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[hal, wpilib] Add initial systemcore counter implementation (#7723)

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This commit is contained in:
Thad House
2025-01-28 08:58:34 -08:00
committed by GitHub
parent b799b285b3
commit 48ce2dcc8d
47 changed files with 201 additions and 4357 deletions
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167
hal/src/main/native/systemcore/Counter.cpp
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@@ -4,15 +4,19 @@
#include "hal/Counter.h"
#include <cstdio>
#include <limits>
#include <memory>
#include <thread>
#include <fmt/format.h>
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "SmartIo.h"
#include "hal/HAL.h"
#include "hal/cpp/fpga_clock.h"
#include "hal/handles/LimitedHandleResource.h"
using namespace hal;
@@ -23,106 +27,90 @@ void InitializeCounter() {}
extern "C" {
HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
HAL_CounterHandle HAL_InitializeCounter(int channel, HAL_Bool risingEdge,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
if (channel == InvalidHandleIndex || channel >= kNumSmartIo) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Counter", 0,
kNumSmartIo, channel);
return HAL_kInvalidHandle;
}
HAL_CounterHandle handle;
auto port = smartIoHandles->Allocate(channel, HAL_HandleEnum::Counter,
&handle, status);
if (*status != 0) {
if (port) {
hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
port->previousAllocation);
} else {
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Counter", 0,
kNumSmartIo, channel);
}
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}
port->channel = channel;
*status =
port->InitializeMode(risingEdge ? SmartIoMode::SingleCounterRising
: SmartIoMode::SingleCounterFalling);
if (*status != 0) {
smartIoHandles->Free(handle, HAL_HandleEnum::Counter);
return HAL_kInvalidHandle;
}
port->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
void HAL_FreeCounter(HAL_CounterHandle counterHandle) {}
void HAL_FreeCounter(HAL_CounterHandle counterHandle) {
auto port = smartIoHandles->Get(counterHandle, HAL_HandleEnum::Counter);
if (port == nullptr) {
return;
}
void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
smartIoHandles->Free(counterHandle, HAL_HandleEnum::Counter);
// Wait for no other object to hold this handle.
auto start = hal::fpga_clock::now();
while (port.use_count() != 1) {
auto current = hal::fpga_clock::now();
if (start + std::chrono::seconds(1) < current) {
std::puts("DIO handle free timeout");
std::fflush(stdout);
break;
}
std::this_thread::yield();
}
}
void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle,
HAL_Bool highSemiPeriod, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle,
double threshold, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
int32_t samplesToAverage, int32_t* status) {
void HAL_SetCounterEdgeConfiguration(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
// TODO
return;
}
int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
auto port = smartIoHandles->Get(counterHandle, HAL_HandleEnum::Counter);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
}
int32_t ret = 0;
*status = port->GetCounter(&ret);
return ret;
return 0;
}
@@ -137,12 +125,6 @@ void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
return;
}
void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle,
HAL_Bool enabled, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
@@ -155,9 +137,8 @@ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
return false;
}
void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle,
HAL_Bool reverseDirection,
int32_t* status) {
void HAL_SetCounterDirection(HAL_CounterHandle counterHandle, HAL_Bool countUp,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}