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Updated the HAL library to work with the new version 3 headers
from NI. There were multiple changes in this verison: more PWM
generators were added, so the functions for setting PWM signals have
been updated. UserWatchdog has been removed, and Watchdog has been
removed from WPILib to accomodate for this. Digital selection has been
consolidated to one function in the NI headers, so this has been updated
in the HAL. New SPI and I2C libraries have been added, but need to
be implemented in the HAL before they will work.
This commit is contained in:
Fredric Silberberg
2014-02-25 18:43:40 -05:00
committed by Brad Miller
parent b1ef116104
commit 4546abc8c5
238 changed files with 757 additions and 21785 deletions
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6
networktables/cpp/.project
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@@ -17,8 +17,14 @@
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.m2e.core.maven2Builder</name>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.m2e.core.maven2Nature</nature>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>

49
networktables/cpp/Azalea/pom.xml
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@@ -1,49 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<modelVersion>4.0.0</modelVersion>
<groupId>edu.wpi.first.wpilib.networktables.cpp</groupId>
<artifactId>libNetworkTablesAzalea</artifactId>
<packaging>a</packaging>
<parent>
<groupId>edu.wpi.first.wpilib.templates.azalea</groupId>
<artifactId>static-library</artifactId>
<version>0.1.0-SNAPSHOT</version>
<relativePath>../../../maven-utilities/azalea/static-library/pom.xml</relativePath>
</parent>
<dependencies>
<dependency>
<groupId>edu.wpi.first.wpilib.networktables.cpp</groupId>
<artifactId>include</artifactId>
<version>0.1.0-SNAPSHOT</version>
<type>inczip</type>
</dependency>
</dependencies>
<build>
<plugins>
<plugin>
<groupId>org.codehaus.mojo</groupId>
<artifactId>native-maven-plugin</artifactId>
<configuration>
<sources>
<source>
<directory>src/main/native</directory>
<includes>
<include>**/*.cpp</include>
</includes>
</source>
<source>
<directory>../parent/src/main/native</directory>
<includes>
<include>**/*.cpp</include>
</includes>
</source>
</sources>
</configuration>
</plugin>
</plugins>
</build>
</project>

42
networktables/cpp/Azalea/src/main/native/OSAL/Synchronized.cpp
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@@ -1,42 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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 "OSAL/Synchronized.h"
/**
* Synchronized class deals with critical regions.
* Declare a Synchronized object at the beginning of a block. That will take the semaphore.
* When the code exits from the block it will call the destructor which will give the semaphore.
* This ensures that no matter how the block is exited, the semaphore will always be released.
* Use the CRITICAL_REGION(SEM_ID) and END_REGION macros to make the code look cleaner (see header file)
* @param semaphore The semaphore controlling this critical region.
*/
NTSynchronized::NTSynchronized(SEM_ID semaphore)
{
usingSem = false;
m_semaphore = semaphore;
semTake(m_semaphore, WAIT_FOREVER);
}
NTSynchronized::NTSynchronized(NTReentrantSemaphore& sem)
{
usingSem = true;
m_sem = &sem;
m_sem->take();
}
/**
* Syncronized destructor.
* This destructor frees the semaphore ensuring that the resource is freed for the block
* containing the Synchronized object.
*/
NTSynchronized::~NTSynchronized()
{
if(usingSem)
m_sem->give();
else
semGive(m_semaphore);
}

214
networktables/cpp/Azalea/src/main/native/OSAL/Task.cpp
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@@ -1,214 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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 "OSAL/Task.h"
#include <errnoLib.h>
#include <string.h>
#include <taskLib.h>
#include <usrLib.h>
const UINT32 NTTask::kDefaultPriority;
const INT32 NTTask::kInvalidTaskID;
/**
* Create but don't launch a task.
* @param name The name of the task. "FRC_" will be prepended to the task name.
* @param function The address of the function to run as the new task.
* @param priority The VxWorks priority for the task.
* @param stackSize The size of the stack for the task
*/
NTTask::NTTask(const char* name, FUNCPTR function, INT32 priority, UINT32 stackSize)
{
m_taskID = kInvalidTaskID;
m_function = function;
m_priority = priority;
m_stackSize = stackSize;
m_taskName = new char[strlen(name) + 5];
strcpy(m_taskName, "FRC_");
strcpy(m_taskName+4, name);
static INT32 instances = 0;
instances++;
//nUsageReporting::report(nUsageReporting::kResourceType_Task, instances, 0, m_taskName);
}
NTTask::~NTTask()
{
if (m_taskID != kInvalidTaskID) Stop();
delete [] m_taskName;
m_taskName = NULL;
}
/**
* Starts this task.
* If it is already running or unable to start, it fails and returns false.
*/
bool NTTask::Start(UINT32 arg0, UINT32 arg1, UINT32 arg2, UINT32 arg3, UINT32 arg4,
UINT32 arg5, UINT32 arg6, UINT32 arg7, UINT32 arg8, UINT32 arg9)
{
m_taskID = taskSpawn(m_taskName,
m_priority,
VX_FP_TASK, // options
m_stackSize, // stack size
m_function, // function to start
arg0, arg1, arg2, arg3, arg4, // parameter 1 - pointer to this class
arg5, arg6, arg7, arg8, arg9);// additional unused parameters
bool ok = HandleError(m_taskID);
if (!ok) m_taskID = kInvalidTaskID;
return ok;
}
/**
* Restarts a running task.
* If the task isn't started, it starts it.
* @return false if the task is running and we are unable to kill the previous instance
*/
bool NTTask::Restart()
{
return HandleError(taskRestart(m_taskID));
}
/**
* Kills the running task.
* @returns true on success false if the task doesn't exist or we are unable to kill it.
*/
bool NTTask::Stop()
{
bool ok = true;
if (Verify())
{
ok = HandleError(taskDelete(m_taskID));
}
m_taskID = kInvalidTaskID;
return ok;
}
/**
* Returns true if the task is ready to execute (i.e. not suspended, delayed, or blocked).
* @return true if ready, false if not ready.
*/
bool NTTask::IsReady()
{
return taskIsReady(m_taskID);
}
/**
* Returns true if the task was explicitly suspended by calling Suspend()
* @return true if suspended, false if not suspended.
*/
bool NTTask::IsSuspended()
{
return taskIsSuspended(m_taskID);
}
/**
* Pauses a running task.
* Returns true on success, false if unable to pause or the task isn't running.
*/
bool NTTask::Suspend()
{
return HandleError(taskSuspend(m_taskID));
}
/**
* Resumes a paused task.
* Returns true on success, false if unable to resume or if the task isn't running/paused.
*/
bool NTTask::Resume()
{
return HandleError(taskResume(m_taskID));
}
/**
* Verifies a task still exists.
* @returns true on success.
*/
bool NTTask::Verify()
{
return taskIdVerify(m_taskID) == OK;
}
/**
* Gets the priority of a task.
* @returns task priority or 0 if an error occured
*/
INT32 NTTask::GetPriority()
{
if (HandleError(taskPriorityGet(m_taskID, &m_priority)))
return m_priority;
else
return 0;
}
/**
* This routine changes a task's priority to a specified priority.
* Priorities range from 0, the highest priority, to 255, the lowest priority.
* Default task priority is 100.
* @param priority The priority the task should run at.
* @returns true on success.
*/
bool NTTask::SetPriority(INT32 priority)
{
m_priority = priority;
return HandleError(taskPrioritySet(m_taskID, m_priority));
}
/**
* Returns the name of the task.
* @returns Pointer to the name of the task or NULL if not allocated
*/
const char* NTTask::GetName()
{
return m_taskName;
}
/**
* Get the ID of a task
* @returns Task ID of this task. Task::kInvalidTaskID (-1) if the task has not been started or has already exited.
*/
INT32 NTTask::GetID()
{
if (Verify())
return m_taskID;
return kInvalidTaskID;
}
/**
* Handles errors generated by task related code.
*/
bool NTTask::HandleError(STATUS results)
{
if (results != ERROR) return true;
switch(errnoGet())
{
case S_objLib_OBJ_ID_ERROR:
wpi_setWPIErrorWithContext(TaskIDError, m_taskName);
break;
case S_objLib_OBJ_DELETED:
wpi_setWPIErrorWithContext(TaskDeletedError, m_taskName);
break;
case S_taskLib_ILLEGAL_OPTIONS:
wpi_setWPIErrorWithContext(TaskOptionsError, m_taskName);
break;
case S_memLib_NOT_ENOUGH_MEMORY:
wpi_setWPIErrorWithContext(TaskMemoryError, m_taskName);
break;
case S_taskLib_ILLEGAL_PRIORITY:
wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName);
break;
default:
printErrno(errnoGet());
wpi_setWPIErrorWithContext(TaskError, m_taskName);
}
return false;
}

84
networktables/cpp/Azalea/src/main/native/networktables2/stream/FDIOStream.cpp
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@@ -1,84 +0,0 @@
/*
* FDIOStream.cpp
*
* Created on: Sep 27, 2012
* Author: Mitchell Wills
*/
#include "networktables2/stream/FDIOStream.h"
#include "networktables2/util/IOException.h"
#include "networktables2/util/EOFException.h"
#include <errno.h>
#include <stdlib.h>
#include <iolib.h>
#include <selectLib.h>
#include <string.h>
#include <stdio.h>
FDIOStream::FDIOStream(int _fd){
fd = _fd;
// f = fdopen(_fd, "rbwb");
// if(f==NULL)
// throw IOException("Could not open stream from file descriptor", errno);
}
FDIOStream::~FDIOStream(){
close();
}
int FDIOStream::read(void* ptr, int numbytes){
if(numbytes==0)
return 0;
char* bufferPointer = (char*)ptr;
int totalRead = 0;
struct timeval timeout;
fd_set fdSet;
while (totalRead < numbytes) {
FD_ZERO(&fdSet);
FD_SET(fd, &fdSet);
timeout.tv_sec = 1;
timeout.tv_usec = 0;
int select_result = select(FD_SETSIZE, &fdSet, NULL, NULL, &timeout);
if ( select_result < 0)
throw IOException("Select returned an error on read");
int numRead = 0;
if (FD_ISSET(fd, &fdSet)) {
numRead = ::read(fd, bufferPointer, numbytes-totalRead);
if(numRead == 0){
throw EOFException();
}
else if (numRead < 0) {
perror("read error: ");
fflush(stderr);
throw IOException("Error on FDIO read");
}
bufferPointer += numRead;
totalRead += numRead;
}
}
return totalRead;
}
int FDIOStream::write(const void* ptr, int numbytes){
int numWrote = ::write(fd, (char*)ptr, numbytes);//TODO: this is bad
//int numWrote = fwrite(ptr, 1, numbytes, f);
if(numWrote==numbytes)
return numWrote;
perror("write error: ");
fflush(stderr);
throw IOException("Could not write all bytes to fd stream");
}
void FDIOStream::flush(){
//if(fflush(f)==EOF)
// throw EOFException();
}
void FDIOStream::close(){
//fclose(f);//ignore any errors closing
::close(fd);
}

127
networktables/cpp/Azalea/src/main/native/networktables2/stream/SocketServerStreamProvider.cpp
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@@ -1,127 +0,0 @@
/*
* SocketServerStreamProvider.cpp
*
* Created on: Sep 27, 2012
* Author: Mitchell Wills
*/
#include "networktables2/stream/SocketServerStreamProvider.h"
#include "networktables2/stream/FDIOStream.h"
#include "networktables2/util/IOException.h"
#include <strings.h>
#include <cstring>
#include <errno.h>
#ifdef _WRS_KERNEL
#include <inetLib.h>
#include <selectLib.h>
#include <sockLib.h>
#include <taskLib.h>
#include <usrLib.h>
#include <ioLib.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#else
#include <stdlib.h>
#include <stdio.h>
#include <sys/types.h>
#include <unistd.h>
#ifdef WIN32
#include <windows.h>
#include <winsock.h>
#include <winsock2.h>
#include <wininet.h>
#include <ws2tcpip.h>
#else
#include <sys/socket.h>
#include <sys/un.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#endif
#endif
#ifndef _WRS_KERNEL
#define ERROR -1
#endif
#if defined(WIN32) || defined(_WRS_KERNEL)
typedef int addrlen_t;
#else
typedef socklen_t addrlen_t;
#endif
SocketServerStreamProvider::SocketServerStreamProvider(int port){
struct sockaddr_in serverAddr;
int sockAddrSize = sizeof(serverAddr);
memset(&serverAddr, 0, sockAddrSize);
#ifdef _WRS_KERNEL
serverAddr.sin_len = (u_char)sockAddrSize;
#endif
serverAddr.sin_family = AF_INET;
serverAddr.sin_port = htons(port);
serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
if ((serverSocket = socket(AF_INET, SOCK_STREAM, 0)) == ERROR)
{
throw IOException("Error creating server socket", errno);
}
// Set the TCP socket so that it can be reused if it is in the wait state.
int reuseAddr = 1;
setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, (char *)&reuseAddr, sizeof(reuseAddr));
// Bind socket to local address.
if (bind(serverSocket, (struct sockaddr *)&serverAddr, sockAddrSize) == ERROR)
{
::close(serverSocket);
throw IOException("Could not bind server socket", errno);
}
if (listen(serverSocket, 1) == ERROR)
{
::close(serverSocket);
throw IOException("Could not listen on server socket", errno);
}
}
SocketServerStreamProvider::~SocketServerStreamProvider(){
close();
}
IOStream* SocketServerStreamProvider::accept(){
struct timeval timeout;
// Check for a shutdown once per second
while (true)
{
fd_set fdSet;
FD_ZERO(&fdSet);
FD_SET(serverSocket, &fdSet);
timeout.tv_sec = 1;
timeout.tv_usec = 0;
int select_result = select(FD_SETSIZE, &fdSet, NULL, NULL, &timeout);
if ( select_result < 0)
return NULL;
if (FD_ISSET(serverSocket, &fdSet))
{
struct sockaddr clientAddr;
memset(&clientAddr, 0, sizeof(struct sockaddr));
addrlen_t clientAddrSize = sizeof(clientAddr);
int connectedSocket = ::accept(serverSocket, &clientAddr, &clientAddrSize);
if (connectedSocket == ERROR)
return NULL;
return new FDIOStream(connectedSocket);
}
}
return NULL;
}
void SocketServerStreamProvider::close(){
::close(serverSocket);
}

67
networktables/cpp/Azalea/src/main/native/networktables2/stream/SocketStreamFactory.cpp
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@@ -1,67 +0,0 @@
/*
* SocketStreamFactory.cpp
*
* Created on: Nov 3, 2012
* Author: Mitchell Wills
*/
#include <cstring>
#ifdef _WRS_KERNEL
#else
#include <stdlib.h>
#include <stdio.h>
#include <sys/types.h>
#include <unistd.h>
#ifdef WIN32
#include <winsock.h>
#include <winsock2.h>
#else
#include <sys/socket.h>
#include <sys/un.h>
#include <netdb.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#endif
#endif
#include "networktables2/stream/FDIOStream.h"
#include "networktables2/stream/SocketStreamFactory.h"
SocketStreamFactory::SocketStreamFactory(const char* _host, int _port):host(_host), port(_port){}
SocketStreamFactory::~SocketStreamFactory(){}
IOStream* SocketStreamFactory::createStream(){
#ifdef _WRS_KERNEL
//crio client not supported
return NULL;
#else
struct sockaddr_in serv_addr;
struct hostent *server;
int sockfd = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd < 0){
//error("ERROR opening socket");
return NULL;
}
server = gethostbyname(host);
if (server == NULL) {
//fprintf(stderr,"ERROR, no such host\n");
return NULL;
}
memset(&serv_addr, 0, sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
memcpy(&serv_addr.sin_addr.s_addr, server->h_addr, server->h_length);
serv_addr.sin_port = htons(port);
if (connect(sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) < 0) {
//error("ERROR connecting");
return NULL;
}//TODO close fd if an error occured
//int on = 1;
//setsockopt(sockfd, IPPROTO_TCP, TCP_NODELAY, (char *)&on, sizeof(on));
return new FDIOStream(sockfd);
#endif
}

21
networktables/cpp/Azalea/src/main/native/networktables2/stream/SocketStreams.cpp
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@@ -1,21 +0,0 @@
/*
* SocketStreams.cpp
*
* Created on: Sep 27, 2012
* Author: Mitchell Wills
*/
#include "networktables2/stream/SocketStreams.h"
#include "networktables2/stream/SocketStreamFactory.h"
#include "networktables2/stream/SocketServerStreamProvider.h"
IOStreamFactory& SocketStreams::newStreamFactory(const char* host, int port){
return *new SocketStreamFactory(host, port);
}
IOStreamProvider& SocketStreams::newStreamProvider(int port){
return *new SocketServerStreamProvider(port);
}

49
networktables/cpp/Azalea/src/main/native/networktables2/thread/DefaultThreadManger.cpp
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@@ -1,49 +0,0 @@
/*
* DefaultThreadManger.cpp
*
* Created on: Sep 21, 2012
* Author: Mitchell Wills
*/
#include "networktables2/thread/DefaultThreadManager.h"
#include <stdio.h>
PeriodicNTThread::PeriodicNTThread(PeriodicRunnable* _r, const char* _name) :
name(_name), thread(new NTTask(name, (FUNCPTR)PeriodicNTThread::taskMain)), r(_r), run(true){
fprintf(stdout, "Starting task: %s\n", name);
fflush(stdout);
thread->Start((UINT32)this);
}
PeriodicNTThread::~PeriodicNTThread(){
//TODO somehow do this async
//delete thread;
}
int PeriodicNTThread::taskMain(PeriodicNTThread* o){//static wrapper
return o->_taskMain();
}
int PeriodicNTThread::_taskMain(){
try {
while(run){
r->run();
}
} catch (...) {
fprintf(stdout, "NTTask exited with uncaught exception %s\n", name);
fflush(stdout);
return 1;
}
fprintf(stdout, "NTTask exited normally: %s\n", name);
fflush(stdout);
return 0;
}
void PeriodicNTThread::stop() {
run = false;
}
bool PeriodicNTThread::isRunning() {
return thread->IsReady();
}
NTThread* DefaultThreadManager::newBlockingPeriodicThread(PeriodicRunnable* r, const char* name) {
return new PeriodicNTThread(r, name);
}

26
networktables/cpp/Azalea/src/main/native/networktables2/util/System.cpp
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@@ -1,26 +0,0 @@
/*
* System.cpp
*
* Created on: Sep 26, 2012
* Author: Mitchell Wills
*/
#include "networktables2/util/System.h"
#include "semLib.h"
#include <stdio.h>
#include <sysLib.h> // for sysClkRateGet
#include <usrLib.h> // for taskDelay
void sleep_ms(unsigned long ms){
taskDelay((INT32)((double)sysClkRateGet() * ms / 1000));
}
unsigned long currentTimeMillis(){
struct timespec tp;
clock_gettime(CLOCK_REALTIME,&tp);
return tp.tv_sec*1000 + tp.tv_nsec/1000;
}
void writeWarning(const char* message){
fprintf(stderr, "%s\n", message);
fflush(stderr);
//TODO implement write warning with wpilib error stuff
}

14
networktables/cpp/parent/pom.xml
View File

@@ -37,18 +37,4 @@
</plugins>
</build>
<properties>
<!-- local-repository>C:/Users/wpilibj-buildmaster/maven-repository</local-repository-->
</properties>
<profiles>
<profile>
<id>jenkins</id>
<distributionManagement>
<repository>
<id>myrepository</id>
<url>file:${local-repository}</url>
</repository>
</distributionManagement>
</profile>
</profiles>
</project>

31
networktables/cpp/pom.xml
View File

@@ -9,21 +9,10 @@
<modules>
<module>include</module>
<module>Athena</module>
</modules>
<properties>
<!-- local-repository>C:/Users/wpilibj-buildmaster/maven-repository</local-repository-->
</properties>
<profiles>
<profile>
<id>jenkins</id>
<distributionManagement>
<repository>
<id>myrepository</id>
<url>file:${local-repository}</url>
</repository>
</distributionManagement>
</profile>
<profile>
<id>desktop</id>
<activation>
@@ -34,23 +23,5 @@
<module>Desktop</module>
</modules>
</profile>
<profile>
<id>athena</id>
<activation>
<activeByDefault>true</activeByDefault>
</activation>
<modules>
<module>Athena</module>
</modules>
</profile>
<profile>
<id>azalea</id>
<activation>
<activeByDefault>false</activeByDefault>
</activation>
<modules>
<module>Azalea</module>
</modules>
</profile>
</profiles>
</project>