[hal, wpilib] Add REV PneumaticsHub (#3600)

wpilibc/src/main/native/cpp/PneumaticsBase.cpp

@@ -6,6 +6,7 @@
 
 #include "frc/Errors.h"
 #include "frc/PneumaticsControlModule.h"
+#include "frc/PneumaticsHub.h"
 #include "frc/SensorUtil.h"
 
 using namespace frc;
@@ -14,6 +15,8 @@ std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
     int module, PneumaticsModuleType moduleType) {
   if (moduleType == PneumaticsModuleType::CTREPCM) {
     return PneumaticsControlModule::GetForModule(module);
+  } else if (moduleType == PneumaticsModuleType::REVPH) {
+    return PneumaticsHub::GetForModule(module);
   }
   throw FRC_MakeError(err::InvalidParameter, "{}", moduleType);
 }
@@ -21,6 +24,8 @@ std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
 int PneumaticsBase::GetDefaultForType(PneumaticsModuleType moduleType) {
   if (moduleType == PneumaticsModuleType::CTREPCM) {
     return SensorUtil::GetDefaultCTREPCMModule();
+  } else if (moduleType == PneumaticsModuleType::REVPH) {
+    return SensorUtil::GetDefaultREVPHModule();
   }
   throw FRC_MakeError(err::InvalidParameter, "{}", moduleType);
 }

wpilibc/src/main/native/cpp/PneumaticsHub.cpp

@@ -0,0 +1,210 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source 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 "frc/PneumaticsHub.h"
+
+#include <hal/REVPH.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/StackTrace.h>
+
+#include "frc/Compressor.h"
+#include "frc/DoubleSolenoid.h"
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+#include "frc/Solenoid.h"
+
+using namespace frc;
+
+wpi::mutex PneumaticsHub::m_handleLock;
+std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<PneumaticsHub::DataStore>>>
+    PneumaticsHub::m_handleMap = nullptr;
+
+// Always called under lock, so we can avoid the double lock from the magic
+// static
+std::weak_ptr<PneumaticsHub::DataStore>& PneumaticsHub::GetDataStore(
+    int module) {
+  if (!m_handleMap) {
+    m_handleMap = std::make_unique<
+        wpi::DenseMap<int, std::weak_ptr<PneumaticsHub::DataStore>>>();
+  }
+  return (*m_handleMap)[module];
+}
+
+class PneumaticsHub::DataStore {
+ public:
+  explicit DataStore(int module, const char* stackTrace) {
+    int32_t status = 0;
+    HAL_REVPHHandle handle = HAL_InitializeREVPH(module, stackTrace, &status);
+    FRC_CheckErrorStatus(status, "Module {}", module);
+    m_moduleObject = PneumaticsHub{handle, module};
+    m_moduleObject.m_dataStore =
+        std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
+  }
+
+  ~DataStore() noexcept { HAL_FreeREVPH(m_moduleObject.m_handle); }
+
+  DataStore(DataStore&&) = delete;
+  DataStore& operator=(DataStore&&) = delete;
+
+ private:
+  friend class PneumaticsHub;
+  uint32_t m_reservedMask{0};
+  bool m_compressorReserved{false};
+  wpi::mutex m_reservedLock;
+  PneumaticsHub m_moduleObject{HAL_kInvalidHandle, 0};
+};
+
+PneumaticsHub::PneumaticsHub()
+    : PneumaticsHub{SensorUtil::GetDefaultREVPHModule()} {}
+
+PneumaticsHub::PneumaticsHub(int module) {
+  std::string stackTrace = wpi::GetStackTrace(1);
+  std::scoped_lock lock(m_handleLock);
+  auto& res = GetDataStore(module);
+  m_dataStore = res.lock();
+  if (!m_dataStore) {
+    m_dataStore = std::make_shared<DataStore>(module, stackTrace.c_str());
+    res = m_dataStore;
+  }
+  m_handle = m_dataStore->m_moduleObject.m_handle;
+  m_module = module;
+}
+
+PneumaticsHub::PneumaticsHub(HAL_REVPHHandle handle, int module)
+    : m_handle{handle}, m_module{module} {}
+
+bool PneumaticsHub::GetCompressor() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressor(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticsHub::SetClosedLoopControl(bool enabled) {
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControl(m_handle, enabled, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+bool PneumaticsHub::GetClosedLoopControl() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHClosedLoopControl(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+bool PneumaticsHub::GetPressureSwitch() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHPressureSwitch(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+double PneumaticsHub::GetCompressorCurrent() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressorCurrent(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticsHub::SetSolenoids(int mask, int values) {
+  int32_t status = 0;
+  HAL_SetREVPHSolenoids(m_handle, mask, values, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+int PneumaticsHub::GetSolenoids() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHSolenoids(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+int PneumaticsHub::GetModuleNumber() const {
+  return m_module;
+}
+
+int PneumaticsHub::GetSolenoidDisabledList() const {
+  return 0;
+  // TODO Fix me
+  // int32_t status = 0;
+  // auto result = HAL_GetREVPHSolenoidDisabledList(m_handle, &status);
+  // FRC_CheckErrorStatus(status, "Module {}", m_module);
+  // return result;
+}
+
+void PneumaticsHub::FireOneShot(int index) {
+  // TODO Fix me
+  // int32_t status = 0;
+  // HAL_FireREVPHOneShot(m_handle, index, &status);
+  // FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+void PneumaticsHub::SetOneShotDuration(int index, units::second_t duration) {
+  // TODO Fix me
+  // int32_t status = 0;
+  // units::millisecond_t millis = duration;
+  // HAL_SetREVPHOneShotDuration(m_handle, index, millis.to<int32_t>(),
+  // &status); FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+bool PneumaticsHub::CheckSolenoidChannel(int channel) const {
+  return HAL_CheckREVPHSolenoidChannel(channel);
+}
+
+int PneumaticsHub::CheckAndReserveSolenoids(int mask) {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  uint32_t uMask = static_cast<uint32_t>(mask);
+  if ((m_dataStore->m_reservedMask & uMask) != 0) {
+    return m_dataStore->m_reservedMask & uMask;
+  }
+  m_dataStore->m_reservedMask |= uMask;
+  return 0;
+}
+
+void PneumaticsHub::UnreserveSolenoids(int mask) {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  m_dataStore->m_reservedMask &= ~(static_cast<uint32_t>(mask));
+}
+
+bool PneumaticsHub::ReserveCompressor() {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  if (m_dataStore->m_compressorReserved) {
+    return false;
+  }
+  m_dataStore->m_compressorReserved = true;
+  return true;
+}
+
+void PneumaticsHub::UnreserveCompressor() {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  m_dataStore->m_compressorReserved = false;
+}
+
+Solenoid PneumaticsHub::MakeSolenoid(int channel) {
+  return Solenoid{m_module, PneumaticsModuleType::REVPH, channel};
+}
+
+DoubleSolenoid PneumaticsHub::MakeDoubleSolenoid(int forwardChannel,
+                                                 int reverseChannel) {
+  return DoubleSolenoid{m_module, PneumaticsModuleType::REVPH, forwardChannel,
+                        reverseChannel};
+}
+
+Compressor PneumaticsHub::MakeCompressor() {
+  return Compressor{m_module, PneumaticsModuleType::REVPH};
+}
+
+std::shared_ptr<PneumaticsBase> PneumaticsHub::GetForModule(int module) {
+  std::string stackTrace = wpi::GetStackTrace(1);
+  std::scoped_lock lock(m_handleLock);
+  auto& res = GetDataStore(module);
+  std::shared_ptr<DataStore> dataStore = res.lock();
+  if (!dataStore) {
+    dataStore = std::make_shared<DataStore>(module, stackTrace.c_str());
+    res = dataStore;
+  }
+
+  return std::shared_ptr<PneumaticsBase>{dataStore, &dataStore->m_moduleObject};
+}

wpilibc/src/main/native/cpp/SensorUtil.cpp

@@ -23,6 +23,10 @@ int SensorUtil::GetDefaultCTREPCMModule() {
   return 0;
 }
 
+int SensorUtil::GetDefaultREVPHModule() {
+  return 1;
+}
+
 bool SensorUtil::CheckDigitalChannel(int channel) {
   return HAL_CheckDIOChannel(channel);
 }

wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp

@@ -0,0 +1,139 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source 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 "frc/simulation/REVPHSim.h"
+
+#include <memory>
+#include <utility>
+
+#include <hal/simulation/REVPHData.h>
+
+#include "frc/SensorUtil.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+REVPHSim::REVPHSim() : m_index{SensorUtil::GetDefaultREVPHModule()} {}
+
+REVPHSim::REVPHSim(int module) : m_index{module} {}
+
+REVPHSim::REVPHSim(const PneumaticsBase& pneumatics)
+    : m_index{pneumatics.GetModuleNumber()} {}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterInitializedCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHInitializedCallback);
+  store->SetUid(HALSIM_RegisterREVPHInitializedCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetInitialized() const {
+  return HALSIM_GetREVPHInitialized(m_index);
+}
+
+void REVPHSim::SetInitialized(bool solenoidInitialized) {
+  HALSIM_SetREVPHInitialized(m_index, solenoidInitialized);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterSolenoidOutputCallback(
+    int channel, NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, channel, -1, callback,
+      &HALSIM_CancelREVPHSolenoidOutputCallback);
+  store->SetUid(HALSIM_RegisterREVPHSolenoidOutputCallback(
+      m_index, channel, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetSolenoidOutput(int channel) const {
+  return HALSIM_GetREVPHSolenoidOutput(m_index, channel);
+}
+
+void REVPHSim::SetSolenoidOutput(int channel, bool solenoidOutput) {
+  HALSIM_SetREVPHSolenoidOutput(m_index, channel, solenoidOutput);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterCompressorOnCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHCompressorOnCallback);
+  store->SetUid(HALSIM_RegisterREVPHCompressorOnCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetCompressorOn() const {
+  return HALSIM_GetREVPHCompressorOn(m_index);
+}
+
+void REVPHSim::SetCompressorOn(bool compressorOn) {
+  HALSIM_SetREVPHCompressorOn(m_index, compressorOn);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterClosedLoopEnabledCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHClosedLoopEnabledCallback);
+  store->SetUid(HALSIM_RegisterREVPHClosedLoopEnabledCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetClosedLoopEnabled() const {
+  return HALSIM_GetREVPHClosedLoopEnabled(m_index);
+}
+
+void REVPHSim::SetClosedLoopEnabled(bool closedLoopEnabled) {
+  HALSIM_SetREVPHClosedLoopEnabled(m_index, closedLoopEnabled);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterPressureSwitchCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHPressureSwitchCallback);
+  store->SetUid(HALSIM_RegisterREVPHPressureSwitchCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetPressureSwitch() const {
+  return HALSIM_GetREVPHPressureSwitch(m_index);
+}
+
+void REVPHSim::SetPressureSwitch(bool pressureSwitch) {
+  HALSIM_SetREVPHPressureSwitch(m_index, pressureSwitch);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterCompressorCurrentCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHCompressorCurrentCallback);
+  store->SetUid(HALSIM_RegisterREVPHCompressorCurrentCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+double REVPHSim::GetCompressorCurrent() const {
+  return HALSIM_GetREVPHCompressorCurrent(m_index);
+}
+
+void REVPHSim::SetCompressorCurrent(double compressorCurrent) {
+  HALSIM_SetREVPHCompressorCurrent(m_index, compressorCurrent);
+}
+
+uint8_t REVPHSim::GetAllSolenoidOutputs() const {
+  uint8_t ret = 0;
+  HALSIM_GetREVPHAllSolenoids(m_index, &ret);
+  return ret;
+}
+
+void REVPHSim::SetAllSolenoidOutputs(uint8_t outputs) {
+  HALSIM_SetREVPHAllSolenoids(m_index, outputs);
+}
+
+void REVPHSim::ResetData() {
+  HALSIM_ResetREVPHData(m_index);
+}