Initial checkin of unified hierarchy of WPILib 2015

hal/Athena/src/main/native/HAL.cpp

@@ -0,0 +1,125 @@
+
+#include "HAL/HAL.h"
+
+#include "Port.h"
+#include "HAL/Errors.h"
+#include "ChipObject.h"
+
+// XXX: What to do with solenoids? const uint32_t solenoid_kNumDO7_0Elements = tSolenoid::kNumDO7_0Elements;
+const uint32_t dio_kNumSystems = tDIO::kNumSystems;
+const uint32_t interrupt_kNumSystems = tInterrupt::kNumSystems;
+const uint32_t kSystemClockTicksPerMicrosecond = 40;
+
+void* getPort(uint8_t pin) {
+  Port* port = new Port();
+  port->pin = pin;
+  port->module = 1;
+  return port;
+}
+
+/**
+ * @deprecated Uses module numbers
+ */
+void* getPortWithModule(uint8_t module, uint8_t pin) {
+  Port* port = new Port();
+  port->pin = pin;
+  port->module = module;
+  return port;
+}
+
+const char* getHALErrorMessage(int32_t code) {
+  if (code == 0) return "";
+  else if (code == SAMPLE_RATE_TOO_HIGH) return SAMPLE_RATE_TOO_HIGH_MESSAGE;
+  else if (code == VOLTAGE_OUT_OF_RANGE) return VOLTAGE_OUT_OF_RANGE_MESSAGE;
+  else if (code == LOOP_TIMING_ERROR) return LOOP_TIMING_ERROR_MESSAGE;
+  else if (code == SPI_WRITE_NO_MOSI) return SPI_WRITE_NO_MOSI_MESSAGE;
+  else if (code == SPI_READ_NO_MISO) return SPI_READ_NO_MISO_MESSAGE;
+  else if (code == SPI_READ_NO_DATA) return SPI_READ_NO_DATA_MESSAGE;
+  else if (code == INCOMPATIBLE_STATE) return INCOMPATIBLE_STATE_MESSAGE;
+  else if (code == NO_AVAILABLE_RESOURCES) return NO_AVAILABLE_RESOURCES_MESSAGE;
+  else if (code == NULL_PARAMETER) return NULL_PARAMETER_MESSAGE;
+  else if (code == ANALOG_TRIGGER_LIMIT_ORDER_ERROR) return ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE;
+  else if (code == ANALOG_TRIGGER_PULSE_OUTPUT_ERROR) return ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE;
+  else if (code == PARAMETER_OUT_OF_RANGE) return PARAMETER_OUT_OF_RANGE_MESSAGE;
+  else return "";
+}
+
+/**
+ * Return the FPGA Version number.
+ * For now, expect this to be competition year.
+ * @return FPGA Version number.
+ */
+uint16_t getFPGAVersion(int32_t *status) {
+  tGlobal *global = tGlobal::create(status);
+  uint16_t version = global->readVersion(status);
+  delete global;
+  return version;
+}
+
+/**
+ * Return the FPGA Revision number.
+ * The format of the revision is 3 numbers.
+ * The 12 most significant bits are the Major Revision.
+ * the next 8 bits are the Minor Revision.
+ * The 12 least significant bits are the Build Number.
+ * @return FPGA Revision number.
+ */
+uint32_t getFPGARevision(int32_t *status) {
+  tGlobal *global = tGlobal::create(status);
+  uint32_t revision = global->readRevision(status);
+  delete global;
+  return revision;
+}
+
+/**
+ * Read the microsecond-resolution timer on the FPGA.
+ * 
+ * @return The current time in microseconds according to the FPGA (since FPGA reset).
+ */
+uint32_t getFPGATime(int32_t *status) {
+  tGlobal *global = tGlobal::create(status);
+  uint32_t time = global->readLocalTime(status);
+  delete global;
+  return time;
+}
+
+
+/**
+ * Set the state of the FPGA status LED on the cRIO.
+ */
+void setFPGALED(uint32_t state, int32_t *status) {
+  // XXX: Not supported?
+  // tGlobal *global = tGlobal::create(status);
+  // global->writeFPGA_LED(state, status);
+  // delete global;
+}
+
+/**
+ * Get the current state of the FPGA status LED on the cRIO.
+ * @return The curent state of the FPGA LED.
+ */
+int32_t getFPGALED(int32_t *status) {
+  // XXX: Not supported?
+  // tGlobal *global = tGlobal::create(status);
+  // bool ledValue = global->readFPGA_LED(status);
+  // delete global;
+  // return ledValue;
+  return 0; // XXX: Dummy value
+}
+
+// TODO: HACKS
+void NumericArrayResize() {}
+void RTSetCleanupProc() {}
+void EDVR_CreateReference() {}
+void Occur() {}
+
+void imaqGetErrorText() {}
+void imaqGetLastError() {}
+void niTimestamp64() {}
+
+#include "NetworkCommunication/LoadOut.h"
+namespace nLoadOut {
+  bool getModulePresence(tModuleType moduleType, uint8_t moduleNumber) {
+  	return true;
+  }
+}