[wpilib] Add new counter implementations (#2447)

wpilibc/src/main/native/include/frc/counter/EdgeConfiguration.h

@@ -0,0 +1,14 @@
+// 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.
+
+#pragma once
+
+namespace frc {
+enum class EdgeConfiguration {
+  kNone = 0,
+  kRisingEdge = 0x1,
+  kFallingEdge = 0x2,
+  kBoth = 0x3
+};
+}  // namespace frc

wpilibc/src/main/native/include/frc/counter/ExternalDirectionCounter.h

@@ -0,0 +1,79 @@
+// 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.
+
+#pragma once
+
+#include <memory>
+
+#include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+#include "EdgeConfiguration.h"
+
+namespace frc {
+class DigitalSource;
+
+/** Counter using external direction. */
+class ExternalDirectionCounter
+    : public wpi::Sendable,
+      public wpi::SendableHelper<ExternalDirectionCounter> {
+ public:
+  /**
+   * Constructs a new ExternalDirectionCounter.
+   *
+   * @param countSource The source for counting.
+   * @param directionSource The source for selecting count direction.
+   */
+  ExternalDirectionCounter(DigitalSource& countSource,
+                           DigitalSource& directionSource);
+
+  /**
+   * Constructs a new ExternalDirectionCounter.
+   *
+   * @param countSource The source for counting.
+   * @param directionSource The source for selecting count direction.
+   */
+  ExternalDirectionCounter(std::shared_ptr<DigitalSource> countSource,
+                           std::shared_ptr<DigitalSource> directionSource);
+
+  ~ExternalDirectionCounter() override;
+
+  ExternalDirectionCounter(ExternalDirectionCounter&&) = default;
+  ExternalDirectionCounter& operator=(ExternalDirectionCounter&&) = default;
+
+  /**
+   * Gets the current count.
+   *
+   * @return The current count.
+   */
+  int GetCount() const;
+
+  /**
+   * Sets to revert the counter direction.
+   *
+   * @param reverseDirection True to reverse counting direction.
+   */
+  void SetReverseDirection(bool reverseDirection);
+
+  /** Resets the current count. */
+  void Reset();
+
+  /**
+   * Sets the edge configuration for counting.
+   *
+   * @param configuration The counting edge configuration.
+   */
+  void SetEdgeConfiguration(EdgeConfiguration configuration);
+
+ protected:
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  std::shared_ptr<DigitalSource> m_countSource;
+  std::shared_ptr<DigitalSource> m_directionSource;
+  hal::Handle<HAL_CounterHandle> m_handle;
+  int32_t m_index = 0;
+};
+}  // namespace frc

wpilibc/src/main/native/include/frc/counter/Tachometer.h

@@ -0,0 +1,125 @@
+// 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.
+
+#pragma once
+
+#include <memory>
+
+#include <hal/Types.h>
+#include <units/angular_velocity.h>
+#include <units/frequency.h>
+#include <units/time.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+namespace frc {
+class DigitalSource;
+
+/**
+ * Tachometer for getting rotational speed from a device.
+ */
+class Tachometer : public wpi::Sendable,
+                   public wpi::SendableHelper<Tachometer> {
+ public:
+  /**
+   * Constructs a new tachometer.
+   *
+   * @param source The source.
+   */
+  explicit Tachometer(DigitalSource& source);
+
+  /**
+   * Constructs a new tachometer.
+   *
+   * @param source The source.
+   */
+  explicit Tachometer(std::shared_ptr<DigitalSource> source);
+
+  ~Tachometer() override;
+
+  Tachometer(Tachometer&&) = default;
+  Tachometer& operator=(Tachometer&&) = default;
+
+  /**
+   * Gets the tachometer frequency.
+   *
+   * @return Current frequency.
+   */
+  units::hertz_t GetFrequency() const;
+
+  /**
+   * Gets the tachometer period.
+   *
+   * @return Current period.
+   */
+  units::second_t GetPeriod() const;
+
+  /**
+   * Gets the number of edges per revolution.
+   *
+   * @return Edges per revolution.
+   */
+  int GetEdgesPerRevolution() const;
+
+  /**
+   * Sets the number of edges per revolution.
+   *
+   * @param edges Edges per revolution.
+   */
+  void SetEdgesPerRevolution(int edges);
+
+  /**
+   * Gets the current tachometer revolutions per minute.
+   *
+   * SetEdgesPerRevolution must be set with a non 0 value for this to work.
+   *
+   * @return Current RPM.
+   */
+  units::revolutions_per_minute_t GetRevolutionsPerMinute() const;
+
+  /**
+   * Gets if the tachometer is stopped.
+   *
+   * @return True if the tachometer is stopped.
+   */
+  bool GetStopped() const;
+
+  /**
+   * Gets the number of sample to average.
+   *
+   * @return Samples to average.
+   */
+  int GetSamplesToAverage() const;
+
+  /**
+   * Sets the number of samples to average.
+   *
+   * @param samples Samples to average.
+   */
+  void SetSamplesToAverage(int samples);
+
+  /**
+   * Sets the maximum period before the tachometer is considered stopped.
+   *
+   * @param maxPeriod The max period.
+   */
+  void SetMaxPeriod(units::second_t maxPeriod);
+
+  /**
+   * Sets if to update when empty.
+   *
+   * @param updateWhenEmpty True to update when empty.
+   */
+  void SetUpdateWhenEmpty(bool updateWhenEmpty);
+
+ protected:
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  std::shared_ptr<DigitalSource> m_source;
+  hal::Handle<HAL_CounterHandle> m_handle;
+  int m_edgesPerRevolution;
+  int32_t m_index;
+};
+}  // namespace frc

wpilibc/src/main/native/include/frc/counter/UpDownCounter.h

@@ -0,0 +1,85 @@
+// 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.
+
+#pragma once
+
+#include <memory>
+
+#include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+#include "EdgeConfiguration.h"
+
+namespace frc {
+class DigitalSource;
+
+/** Up Down Counter. */
+class UpDownCounter : public wpi::Sendable,
+                      public wpi::SendableHelper<UpDownCounter> {
+ public:
+  /**
+   * Constructs a new UpDown Counter.
+   *
+   * @param upSource The up count source (can be null).
+   * @param downSource The down count source (can be null).
+   */
+  UpDownCounter(DigitalSource& upSource, DigitalSource& downSource);
+
+  /**
+   * Constructs a new UpDown Counter.
+   *
+   * @param upSource The up count source (can be null).
+   * @param downSource The down count source (can be null).
+   */
+  UpDownCounter(std::shared_ptr<DigitalSource> upSource,
+                std::shared_ptr<DigitalSource> downSource);
+
+  ~UpDownCounter() override;
+
+  UpDownCounter(UpDownCounter&&) = default;
+  UpDownCounter& operator=(UpDownCounter&&) = default;
+
+  /**
+   * Gets the current count.
+   *
+   * @return The current count.
+   */
+  int GetCount() const;
+
+  /**
+   * Sets to revert the counter direction.
+   *
+   * @param reverseDirection True to reverse counting direction.
+   */
+  void SetReverseDirection(bool reverseDirection);
+
+  /** Resets the current count. */
+  void Reset();
+
+  /**
+   * Sets the configuration for the up source.
+   *
+   * @param configuration The up source configuration.
+   */
+  void SetUpEdgeConfiguration(EdgeConfiguration configuration);
+
+  /**
+   * Sets the configuration for the down source.
+   *
+   * @param configuration The down source configuration.
+   */
+  void SetDownEdgeConfiguration(EdgeConfiguration configuration);
+
+ protected:
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  void InitUpDownCounter();
+  std::shared_ptr<DigitalSource> m_upSource;
+  std::shared_ptr<DigitalSource> m_downSource;
+  hal::Handle<HAL_CounterHandle> m_handle;
+  int32_t m_index = 0;
+};
+}  // namespace frc