[hal] Add frequency support to DutyCycle (#8076)

wpilibc/src/main/native/cpp/DutyCycle.cpp

@@ -35,18 +35,11 @@ void DutyCycle::InitDutyCycle() {
   wpi::SendableRegistry::Add(this, "Duty Cycle", m_channel);
 }
 
-int DutyCycle::GetFPGAIndex() const {
-  int32_t status = 0;
-  auto retVal = HAL_GetDutyCycleFPGAIndex(m_handle, &status);
-  FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
-  return retVal;
-}
-
-int DutyCycle::GetFrequency() const {
+units::hertz_t DutyCycle::GetFrequency() const {
   int32_t status = 0;
   auto retVal = HAL_GetDutyCycleFrequency(m_handle, &status);
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
-  return retVal;
+  return units::hertz_t{retVal};
 }
 
 double DutyCycle::GetOutput() const {
@@ -63,13 +56,6 @@ units::second_t DutyCycle::GetHighTime() const {
   return units::nanosecond_t{static_cast<double>(retVal)};
 }
 
-unsigned int DutyCycle::GetOutputScaleFactor() const {
-  int32_t status = 0;
-  auto retVal = HAL_GetDutyCycleOutputScaleFactor(m_handle, &status);
-  FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
-  return retVal;
-}
-
 int DutyCycle::GetSourceChannel() const {
   return m_channel;
 }
@@ -77,7 +63,7 @@ int DutyCycle::GetSourceChannel() const {
 void DutyCycle::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Duty Cycle");
   builder.AddDoubleProperty(
-      "Frequency", [this] { return this->GetFrequency(); }, nullptr);
+      "Frequency", [this] { return this->GetFrequency().value(); }, nullptr);
   builder.AddDoubleProperty(
       "Output", [this] { return this->GetOutput(); }, nullptr);
 }

wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp

@@ -122,7 +122,7 @@ void DutyCycleEncoder::SetDutyCycleRange(double min, double max) {
   m_sensorMax = std::clamp(max, 0.0, 1.0);
 }
 
-int DutyCycleEncoder::GetFrequency() const {
+units::hertz_t DutyCycleEncoder::GetFrequency() const {
   return m_dutyCycle->GetFrequency();
 }
 
@@ -133,9 +133,10 @@ bool DutyCycleEncoder::IsConnected() const {
   return GetFrequency() > m_frequencyThreshold;
 }
 
-void DutyCycleEncoder::SetConnectedFrequencyThreshold(int frequency) {
-  if (frequency < 0) {
-    frequency = 0;
+void DutyCycleEncoder::SetConnectedFrequencyThreshold(
+    units::hertz_t frequency) {
+  if (frequency < 0_Hz) {
+    frequency = 0_Hz;
   }
   m_frequencyThreshold = frequency;
 }
@@ -152,10 +153,6 @@ void DutyCycleEncoder::SetAssumedFrequency(units::hertz_t frequency) {
   }
 }
 
-int DutyCycleEncoder::GetFPGAIndex() const {
-  return m_dutyCycle->GetFPGAIndex();
-}
-
 int DutyCycleEncoder::GetSourceChannel() const {
   return m_dutyCycle->GetSourceChannel();
 }

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

@@ -15,18 +15,10 @@ using namespace frc;
 using namespace frc::sim;
 
 DutyCycleSim::DutyCycleSim(const DutyCycle& dutyCycle)
-    : m_index{dutyCycle.GetFPGAIndex()} {}
+    : m_index{dutyCycle.GetSourceChannel()} {}
 
 DutyCycleSim DutyCycleSim::CreateForChannel(int channel) {
-  int index = HALSIM_FindDutyCycleForChannel(channel);
-  if (index < 0) {
-    throw std::out_of_range("no duty cycle found for channel");
-  }
-  return DutyCycleSim{index};
-}
-
-DutyCycleSim DutyCycleSim::CreateForIndex(int index) {
-  return DutyCycleSim{index};
+  return DutyCycleSim{channel};
 }
 
 std::unique_ptr<CallbackStore> DutyCycleSim::RegisterInitializedCallback(
@@ -55,12 +47,12 @@ std::unique_ptr<CallbackStore> DutyCycleSim::RegisterFrequencyCallback(
   return store;
 }
 
-int DutyCycleSim::GetFrequency() const {
-  return HALSIM_GetDutyCycleFrequency(m_index);
+units::hertz_t DutyCycleSim::GetFrequency() const {
+  return units::hertz_t{HALSIM_GetDutyCycleFrequency(m_index)};
 }
 
-void DutyCycleSim::SetFrequency(int frequency) {
-  HALSIM_SetDutyCycleFrequency(m_index, frequency);
+void DutyCycleSim::SetFrequency(units::hertz_t frequency) {
+  HALSIM_SetDutyCycleFrequency(m_index, frequency.value());
 }
 
 std::unique_ptr<CallbackStore> DutyCycleSim::RegisterOutputCallback(

wpilibc/src/main/native/include/frc/DutyCycle.h

@@ -8,6 +8,7 @@
 
 #include <hal/DutyCycle.h>
 #include <hal/Types.h>
+#include <units/frequency.h>
 #include <units/time.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -17,11 +18,7 @@ namespace frc {
  * Class to read a duty cycle PWM input.
  *
  * <p>PWM input signals are specified with a frequency and a ratio of high to
- * low in that frequency. There are 8 of these in the roboRIO, and they can be
- * attached to any DigitalSource.
- *
- * <p>These can be combined as the input of an AnalogTrigger to a Counter in
- * order to implement rollover checking.
+ * low in that frequency. These can be attached to any SmartIO.
  *
  */
 class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
@@ -44,9 +41,9 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
   /**
    * Get the frequency of the duty cycle signal.
    *
-   * @return frequency in Hertz
+   * @return frequency
    */
-  int GetFrequency() const;
+  units::hertz_t GetFrequency() const;
 
   /**
    * Get the output ratio of the duty cycle signal.
@@ -64,24 +61,6 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
    */
   units::second_t GetHighTime() const;
 
-  /**
-   * Get the scale factor of the output.
-   *
-   * <p> An output equal to this value is always high, and then linearly scales
-   * down to 0. Divide a raw result by this in order to get the
-   * percentage between 0 and 1. Used by DMA.
-   *
-   * @return the output scale factor
-   */
-  unsigned int GetOutputScaleFactor() const;
-
-  /**
-   * Get the FPGA index for the DutyCycle.
-   *
-   * @return the FPGA index
-   */
-  int GetFPGAIndex() const;
-
   /**
    * Get the channel of the source.
    *

wpilibc/src/main/native/include/frc/DutyCycleEncoder.h

@@ -103,11 +103,11 @@ class DutyCycleEncoder : public wpi::Sendable,
   DutyCycleEncoder& operator=(DutyCycleEncoder&&) = default;
 
   /**
-   * Get the frequency in Hz of the duty cycle signal from the encoder.
+   * Get the frequency of the duty cycle signal from the encoder.
    *
-   * @return duty cycle frequency in Hz
+   * @return duty cycle frequency
    */
-  int GetFrequency() const;
+  units::hertz_t GetFrequency() const;
 
   /**
    * Get if the sensor is connected
@@ -124,9 +124,9 @@ class DutyCycleEncoder : public wpi::Sendable,
    * Change the frequency threshold for detecting connection used by
    * IsConnected.
    *
-   * @param frequency the minimum frequency in Hz.
+   * @param frequency the minimum frequency.
    */
-  void SetConnectedFrequencyThreshold(int frequency);
+  void SetConnectedFrequencyThreshold(units::hertz_t frequency);
 
   /**
    * Get the encoder value.
@@ -170,13 +170,6 @@ class DutyCycleEncoder : public wpi::Sendable,
    */
   void SetInverted(bool inverted);
 
-  /**
-   * Get the FPGA index for the DutyCycleEncoder.
-   *
-   * @return the FPGA index
-   */
-  int GetFPGAIndex() const;
-
   /**
    * Get the channel of the source.
    *
@@ -191,7 +184,7 @@ class DutyCycleEncoder : public wpi::Sendable,
   double MapSensorRange(double pos) const;
 
   std::shared_ptr<DutyCycle> m_dutyCycle;
-  int m_frequencyThreshold = 100;
+  units::hertz_t m_frequencyThreshold = {100_Hz};
   double m_fullRange;
   double m_expectedZero;
   units::second_t m_period{0_s};

wpilibc/src/main/native/include/frc/simulation/DutyCycleSim.h

@@ -6,6 +6,8 @@
 
 #include <memory>
 
+#include <units/frequency.h>
+
 #include "frc/simulation/CallbackStore.h"
 
 namespace frc {
@@ -27,23 +29,13 @@ class DutyCycleSim {
   explicit DutyCycleSim(const DutyCycle& dutyCycle);
 
   /**
-   * Creates a DutyCycleSim for a digital input channel.
+   * Creates a DutyCycleSim for a SmartIO channel.
    *
-   * @param channel digital input channel
+   * @param channel SmartIO channel
    * @return Simulated object
-   * @throws std::out_of_range if no DutyCycle is configured for that channel
    */
   static DutyCycleSim CreateForChannel(int channel);
 
-  /**
-   * Creates a DutyCycleSim for a simulated index.
-   * The index is incremented for each simulated DutyCycle.
-   *
-   * @param index simulator index
-   * @return Simulated object
-   */
-  static DutyCycleSim CreateForIndex(int index);
-
   /**
    * Register a callback to be run when this duty cycle input is initialized.
    *
@@ -85,14 +77,14 @@ class DutyCycleSim {
    *
    * @return the duty cycle frequency
    */
-  int GetFrequency() const;
+  units::hertz_t GetFrequency() const;
 
   /**
    * Change the duty cycle frequency.
    *
    * @param frequency the new frequency
    */
-  void SetFrequency(int frequency);
+  void SetFrequency(units::hertz_t frequency);
 
   /**
    * Register a callback to be run whenever the output changes.