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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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99
wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp
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@@ -1,99 +0,0 @@
// 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.
#include "frc/counter/ExternalDirectionCounter.h"
#include <memory>
#include <hal/Counter.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/DigitalSource.h"
#include "frc/Errors.h"
using namespace frc;
ExternalDirectionCounter::ExternalDirectionCounter(
DigitalSource& countSource, DigitalSource& directionSource)
: ExternalDirectionCounter(
{&countSource, wpi::NullDeleter<DigitalSource>()},
{&directionSource, wpi::NullDeleter<DigitalSource>()}) {}
ExternalDirectionCounter::ExternalDirectionCounter(
std::shared_ptr<DigitalSource> countSource,
std::shared_ptr<DigitalSource> directionSource) {
if (countSource == nullptr) {
throw FRC_MakeError(err::NullParameter, "countSource");
}
if (directionSource == nullptr) {
throw FRC_MakeError(err::NullParameter, "directionSource");
}
m_countSource = countSource;
m_directionSource = directionSource;
int32_t status = 0;
m_handle = HAL_InitializeCounter(
HAL_Counter_Mode::HAL_Counter_kExternalDirection, &m_index, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
HAL_SetCounterUpSource(m_handle, m_countSource->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
m_countSource->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "{}", m_index);
HAL_SetCounterUpSourceEdge(m_handle, true, false, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
HAL_SetCounterDownSource(
m_handle, m_directionSource->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
m_directionSource->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "{}", m_index);
HAL_SetCounterDownSourceEdge(m_handle, false, true, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
Reset();
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
wpi::SendableRegistry::Add(this, "External Direction Counter", m_index);
}
int ExternalDirectionCounter::GetCount() const {
int32_t status = 0;
int val = HAL_GetCounter(m_handle, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
return val;
}
void ExternalDirectionCounter::SetReverseDirection(bool reverseDirection) {
int32_t status = 0;
HAL_SetCounterReverseDirection(m_handle, reverseDirection, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
}
void ExternalDirectionCounter::Reset() {
int32_t status = 0;
HAL_ResetCounter(m_handle, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
}
void ExternalDirectionCounter::SetEdgeConfiguration(
EdgeConfiguration configuration) {
int32_t status = 0;
bool rising = configuration == EdgeConfiguration::kRisingEdge ||
configuration == EdgeConfiguration::kBoth;
bool falling = configuration == EdgeConfiguration::kFallingEdge ||
configuration == EdgeConfiguration::kBoth;
HAL_SetCounterUpSourceEdge(m_handle, rising, falling, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
}
void ExternalDirectionCounter::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("External Direction Counter");
builder.AddDoubleProperty("Count", [&] { return GetCount(); }, nullptr);
}

63
wpilibc/src/main/native/cpp/counter/Tachometer.cpp
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@@ -4,37 +4,35 @@
#include "frc/counter/Tachometer.h"
#include <frc/DigitalSource.h>
#include <string>
#include <hal/Counter.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/Errors.h"
using namespace frc;
Tachometer::Tachometer(DigitalSource& source)
: Tachometer({&source, wpi::NullDeleter<DigitalSource>()}) {}
Tachometer::Tachometer(std::shared_ptr<DigitalSource> source) {
if (source == nullptr) {
throw FRC_MakeError(err::NullParameter, "source");
}
m_source = source;
Tachometer::Tachometer(int channel, EdgeConfiguration configuration)
: m_channel{channel} {
int32_t status = 0;
HAL_SetCounterUpSource(m_handle, m_source->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
m_source->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "{}", m_index);
HAL_SetCounterUpSourceEdge(m_handle, true, false, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
std::string stackTrace = wpi::GetStackTrace(1);
m_handle = HAL_InitializeCounter(
channel, configuration == EdgeConfiguration::kRisingEdge,
stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "{}", channel);
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
wpi::SendableRegistry::Add(this, "Tachometer", m_index);
HAL_Report(HALUsageReporting::kResourceType_Counter, channel + 1);
wpi::SendableRegistry::Add(this, "Tachometer", channel);
}
void Tachometer::SetEdgeConfiguration(EdgeConfiguration configuration) {
int32_t status = 0;
bool rising = configuration == EdgeConfiguration::kRisingEdge;
HAL_SetCounterEdgeConfiguration(m_handle, rising, &status);
FRC_CheckErrorStatus(status, "{}", m_channel);
}
units::hertz_t Tachometer::GetFrequency() const {
@@ -48,7 +46,7 @@ units::hertz_t Tachometer::GetFrequency() const {
units::second_t Tachometer::GetPeriod() const {
int32_t status = 0;
double period = HAL_GetCounterPeriod(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return units::second_t{period};
}
@@ -79,33 +77,14 @@ units::revolutions_per_minute_t Tachometer::GetRevolutionsPerMinute() const {
bool Tachometer::GetStopped() const {
int32_t status = 0;
bool stopped = HAL_GetCounterStopped(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return stopped;
}
int Tachometer::GetSamplesToAverage() const {
int32_t status = 0;
int32_t samplesToAverage = HAL_GetCounterSamplesToAverage(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
return samplesToAverage;
}
void Tachometer::SetSamplesToAverage(int samples) {
int32_t status = 0;
HAL_SetCounterSamplesToAverage(m_handle, samples, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
}
void Tachometer::SetMaxPeriod(units::second_t maxPeriod) {
int32_t status = 0;
HAL_SetCounterMaxPeriod(m_handle, maxPeriod.value(), &status);
FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
}
void Tachometer::SetUpdateWhenEmpty(bool updateWhenEmpty) {
int32_t status = 0;
HAL_SetCounterUpdateWhenEmpty(m_handle, updateWhenEmpty, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void Tachometer::InitSendable(wpi::SendableBuilder& builder) {

78
wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
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@@ -5,10 +5,11 @@
#include "frc/counter/UpDownCounter.h"
#include <memory>
#include <string>
#include <hal/Counter.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/DigitalSource.h"
@@ -16,84 +17,39 @@
using namespace frc;
UpDownCounter::UpDownCounter(DigitalSource& upSource, DigitalSource& downSource)
: UpDownCounter({&upSource, wpi::NullDeleter<DigitalSource>()},
{&downSource, wpi::NullDeleter<DigitalSource>()}) {}
UpDownCounter::UpDownCounter(std::shared_ptr<DigitalSource> upSource,
std::shared_ptr<DigitalSource> downSource) {
m_upSource = upSource;
m_downSource = downSource;
UpDownCounter::UpDownCounter(int channel, EdgeConfiguration configuration)
: m_channel{channel} {
int32_t status = 0;
m_handle = HAL_InitializeCounter(HAL_Counter_Mode::HAL_Counter_kTwoPulse,
&m_index, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
if (m_upSource) {
HAL_SetCounterUpSource(m_handle, m_upSource->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
m_upSource->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "{}", m_index);
HAL_SetCounterUpSourceEdge(m_handle, true, false, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
}
if (m_downSource) {
HAL_SetCounterDownSource(
m_handle, m_downSource->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
m_downSource->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "{}", m_index);
HAL_SetCounterDownSourceEdge(m_handle, true, false, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
}
std::string stackTrace = wpi::GetStackTrace(1);
m_handle = HAL_InitializeCounter(
channel, configuration == EdgeConfiguration::kRisingEdge,
stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "{}", channel);
Reset();
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
wpi::SendableRegistry::Add(this, "UpDown Counter", m_index);
HAL_Report(HALUsageReporting::kResourceType_Counter, channel + 1);
wpi::SendableRegistry::Add(this, "UpDown Counter", channel);
}
int UpDownCounter::GetCount() const {
int32_t status = 0;
int val = HAL_GetCounter(m_handle, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
FRC_CheckErrorStatus(status, "{}", m_channel);
return val;
}
void UpDownCounter::SetReverseDirection(bool reverseDirection) {
int32_t status = 0;
HAL_SetCounterReverseDirection(m_handle, reverseDirection, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
}
void UpDownCounter::Reset() {
int32_t status = 0;
HAL_ResetCounter(m_handle, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
FRC_CheckErrorStatus(status, "{}", m_channel);
}
void UpDownCounter::SetUpEdgeConfiguration(EdgeConfiguration configuration) {
void UpDownCounter::SetEdgeConfiguration(EdgeConfiguration configuration) {
int32_t status = 0;
bool rising = configuration == EdgeConfiguration::kRisingEdge ||
configuration == EdgeConfiguration::kBoth;
bool falling = configuration == EdgeConfiguration::kFallingEdge ||
configuration == EdgeConfiguration::kBoth;
HAL_SetCounterUpSourceEdge(m_handle, rising, falling, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
}
void UpDownCounter::SetDownEdgeConfiguration(EdgeConfiguration configuration) {
int32_t status = 0;
bool rising = configuration == EdgeConfiguration::kRisingEdge ||
configuration == EdgeConfiguration::kBoth;
bool falling = configuration == EdgeConfiguration::kFallingEdge ||
configuration == EdgeConfiguration::kBoth;
HAL_SetCounterDownSourceEdge(m_handle, rising, falling, &status);
FRC_CheckErrorStatus(status, "{}", m_index);
bool rising = configuration == EdgeConfiguration::kRisingEdge;
HAL_SetCounterEdgeConfiguration(m_handle, rising, &status);
FRC_CheckErrorStatus(status, "{}", m_channel);
}
void UpDownCounter::InitSendable(wpi::SendableBuilder& builder) {