mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
Initial checkin of unified hierarchy of WPILib 2015
This commit is contained in:
Brad Miller
282
wpilibc/src/main/native/Utility.cpp
Normal file
282
wpilibc/src/main/native/Utility.cpp
Normal file
@@ -0,0 +1,282 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2008. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include "Utility.h"
|
||||
|
||||
#include "NetworkCommunication/FRCComm.h"
|
||||
#include "HAL/HAL.h"
|
||||
#include "HAL/cpp/StackTrace.h"
|
||||
#include "Task.h"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "nivision.h"
|
||||
|
||||
static bool stackTraceEnabled = false;
|
||||
static bool suspendOnAssertEnabled = false;
|
||||
|
||||
/**
|
||||
* Enable Stack trace after asserts.
|
||||
*/
|
||||
void wpi_stackTraceOnAssertEnable(bool enabled)
|
||||
{
|
||||
stackTraceEnabled = enabled;
|
||||
}
|
||||
|
||||
/**
|
||||
* Enable suspend on asssert.
|
||||
* If enabled, the user task will be suspended whenever an assert fails. This
|
||||
* will allow the user to attach to the task with the debugger and examine variables
|
||||
* around the failure.
|
||||
*/
|
||||
void wpi_suspendOnAssertEnabled(bool enabled)
|
||||
{
|
||||
suspendOnAssertEnabled = enabled;
|
||||
}
|
||||
|
||||
static void wpi_handleTracing()
|
||||
{
|
||||
if (stackTraceEnabled)
|
||||
{
|
||||
printf("\n-----------<Stack Trace>----------------\n");
|
||||
printCurrentStackTrace();
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
/**
|
||||
* Assert implementation.
|
||||
* This allows breakpoints to be set on an assert.
|
||||
* The users don't call this, but instead use the wpi_assert macros in Utility.h.
|
||||
*/
|
||||
bool wpi_assert_impl(bool conditionValue,
|
||||
const char *conditionText,
|
||||
const char *message,
|
||||
const char *fileName,
|
||||
uint32_t lineNumber,
|
||||
const char *funcName)
|
||||
{
|
||||
if (!conditionValue)
|
||||
{
|
||||
// Error string buffer
|
||||
char error[256];
|
||||
|
||||
// If an error message was specified, include it
|
||||
// Build error string
|
||||
if(message != NULL) {
|
||||
sprintf(error, "Assertion failed: \"%s\", \"%s\" failed in %s() in %s at line %ld\n",
|
||||
message, conditionText, funcName, fileName, lineNumber);
|
||||
} else {
|
||||
sprintf(error, "Assertion failed: \"%s\" in %s() in %s at line %ld\n",
|
||||
conditionText, funcName, fileName, lineNumber);
|
||||
}
|
||||
|
||||
// Print to console and send to remote dashboard
|
||||
printf("\n\n>>>>%s", error);
|
||||
setErrorData(error, strlen(error), 100);
|
||||
|
||||
wpi_handleTracing();
|
||||
if (suspendOnAssertEnabled) suspendTask(0);
|
||||
}
|
||||
return conditionValue;
|
||||
}
|
||||
|
||||
/**
|
||||
* Common error routines for wpi_assertEqual_impl and wpi_assertNotEqual_impl
|
||||
* This should not be called directly; it should only be used by wpi_assertEqual_impl
|
||||
* and wpi_assertNotEqual_impl.
|
||||
*/
|
||||
void wpi_assertEqual_common_impl(int valueA,
|
||||
int valueB,
|
||||
const char *equalityType,
|
||||
const char *message,
|
||||
const char *fileName,
|
||||
uint32_t lineNumber,
|
||||
const char *funcName)
|
||||
{
|
||||
// Error string buffer
|
||||
char error[256];
|
||||
|
||||
// If an error message was specified, include it
|
||||
// Build error string
|
||||
if(message != NULL) {
|
||||
sprintf(error, "Assertion failed: \"%s\", \"%d\" %s \"%d\" in %s() in %s at line %ld\n",
|
||||
message, valueA, equalityType, valueB, funcName, fileName, lineNumber);
|
||||
} else {
|
||||
sprintf(error, "Assertion failed: \"%d\" %s \"%d\" in %s() in %s at line %ld\n",
|
||||
valueA, equalityType, valueB, funcName, fileName, lineNumber);
|
||||
}
|
||||
|
||||
// Print to console and send to remote dashboard
|
||||
printf("\n\n>>>>%s", error);
|
||||
setErrorData(error, strlen(error), 100);
|
||||
|
||||
wpi_handleTracing();
|
||||
if (suspendOnAssertEnabled) suspendTask(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Assert equal implementation.
|
||||
* This determines whether the two given integers are equal. If not,
|
||||
* the value of each is printed along with an optional message string.
|
||||
* The users don't call this, but instead use the wpi_assertEqual macros in Utility.h.
|
||||
*/
|
||||
bool wpi_assertEqual_impl(int valueA,
|
||||
int valueB,
|
||||
const char *message,
|
||||
const char *fileName,
|
||||
uint32_t lineNumber,
|
||||
const char *funcName)
|
||||
{
|
||||
if(!(valueA == valueB))
|
||||
{
|
||||
wpi_assertEqual_common_impl(valueA, valueB, "!=", message, fileName, lineNumber, funcName);
|
||||
}
|
||||
return valueA == valueB;
|
||||
}
|
||||
|
||||
/**
|
||||
* Assert not equal implementation.
|
||||
* This determines whether the two given integers are equal. If so,
|
||||
* the value of each is printed along with an optional message string.
|
||||
* The users don't call this, but instead use the wpi_assertNotEqual macros in Utility.h.
|
||||
*/
|
||||
bool wpi_assertNotEqual_impl(int valueA,
|
||||
int valueB,
|
||||
const char *message,
|
||||
const char *fileName,
|
||||
uint32_t lineNumber,
|
||||
const char *funcName)
|
||||
{
|
||||
if(!(valueA != valueB))
|
||||
{
|
||||
wpi_assertEqual_common_impl(valueA, valueB, "==", message, fileName, lineNumber, funcName);
|
||||
}
|
||||
return valueA != valueB;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Return the FPGA Version number.
|
||||
* For now, expect this to be competition year.
|
||||
* @return FPGA Version number.
|
||||
*/
|
||||
uint16_t GetFPGAVersion()
|
||||
{
|
||||
int32_t status = 0;
|
||||
uint16_t version = getFPGAVersion(&status);
|
||||
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
|
||||
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 = 0;
|
||||
uint32_t revision = getFPGARevision(&status);
|
||||
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
|
||||
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 = 0;
|
||||
uint32_t time = getFPGATime(&status);
|
||||
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
|
||||
return time;
|
||||
}
|
||||
|
||||
// RT hardware access functions exported from ni_emb.out
|
||||
extern "C"
|
||||
{
|
||||
int32_t UserSwitchInput(int32_t nSwitch);
|
||||
int32_t LedInput(int32_t led);
|
||||
int32_t LedOutput(int32_t led, int32_t value);
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the value of the USER1 DIP switch on the cRIO.
|
||||
*/
|
||||
int32_t GetRIOUserSwitch()
|
||||
{
|
||||
int32_t switchValue = UserSwitchInput(0);
|
||||
wpi_assert(switchValue >= 0);
|
||||
return switchValue > 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the state of the USER1 status LED on the cRIO.
|
||||
*/
|
||||
void SetRIOUserLED(uint32_t state)
|
||||
{
|
||||
LedOutput(0, state > 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the current state of the USER1 status LED on the cRIO.
|
||||
* @return The curent state of the USER1 LED.
|
||||
*/
|
||||
int32_t GetRIOUserLED()
|
||||
{
|
||||
return LedInput(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Toggle the state of the USER1 status LED on the cRIO.
|
||||
* @return The new state of the USER1 LED.
|
||||
*/
|
||||
int32_t ToggleRIOUserLED()
|
||||
{
|
||||
int32_t ledState = !GetRIOUserLED();
|
||||
SetRIOUserLED(ledState);
|
||||
return ledState;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the state of the FPGA status LED on the cRIO.
|
||||
*/
|
||||
void SetRIO_FPGA_LED(uint32_t state)
|
||||
{
|
||||
int32_t status = 0;
|
||||
setFPGALED(state, &status);
|
||||
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the current state of the FPGA status LED on the cRIO.
|
||||
* @return The curent state of the FPGA LED.
|
||||
*/
|
||||
int32_t GetRIO_FPGA_LED()
|
||||
{
|
||||
int32_t status = 0;
|
||||
int32_t state = getFPGALED(&status);
|
||||
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
|
||||
return state;
|
||||
}
|
||||
|
||||
/**
|
||||
* Toggle the state of the FPGA status LED on the cRIO.
|
||||
* @return The new state of the FPGA LED.
|
||||
*/
|
||||
int32_t ToggleRIO_FPGA_LED()
|
||||
{
|
||||
int32_t ledState = !GetRIO_FPGA_LED();
|
||||
SetRIO_FPGA_LED(ledState);
|
||||
return ledState;
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user