_t data_size, bool is_signed,
bool big_endian);
void InitAccumulator(double period, int cmd, int xfer_size, int valid_mask,
int valid_value, int data_shift, int data_size,
bool is_signed, bool big_endian);
void FreeAccumulator();
void ResetAccumulator();
void SetAccumulatorCenter(int32_t center);
void SetAccumulatorDeadband(int32_t deadband);
int32_t GetAccumulatorLastValue() const;
void SetAccumulatorCenter(int center);
void SetAccumulatorDeadband(int deadband);
int GetAccumulatorLastValue() const;
int64_t GetAccumulatorValue() const;
int64_t GetAccumulatorCount() const;
double GetAccumulatorAverage() const;
void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
protected:
uint8_t m_port;
int m_port;
bool m_msbFirst = false; // default little-endian
bool m_sampleOnTrailing = false; // default data updated on falling edge
bool m_clk_idle_high = false; // default clock active high

2
wpilibc/athena/include/SafePWM.h
View File

@@ -23,7 +23,7 @@
*/
class SafePWM : public PWM, public MotorSafety {
public:
explicit SafePWM(uint32_t channel);
explicit SafePWM(int channel);
virtual ~SafePWM() = default;
void SetExpiration(float timeout);

18
wpilibc/athena/include/SerialPort.h
View File

@@ -46,7 +46,7 @@ class SerialPort : public ErrorBase {
enum WriteBufferMode { kFlushOnAccess = 1, kFlushWhenFull = 2 };
enum Port { kOnboard = 0, kMXP = 1, kUSB = 2 };
SerialPort(uint32_t baudRate, Port port = kOnboard, uint8_t dataBits = 8,
SerialPort(int baudRate, Port port = kOnboard, int dataBits = 8,
Parity parity = kParity_None, StopBits stopBits = kStopBits_One);
~SerialPort();
@@ -56,19 +56,19 @@ class SerialPort : public ErrorBase {
void SetFlowControl(FlowControl flowControl);
void EnableTermination(char terminator = '\n');
void DisableTermination();
int32_t GetBytesReceived();
uint32_t Read(char* buffer, int32_t count);
uint32_t Write(const std::string& buffer, int32_t count);
int GetBytesReceived();
int Read(char* buffer, int count);
int Write(const std::string& buffer, int count);
void SetTimeout(float timeout);
void SetReadBufferSize(uint32_t size);
void SetWriteBufferSize(uint32_t size);
void SetReadBufferSize(int size);
void SetWriteBufferSize(int size);
void SetWriteBufferMode(WriteBufferMode mode);
void Flush();
void Reset();
private:
uint32_t m_resourceManagerHandle = 0;
uint32_t m_portHandle = 0;
int m_resourceManagerHandle = 0;
int m_portHandle = 0;
bool m_consoleModeEnabled = false;
uint8_t m_port;
int m_port;
};

2
wpilibc/athena/include/Servo.h
View File

@@ -22,7 +22,7 @@
*/
class Servo : public SafePWM {
public:
explicit Servo(uint32_t channel);
explicit Servo(int channel);
virtual ~Servo();
void Set(float value);
void SetOffline();

6
wpilibc/athena/include/Solenoid.h
View File

@@ -25,8 +25,8 @@ class Solenoid : public SolenoidBase,
public LiveWindowSendable,
public ITableListener {
public:
explicit Solenoid(uint32_t channel);
Solenoid(uint8_t moduleNumber, uint32_t channel);
explicit Solenoid(int channel);
Solenoid(int moduleNumber, int channel);
virtual ~Solenoid();
virtual void Set(bool on);
virtual bool Get() const;
@@ -43,6 +43,6 @@ class Solenoid : public SolenoidBase,
private:
HAL_SolenoidHandle m_solenoidHandle = HAL_kInvalidHandle;
uint32_t m_channel; ///< The channel on the module to control.
int m_channel; ///< The channel on the module to control.
std::shared_ptr<ITable> m_table;
};

10
wpilibc/athena/include/SolenoidBase.h
View File

@@ -18,18 +18,18 @@
class SolenoidBase : public SensorBase {
public:
virtual ~SolenoidBase() = default;
uint8_t GetAll(int module = 0) const;
int GetAll(int module = 0) const;
uint8_t GetPCMSolenoidBlackList(int module) const;
int GetPCMSolenoidBlackList(int module) const;
bool GetPCMSolenoidVoltageStickyFault(int module) const;
bool GetPCMSolenoidVoltageFault(int module) const;
void ClearAllPCMStickyFaults(int module);
protected:
explicit SolenoidBase(uint8_t pcmID);
explicit SolenoidBase(int pcmID);
static const int m_maxModules = 63;
static const int m_maxPorts = 8;
// static void* m_ports[m_maxModules][m_maxPorts];
uint8_t m_moduleNumber; ///< Slot number where the module is plugged into
/// the chassis.
int m_moduleNumber; ///< Slot number where the module is plugged into
/// the chassis.
};

2
wpilibc/athena/include/Spark.h
View File

@@ -14,6 +14,6 @@
*/
class Spark : public PWMSpeedController {
public:
explicit Spark(uint32_t channel);
explicit Spark(int channel);
virtual ~Spark() = default;
};

2
wpilibc/athena/include/Talon.h
View File

@@ -14,6 +14,6 @@
*/
class Talon : public PWMSpeedController {
public:
explicit Talon(uint32_t channel);
explicit Talon(int channel);
virtual ~Talon() = default;
};

2
wpilibc/athena/include/TalonSRX.h
View File

@@ -15,6 +15,6 @@
*/
class TalonSRX : public PWMSpeedController {
public:
explicit TalonSRX(uint32_t channel);
explicit TalonSRX(int channel);
virtual ~TalonSRX() = default;
};

24
wpilibc/athena/include/USBCamera.h
View File

@@ -50,19 +50,19 @@ class USBCamera : public ErrorBase {
priority_recursive_mutex m_mutex;
unsigned int m_width = 320;
unsigned int m_height = 240;
int m_width = 320;
int m_height = 240;
double m_fps = 30;
std::string m_whiteBalance = AUTO;
unsigned int m_whiteBalanceValue = 0;
int m_whiteBalanceValue = 0;
bool m_whiteBalanceValuePresent = false;
std::string m_exposure = MANUAL;
unsigned int m_exposureValue = 50;
int m_exposureValue = 50;
bool m_exposureValuePresent = false;
unsigned int m_brightness = 80;
int m_brightness = 80;
bool m_needSettingsUpdate = true;
unsigned int GetJpegSize(void* buffer, unsigned int buffSize);
int GetJpegSize(void* buffer, int buffSize);
public:
static constexpr char const* kDefaultCameraName = "cam0";
@@ -74,18 +74,18 @@ class USBCamera : public ErrorBase {
void StartCapture();
void StopCapture();
void SetFPS(double fps);
void SetSize(unsigned int width, unsigned int height);
void SetSize(int width, int height);
void UpdateSettings();
/**
* Set the brightness, as a percentage (0-100).
*/
void SetBrightness(unsigned int brightness);
void SetBrightness(int brightness);
/**
* Get the brightness, as a percentage (0-100).
*/
unsigned int GetBrightness();
int GetBrightness();
/**
* Set the white balance to auto
@@ -100,7 +100,7 @@ class USBCamera : public ErrorBase {
/**
* Set the white balance to manual, with specified color temperature
*/
void SetWhiteBalanceManual(unsigned int wbValue);
void SetWhiteBalanceManual(int wbValue);
/**
* Set the exposure to auto exposure
@@ -115,8 +115,8 @@ class USBCamera : public ErrorBase {
/**
* Set the exposure to manual, with a given percentage (0-100)
*/
void SetExposureManual(unsigned int expValue);
void SetExposureManual(int expValue);
void GetImage(Image* image);
unsigned int GetImageData(void* buffer, unsigned int bufferSize);
int GetImageData(void* buffer, int bufferSize);
};

5
wpilibc/athena/include/Ultrasonic.h
View File

@@ -47,8 +47,7 @@ class Ultrasonic : public SensorBase,
Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
std::shared_ptr<DigitalInput> echoChannel,
DistanceUnit units = kInches);
Ultrasonic(uint32_t pingChannel, uint32_t echoChannel,
DistanceUnit units = kInches);
Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units = kInches);
virtual ~Ultrasonic();
void Ping();
@@ -79,7 +78,7 @@ class Ultrasonic : public SensorBase,
// Time (sec) for the ping trigger pulse.
static constexpr double kPingTime = 10 * 1e-6;
// Priority that the ultrasonic round robin task runs.
static const uint32_t kPriority = 64;
static const int kPriority = 64;
// Max time (ms) between readings.
static constexpr double kMaxUltrasonicTime = 0.1;
static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;

2
wpilibc/athena/include/Victor.h
View File

@@ -17,6 +17,6 @@
*/
class Victor : public PWMSpeedController {
public:
explicit Victor(uint32_t channel);
explicit Victor(int channel);
virtual ~Victor() = default;
};

2
wpilibc/athena/include/VictorSP.h
View File

@@ -14,6 +14,6 @@
*/
class VictorSP : public PWMSpeedController {
public:
explicit VictorSP(uint32_t channel);
explicit VictorSP(int channel);
virtual ~VictorSP() = default;
};

3
wpilibc/athena/include/Vision/AxisCamera.h
View File

@@ -61,8 +61,7 @@ class AxisCamera : public ErrorBase {
int GetImage(Image* image);
int GetImage(ColorImage* image);
HSLImage* GetImage();
int CopyJPEG(char** destImage, unsigned int& destImageSize,
unsigned int& destImageBufferSize);
int CopyJPEG(char** destImage, int& destImageSize, int& destImageBufferSize);
void WriteBrightness(int brightness);
int GetBrightness();

2
wpilibc/athena/include/Vision/BaeUtilities.h
View File

@@ -7,6 +7,8 @@
#pragma once
#include <stdint.h>
#include <string>
/* Constants */

2
wpilibc/athena/include/Vision/FrcError.h
View File

@@ -7,6 +7,8 @@
#pragma once
#include <stdint.h>
/* Error Codes */
#define ERR_VISION_GENERAL_ERROR 166000 //
#define ERR_COLOR_NOT_FOUND 166100 // TrackAPI.cpp

2
wpilibc/athena/include/Vision/Threshold.h
View File

@@ -7,6 +7,8 @@
#pragma once
#include <stdint.h>
/**
* Color threshold values.
* This object represnts the threshold values for any type of color object

17
wpilibc/athena/include/Vision/VisionAPI.h
View File

@@ -7,6 +7,8 @@
#pragma once
#include <stdint.h>
#include "nivision.h"
/* Constants */
@@ -142,14 +144,13 @@ int frcColorEqualize(Image* dest, const Image* source, int colorEqualization);
/* Image Thresholding & Conversion functions */
/* Smart Threshold: calls imaqLocalThreshold */
int frcSmartThreshold(Image* dest, const Image* source,
unsigned int windowWidth, unsigned int windowHeight,
LocalThresholdMethod method, double deviationWeight,
ObjectType type);
int frcSmartThreshold(Image* dest, const Image* source,
unsigned int windowWidth, unsigned int windowHeight,
LocalThresholdMethod method, double deviationWeight,
ObjectType type, float replaceValue);
int frcSmartThreshold(Image* dest, const Image* source, int windowWidth,
int windowHeight, LocalThresholdMethod method,
double deviationWeight, ObjectType type);
int frcSmartThreshold(Image* dest, const Image* source, int windowWidth,
int windowHeight, LocalThresholdMethod method,
double deviationWeight, ObjectType type,
float replaceValue);
/* Simple Threshold: calls imaqThreshold */
int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin,

1
wpilibc/athena/include/WPILib.h
View File

@@ -65,7 +65,6 @@
#include "PowerDistributionPanel.h"
#include "Preferences.h"
#include "Relay.h"
#include "Resource.h"
#include "RobotBase.h"
#include "RobotDrive.h"
#include "SD540.h"