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https://github.com/wpilibsuite/allwpilib
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Version 4 Image
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
committed by
Brad Miller
Brad Miller
parent
b1ef116104
commit
4546abc8c5
@@ -28,7 +28,6 @@ IterativeRobot::IterativeRobot()
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, m_testInitialized (false)
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, m_period (kDefaultPeriod)
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{
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m_watchdog.SetEnabled(false);
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}
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/**
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@@ -62,26 +62,6 @@ RobotBase::~RobotBase()
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m_instance = NULL;
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}
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/**
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* Check on the overall status of the system.
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*
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* @return Is the system active (i.e. PWM motor outputs, etc. enabled)?
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*/
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bool RobotBase::IsSystemActive()
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{
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return m_watchdog.IsSystemActive();
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}
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/**
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* Return the instance of the Watchdog timer.
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* Get the watchdog timer so the user program can either disable it or feed it when
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* necessary.
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*/
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Watchdog &RobotBase::GetWatchdog()
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{
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return m_watchdog;
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}
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/**
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* Determine if the Robot is currently enabled.
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* @return True if the Robot is currently enabled by the field controls.
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@@ -16,7 +16,6 @@
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SimpleRobot::SimpleRobot()
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: m_robotMainOverridden (true)
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{
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m_watchdog.SetEnabled(false);
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}
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/**
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@@ -1,166 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Watchdog.h"
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/**
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* The Watchdog is born.
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*/
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Watchdog::Watchdog()
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: m_watchdog(NULL)
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{
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int32_t status = 0;
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m_watchdog = initializeWatchdog(&status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Time to bury him in the back yard.
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*/
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Watchdog::~Watchdog()
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{
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int32_t status = 0;
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cleanWatchdog(m_watchdog, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_watchdog = NULL;
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}
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/**
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* Throw the dog a bone.
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*
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* When everything is going well, you feed your dog when you get home.
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* Let's hope you don't drive your car off a bridge on the way home...
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* Your dog won't get fed and he will starve to death.
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*
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* By the way, it's not cool to ask the neighbor (some random task) to
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* feed your dog for you. He's your responsibility!
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*
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* @returns Returns the previous state of the watchdog before feeding it.
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*/
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bool Watchdog::Feed()
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{
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int32_t status = 0;
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bool previous = feedWatchdog(m_watchdog, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return previous;
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}
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/**
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* Put the watchdog out of its misery.
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*
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* Don't wait for your dying robot to starve when there is a problem.
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* Kill it quickly, cleanly, and humanely.
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*/
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void Watchdog::Kill()
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{
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int32_t status = 0;
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killWatchdog(m_watchdog, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Read how long it has been since the watchdog was last fed.
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*
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* @return The number of seconds since last meal.
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*/
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double Watchdog::GetTimer()
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{
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int32_t status = 0;
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double timer = getWatchdogLastFed(m_watchdog, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return timer;
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}
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/**
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* Read what the current expiration is.
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*
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* @return The number of seconds before starvation following a meal (watchdog starves if it doesn't eat this often).
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*/
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double Watchdog::GetExpiration()
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{
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int32_t status = 0;
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bool expiration = getWatchdogExpiration(m_watchdog, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return expiration;
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}
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/**
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* Configure how many seconds your watchdog can be neglected before it starves to death.
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*
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* @param expiration The number of seconds before starvation following a meal (watchdog starves if it doesn't eat this often).
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*/
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void Watchdog::SetExpiration(double expiration)
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{
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int32_t status = 0;
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setWatchdogExpiration(m_watchdog, expiration, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Find out if the watchdog is currently enabled or disabled (mortal or immortal).
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*
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* @return Enabled or disabled.
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*/
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bool Watchdog::GetEnabled()
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{
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int32_t status = 0;
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bool enabled = getWatchdogEnabled(m_watchdog, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return enabled;
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}
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/**
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* Enable or disable the watchdog timer.
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*
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* When enabled, you must keep feeding the watchdog timer to
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* keep the watchdog active, and hence the dangerous parts
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* (motor outputs, etc.) can keep functioning.
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* When disabled, the watchdog is immortal and will remain active
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* even without being fed. It will also ignore any kill commands
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* while disabled.
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*
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* @param enabled Enable or disable the watchdog.
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*/
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void Watchdog::SetEnabled(bool enabled)
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{
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int32_t status = 0;
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setWatchdogEnabled(m_watchdog, enabled, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Check in on the watchdog and make sure he's still kicking.
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*
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* This indicates that your watchdog is allowing the system to operate.
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* It is still possible that the network communications is not allowing the
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* system to run, but you can check this to make sure it's not your fault.
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* Check IsSystemActive() for overall system status.
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*
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* If the watchdog is disabled, then your watchdog is immortal.
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*
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* @return Is the watchdog still alive?
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*/
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bool Watchdog::IsAlive()
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{
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int32_t status = 0;
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bool alive = isWatchdogAlive(m_watchdog, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return alive;
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}
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/**
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* Check on the overall status of the system.
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*
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* @return Is the system active (i.e. PWM motor outputs, etc. enabled)?
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*/
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bool Watchdog::IsSystemActive()
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{
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int32_t status = 0;
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bool alive = isWatchdogSystemActive(m_watchdog, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return alive;
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}
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