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Support for the CAN pneumatics module in C++ and Java

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Change-Id: Iba66f8b51d7471a60ec33d38354a2f0853cc31df
This commit is contained in:
thomasclark
2014-05-29 15:01:07 -04:00
parent 980d52becc
commit 447cec4df8
6 changed files with 5 additions and 303 deletions
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0
hal/include/HAL/Compressor.h → hal/include/HAL/Compressor.hpp
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301
hal/include/HAL/HAL.h
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@@ -1,301 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2013. 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. */
/*----------------------------------------------------------------------------*/
#ifdef __vxworks
#include <vxWorks.h>
#else
#include <stdint.h>
#endif
#include <cmath>
#include "Analog.h"
#include "Compressor.h"
#include "Digital.h"
#include "Solenoid.h"
#include "Notifier.h"
#include "Interrupts.h"
#include "Errors.h"
#include "Utilities.h"
#include "Semaphore.h"
#include "Task.h"
#ifndef HAL_H
#define HAL_H
#define HAL_IO_CONFIG_DATA_SIZE 32
#define HAL_SYS_STATUS_DATA_SIZE 44
#define HAL_USER_STATUS_DATA_SIZE (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
#define HAL_USER_DS_LCD_DATA_SIZE 128
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
namespace HALUsageReporting
{
typedef enum
{
kResourceType_Controller,
kResourceType_Module,
kResourceType_Language,
kResourceType_CANPlugin,
kResourceType_Accelerometer,
kResourceType_ADXL345,
kResourceType_AnalogChannel,
kResourceType_AnalogTrigger,
kResourceType_AnalogTriggerOutput,
kResourceType_CANJaguar,
kResourceType_Compressor,
kResourceType_Counter,
kResourceType_Dashboard,
kResourceType_DigitalInput,
kResourceType_DigitalOutput,
kResourceType_DriverStationCIO,
kResourceType_DriverStationEIO,
kResourceType_DriverStationLCD,
kResourceType_Encoder,
kResourceType_GearTooth,
kResourceType_Gyro,
kResourceType_I2C,
kResourceType_Framework,
kResourceType_Jaguar,
kResourceType_Joystick,
kResourceType_Kinect,
kResourceType_KinectStick,
kResourceType_PIDController,
kResourceType_Preferences,
kResourceType_PWM,
kResourceType_Relay,
kResourceType_RobotDrive,
kResourceType_SerialPort,
kResourceType_Servo,
kResourceType_Solenoid,
kResourceType_SPI,
kResourceType_Task,
kResourceType_Ultrasonic,
kResourceType_Victor,
kResourceType_Button,
kResourceType_Command,
kResourceType_AxisCamera,
kResourceType_PCVideoServer,
kResourceType_SmartDashboard,
kResourceType_Talon,
kResourceType_HiTechnicColorSensor,
kResourceType_HiTechnicAccel,
kResourceType_HiTechnicCompass,
kResourceType_SRF08,
} tResourceType;
typedef enum
{
kLanguage_LabVIEW = 1,
kLanguage_CPlusPlus = 2,
kLanguage_Java = 3,
kLanguage_Python = 4,
kCANPlugin_BlackJagBridge = 1,
kCANPlugin_2CAN = 2,
kFramework_Iterative = 1,
kFramework_Simple = 2,
kRobotDrive_ArcadeStandard = 1,
kRobotDrive_ArcadeButtonSpin = 2,
kRobotDrive_ArcadeRatioCurve = 3,
kRobotDrive_Tank = 4,
kRobotDrive_MecanumPolar = 5,
kRobotDrive_MecanumCartesian = 6,
kDriverStationCIO_Analog = 1,
kDriverStationCIO_DigitalIn = 2,
kDriverStationCIO_DigitalOut = 3,
kDriverStationEIO_Acceleration = 1,
kDriverStationEIO_AnalogIn = 2,
kDriverStationEIO_AnalogOut = 3,
kDriverStationEIO_Button = 4,
kDriverStationEIO_LED = 5,
kDriverStationEIO_DigitalIn = 6,
kDriverStationEIO_DigitalOut = 7,
kDriverStationEIO_FixedDigitalOut = 8,
kDriverStationEIO_PWM = 9,
kDriverStationEIO_Encoder = 10,
kDriverStationEIO_TouchSlider = 11,
kADXL345_SPI = 1,
kADXL345_I2C = 2,
kCommand_Scheduler = 1,
kSmartDashboard_Instance = 1,
} tInstances;
}
struct HALCommonControlData{
uint16_t packetIndex;
union {
uint8_t control;
#ifndef __vxworks
struct {
uint8_t checkVersions :1;
uint8_t test :1;
uint8_t resync : 1;
uint8_t fmsAttached:1;
uint8_t autonomous : 1;
uint8_t enabled : 1;
uint8_t notEStop : 1;
uint8_t reset : 1;
};
#else
struct {
uint8_t reset : 1;
uint8_t notEStop : 1;
uint8_t enabled : 1;
uint8_t autonomous : 1;
uint8_t fmsAttached:1;
uint8_t resync : 1;
uint8_t test :1;
uint8_t checkVersions :1;
};
#endif
};
uint8_t dsDigitalIn;
uint16_t teamID;
char dsID_Alliance;
char dsID_Position;
union {
int8_t stick0Axes[6];
struct {
int8_t stick0Axis1;
int8_t stick0Axis2;
int8_t stick0Axis3;
int8_t stick0Axis4;
int8_t stick0Axis5;
int8_t stick0Axis6;
};
};
uint16_t stick0Buttons; // Left-most 4 bits are unused
union {
int8_t stick1Axes[6];
struct {
int8_t stick1Axis1;
int8_t stick1Axis2;
int8_t stick1Axis3;
int8_t stick1Axis4;
int8_t stick1Axis5;
int8_t stick1Axis6;
};
};
uint16_t stick1Buttons; // Left-most 4 bits are unused
union {
int8_t stick2Axes[6];
struct {
int8_t stick2Axis1;
int8_t stick2Axis2;
int8_t stick2Axis3;
int8_t stick2Axis4;
int8_t stick2Axis5;
int8_t stick2Axis6;
};
};
uint16_t stick2Buttons; // Left-most 4 bits are unused
union {
int8_t stick3Axes[6];
struct {
int8_t stick3Axis1;
int8_t stick3Axis2;
int8_t stick3Axis3;
int8_t stick3Axis4;
int8_t stick3Axis5;
int8_t stick3Axis6;
};
};
uint16_t stick3Buttons; // Left-most 4 bits are unused
//Analog inputs are 10 bit right-justified
uint16_t analog1;
uint16_t analog2;
uint16_t analog3;
uint16_t analog4;
uint64_t cRIOChecksum;
uint32_t FPGAChecksum0;
uint32_t FPGAChecksum1;
uint32_t FPGAChecksum2;
uint32_t FPGAChecksum3;
char versionData[8];
};
inline float intToFloat(int value) {
return (float)value;
}
inline int floatToInt(float value) {
return round(value);
}
extern "C" {
extern const uint32_t dio_kNumSystems;
extern const uint32_t solenoid_kNumDO7_0Elements;
extern const uint32_t interrupt_kNumSystems;
extern const uint32_t kSystemClockTicksPerMicrosecond;
void* getPort(uint8_t pin);
void* getPortWithModule(uint8_t module, uint8_t pin);
const char* getHALErrorMessage(int32_t code);
uint16_t getFPGAVersion(int32_t *status);
uint32_t getFPGARevision(int32_t *status);
uint32_t getFPGATime(int32_t *status);
void setFPGALED(uint32_t state, int32_t *status);
int32_t getFPGALED(int32_t *status);
int HALSetErrorData(const char *errors, int errorsLength, int wait_ms);
int HALSetUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
int HALOverrideIOConfig(const char *ioConfig, int wait_ms);
int HALGetDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
int HALGetCommonControlData(HALCommonControlData *data, int wait_ms);
void HALSetNewDataSem(pthread_mutex_t *);
int HALSetStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
const char *userDataHigh, int userDataHighLength,
const char *userDataLow, int userDataLowLength, int wait_ms);
void HALNetworkCommunicationReserve();
void HALNetworkCommunicationObserveUserProgramStarting(void);
void HALNetworkCommunicationObserveUserProgramDisabled(void);
void HALNetworkCommunicationObserveUserProgramAutonomous(void);
void HALNetworkCommunicationObserveUserProgramTeleop(void);
void HALNetworkCommunicationObserveUserProgramTest(void);
uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, uint8_t context = 0, const char *feature = NULL);
}
// TODO: HACKS for now...
extern "C" {
//void FRC_NetworkCommunication_Reserve();
void NumericArrayResize();
void RTSetCleanupProc();
void EDVR_CreateReference();
void Occur();
}
#endif

1
hal/include/HAL/HAL.hpp
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@@ -13,6 +13,7 @@
#include <cmath>
#include "Analog.hpp"
#include "Compressor.hpp"
#include "Digital.hpp"
#include "Solenoid.hpp"
#include "Notifier.hpp"

2
hal/lib/Athena/Compressor.cpp
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@@ -1,4 +1,4 @@
#include "HAL/Compressor.h"
#include "HAL/Compressor.hpp"
#include "ctre/PCM.h"
#include <iostream>

2
hal/lib/Athena/ctre/PCM.cpp
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@@ -1,3 +1,5 @@
#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
#include "PCM.h"
#include "NetworkCommunication/JaguarCANDriver.h"
#include <string.h> // memset

2
wpilibc/include/PCMCompressor.h
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@@ -5,7 +5,7 @@
#ifndef PCMCOMPRESSOR_H_
#define PCMCOMPRESSOR_H_
#include "HAL/HAL.h"
#include "HAL/HAL.hpp"
#include "SensorBase.h"
#include "tables/ITableListener.h"
#include "LiveWindow/LiveWindowSendable.h"