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[hal, wpilib] Remove relay (#7695)

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This commit is contained in:
Thad House
2025-01-16 23:20:07 -08:00
committed by GitHub
parent d9f8fded09
commit 5017393b3a
54 changed files with 1 additions and 3115 deletions
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26
hal/src/main/native/cpp/jni/PortsJNI.cpp
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@@ -169,32 +169,6 @@ Java_edu_wpi_first_hal_PortsJNI_getNumInterrupts
return value;
}
/*
* Class: edu_wpi_first_hal_PortsJNI
* Method: getNumRelayChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_PortsJNI_getNumRelayChannels
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumRelayChannels();
return value;
}
/*
* Class: edu_wpi_first_hal_PortsJNI
* Method: getNumRelayHeaders
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_PortsJNI_getNumRelayHeaders
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumRelayHeaders();
return value;
}
/*
* Class: edu_wpi_first_hal_PortsJNI
* Method: getNumCTREPCMModules

93
hal/src/main/native/cpp/jni/RelayJNI.cpp
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@@ -1,93 +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 <jni.h>
#include <cassert>
#include <wpi/jni_util.h>
#include "HALUtil.h"
#include "edu_wpi_first_hal_RelayJNI.h"
#include "hal/Ports.h"
#include "hal/Relay.h"
#include "hal/handles/HandlesInternal.h"
using namespace hal;
extern "C" {
/*
* Class: edu_wpi_first_hal_RelayJNI
* Method: initializeRelayPort
* Signature: (IZ)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_RelayJNI_initializeRelayPort
(JNIEnv* env, jclass, jint id, jboolean fwd)
{
int32_t status = 0;
auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
HAL_RelayHandle handle = HAL_InitializeRelayPort(
(HAL_PortHandle)id, static_cast<uint8_t>(fwd), stack.c_str(), &status);
CheckStatusForceThrow(env, status);
return (jint)handle;
}
/*
* Class: edu_wpi_first_hal_RelayJNI
* Method: freeRelayPort
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_RelayJNI_freeRelayPort
(JNIEnv* env, jclass, jint id)
{
if (id != HAL_kInvalidHandle) {
HAL_FreeRelayPort((HAL_RelayHandle)id);
}
}
/*
* Class: edu_wpi_first_hal_RelayJNI
* Method: checkRelayChannel
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_RelayJNI_checkRelayChannel
(JNIEnv* env, jclass, jint channel)
{
return (jboolean)HAL_CheckRelayChannel(static_cast<uint8_t>(channel));
}
/*
* Class: edu_wpi_first_hal_RelayJNI
* Method: setRelay
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_RelayJNI_setRelay
(JNIEnv* env, jclass, jint id, jboolean value)
{
int32_t status = 0;
HAL_SetRelay((HAL_RelayHandle)id, value, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_RelayJNI
* Method: getRelay
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_RelayJNI_getRelay
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jboolean returnValue = HAL_GetRelay((HAL_RelayHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
} // extern "C"

227
hal/src/main/native/cpp/jni/simulation/RelayDataJNI.cpp
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@@ -1,227 +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 <jni.h>
#include "CallbackStore.h"
#include "edu_wpi_first_hal_simulation_RelayDataJNI.h"
#include "hal/simulation/RelayData.h"
using namespace hal;
extern "C" {
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: registerInitializedForwardCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_registerInitializedForwardCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterRelayInitializedForwardCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: cancelInitializedForwardCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_cancelInitializedForwardCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelRelayInitializedForwardCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: getInitializedForward
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_getInitializedForward
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetRelayInitializedForward(index);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: setInitializedForward
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_setInitializedForward
(JNIEnv*, jclass, jint index, jboolean value)
{
HALSIM_SetRelayInitializedForward(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: registerInitializedReverseCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_registerInitializedReverseCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterRelayInitializedReverseCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: cancelInitializedReverseCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_cancelInitializedReverseCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelRelayInitializedReverseCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: getInitializedReverse
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_getInitializedReverse
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetRelayInitializedReverse(index);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: setInitializedReverse
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_setInitializedReverse
(JNIEnv*, jclass, jint index, jboolean value)
{
HALSIM_SetRelayInitializedReverse(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: registerForwardCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_registerForwardCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterRelayForwardCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: cancelForwardCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_cancelForwardCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelRelayForwardCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: getForward
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_getForward
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetRelayForward(index);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: setForward
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_setForward
(JNIEnv*, jclass, jint index, jboolean value)
{
HALSIM_SetRelayForward(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: registerReverseCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_registerReverseCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterRelayReverseCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: cancelReverseCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_cancelReverseCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelRelayReverseCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: getReverse
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_getReverse
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetRelayReverse(index);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: setReverse
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_setReverse
(JNIEnv*, jclass, jint index, jboolean value)
{
HALSIM_SetRelayReverse(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_RelayDataJNI
* Method: resetData
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_RelayDataJNI_resetData
(JNIEnv*, jclass, jint index)
{
HALSIM_ResetRelayData(index);
}
} // extern "C"

1
hal/src/main/native/include/hal/HAL.h
View File

@@ -31,7 +31,6 @@
#include "hal/PWM.h"
#include "hal/Ports.h"
#include "hal/Power.h"
#include "hal/Relay.h"
#include "hal/SPI.h"
#include "hal/SerialPort.h"
#include "hal/SimDevice.h"

14
hal/src/main/native/include/hal/Ports.h
View File

@@ -100,20 +100,6 @@ int32_t HAL_GetNumEncoders(void);
*/
int32_t HAL_GetNumInterrupts(void);
/**
* Gets the number of relay channels in the current system.
*
* @return the number of relay channels
*/
int32_t HAL_GetNumRelayChannels(void);
/**
* Gets the number of relay headers in the current system.
*
* @return the number of relay headers
*/
int32_t HAL_GetNumRelayHeaders(void);
/**
* Gets the number of PCM modules in the current system.
*

75
hal/src/main/native/include/hal/Relay.h
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@@ -1,75 +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.
#pragma once
#include <stdint.h>
#include "hal/Types.h"
/**
* @defgroup hal_relay Relay Output Functions
* @ingroup hal_capi
* @{
*/
#ifdef __cplusplus
extern "C" {
#endif
/**
* Initializes a relay.
*
* Note this call will only initialize either the forward or reverse port of the
* relay. If you need both, you will need to initialize 2 relays.
*
* @param[in] portHandle the port handle to initialize
* @param[in] fwd true for the forward port, false for the
* reverse port
* @param[in] allocationLocation the location where the allocation is occurring
* (can be null)
* @param[out] status Error status variable. 0 on success.
* @return the created relay handle
*/
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
const char* allocationLocation,
int32_t* status);
/**
* Frees a relay port.
*
* @param relayPortHandle the relay handle
*/
void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle);
/**
* Checks if a relay channel is valid.
*
* @param channel the channel to check
* @return true if the channel is valid, otherwise false
*/
HAL_Bool HAL_CheckRelayChannel(int32_t channel);
/**
* Sets the state of a relay output.
*
* @param[in] relayPortHandle the relay handle
* @param[in] on true for on, false for off
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
int32_t* status);
/**
* Gets the current state of the relay channel.
*
* @param[in] relayPortHandle the relay handle
* @param[out] status Error status variable. 0 on success.
* @return true for on, false for off
*/
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif
/** @} */

53
hal/src/main/native/include/hal/simulation/RelayData.h
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@@ -1,53 +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.
#pragma once
#include "hal/Types.h"
#include "hal/simulation/NotifyListener.h"
#ifdef __cplusplus
extern "C" {
#endif
void HALSIM_ResetRelayData(int32_t index);
int32_t HALSIM_RegisterRelayInitializedForwardCallback(
int32_t index, HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void HALSIM_CancelRelayInitializedForwardCallback(int32_t index, int32_t uid);
HAL_Bool HALSIM_GetRelayInitializedForward(int32_t index);
void HALSIM_SetRelayInitializedForward(int32_t index,
HAL_Bool initializedForward);
int32_t HALSIM_RegisterRelayInitializedReverseCallback(
int32_t index, HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void HALSIM_CancelRelayInitializedReverseCallback(int32_t index, int32_t uid);
HAL_Bool HALSIM_GetRelayInitializedReverse(int32_t index);
void HALSIM_SetRelayInitializedReverse(int32_t index,
HAL_Bool initializedReverse);
int32_t HALSIM_RegisterRelayForwardCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelRelayForwardCallback(int32_t index, int32_t uid);
HAL_Bool HALSIM_GetRelayForward(int32_t index);
void HALSIM_SetRelayForward(int32_t index, HAL_Bool forward);
int32_t HALSIM_RegisterRelayReverseCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelRelayReverseCallback(int32_t index, int32_t uid);
HAL_Bool HALSIM_GetRelayReverse(int32_t index);
void HALSIM_SetRelayReverse(int32_t index, HAL_Bool reverse);
void HALSIM_RegisterRelayAllCallbacks(int32_t index,
HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
#ifdef __cplusplus
} // extern "C"
#endif

2
hal/src/main/native/sim/HAL.cpp
View File

@@ -84,7 +84,6 @@ void InitializeHAL() {
InitializeREVPHData();
InitializePowerDistributionData();
InitializePWMData();
InitializeRelayData();
InitializeRoboRioData();
InitializeSimDeviceData();
InitializeSPIAccelerometerData();
@@ -117,7 +116,6 @@ void InitializeHAL() {
InitializeCTREPCM();
InitializeREVPH();
InitializePWM();
InitializeRelay();
InitializeSerialPort();
InitializeSimDevice();
InitializeSPI();

2
hal/src/main/native/sim/HALInitializer.h
View File

@@ -35,7 +35,6 @@ extern void InitializeCTREPCMData();
extern void InitializeREVPHData();
extern void InitializePowerDistributionData();
extern void InitializePWMData();
extern void InitializeRelayData();
extern void InitializeRoboRioData();
extern void InitializeSimDeviceData();
extern void InitializeSPIAccelerometerData();
@@ -68,7 +67,6 @@ extern void InitializePower();
extern void InitializeCTREPCM();
extern void InitializeREVPH();
extern void InitializePWM();
extern void InitializeRelay();
extern void InitializeSerialPort();
extern void InitializeSimDevice();
extern void InitializeSPI();

6
hal/src/main/native/sim/Ports.cpp
View File

@@ -49,12 +49,6 @@ int32_t HAL_GetNumEncoders(void) {
int32_t HAL_GetNumInterrupts(void) {
return kNumInterrupts;
}
int32_t HAL_GetNumRelayChannels(void) {
return kNumRelayChannels;
}
int32_t HAL_GetNumRelayHeaders(void) {
return kNumRelayHeaders;
}
int32_t HAL_GetNumCTREPCMModules(void) {
return kNumCTREPCMModules;
}

136
hal/src/main/native/sim/Relay.cpp
View File

@@ -1,136 +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 "hal/Relay.h"
#include <string>
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/handles/IndexedHandleResource.h"
#include "mockdata/RelayDataInternal.h"
using namespace hal;
namespace {
struct Relay {
uint8_t channel;
bool fwd;
std::string previousAllocation;
};
} // namespace
static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
HAL_HandleEnum::Relay>* relayHandles;
namespace hal::init {
void InitializeRelay() {
static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
HAL_HandleEnum::Relay>
rH;
relayHandles = &rH;
}
} // namespace hal::init
extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
if (*status != 0) {
return HAL_kInvalidHandle;
}
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex || channel >= kNumRelayChannels) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Relay", 0,
kNumRelayChannels, channel);
return HAL_kInvalidHandle;
}
if (!fwd) {
channel += kNumRelayHeaders; // add 4 to reverse channels
}
HAL_RelayHandle handle;
auto port = relayHandles->Allocate(channel, &handle, status);
if (*status != 0) {
if (port) {
hal::SetLastErrorPreviouslyAllocated(status, "Relay", channel,
port->previousAllocation);
} else {
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Relay", 0,
kNumRelayChannels, channel);
}
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}
if (!fwd) {
// Subtract number of headers to put channel in range
channel -= kNumRelayHeaders;
port->fwd = false; // set to reverse
SimRelayData[channel].initializedReverse = true;
} else {
port->fwd = true; // set to forward
SimRelayData[channel].initializedForward = true;
}
port->channel = static_cast<uint8_t>(channel);
port->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) {
auto port = relayHandles->Get(relayPortHandle);
relayHandles->Free(relayPortHandle);
if (port == nullptr) {
return;
}
if (port->fwd) {
SimRelayData[port->channel].initializedForward = false;
} else {
SimRelayData[port->channel].initializedReverse = false;
}
}
HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
// roboRIO only has 4 headers, and the FPGA has
// separate functions for forward and reverse,
// instead of separate channel IDs
return channel < kNumRelayHeaders && channel >= 0;
}
void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
int32_t* status) {
auto port = relayHandles->Get(relayPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
if (port->fwd) {
SimRelayData[port->channel].forward = on;
} else {
SimRelayData[port->channel].reverse = on;
}
}
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
auto port = relayHandles->Get(relayPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
}
if (port->fwd) {
return SimRelayData[port->channel].forward;
} else {
return SimRelayData[port->channel].reverse;
}
}
} // extern "C"

50
hal/src/main/native/sim/mockdata/RelayData.cpp
View File

@@ -1,50 +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 "../PortsInternal.h"
#include "RelayDataInternal.h"
using namespace hal;
namespace hal::init {
void InitializeRelayData() {
static RelayData srd[kNumRelayHeaders];
::hal::SimRelayData = srd;
}
} // namespace hal::init
RelayData* hal::SimRelayData;
void RelayData::ResetData() {
initializedForward.Reset(false);
initializedReverse.Reset(false);
forward.Reset(false);
reverse.Reset(false);
}
extern "C" {
void HALSIM_ResetRelayData(int32_t index) {
SimRelayData[index].ResetData();
}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, Relay##CAPINAME, SimRelayData, \
LOWERNAME)
DEFINE_CAPI(HAL_Bool, InitializedForward, initializedForward)
DEFINE_CAPI(HAL_Bool, InitializedReverse, initializedReverse)
DEFINE_CAPI(HAL_Bool, Forward, forward)
DEFINE_CAPI(HAL_Bool, Reverse, reverse)
#define REGISTER(NAME) \
SimRelayData[index].NAME.RegisterCallback(callback, param, initialNotify)
void HALSIM_RegisterRelayAllCallbacks(int32_t index,
HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify) {
REGISTER(initializedForward);
REGISTER(initializedReverse);
REGISTER(forward);
REGISTER(reverse);
}
} // extern "C"

28
hal/src/main/native/sim/mockdata/RelayDataInternal.h
View File

@@ -1,28 +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.
#pragma once
#include "hal/simulation/RelayData.h"
#include "hal/simulation/SimDataValue.h"
namespace hal {
class RelayData {
HAL_SIMDATAVALUE_DEFINE_NAME(InitializedForward)
HAL_SIMDATAVALUE_DEFINE_NAME(InitializedReverse)
HAL_SIMDATAVALUE_DEFINE_NAME(Forward)
HAL_SIMDATAVALUE_DEFINE_NAME(Reverse)
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedForwardName>
initializedForward{false};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedReverseName>
initializedReverse{false};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetForwardName> forward{false};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetReverseName> reverse{false};
virtual void ResetData();
};
extern RelayData* SimRelayData;
} // namespace hal

5
hal/src/main/native/sim/mockdata/Reset.cpp
View File

@@ -19,7 +19,6 @@
#include <hal/simulation/PWMData.h>
#include <hal/simulation/PowerDistributionData.h>
#include <hal/simulation/REVPHData.h>
#include <hal/simulation/RelayData.h>
#include <hal/simulation/RoboRioData.h>
#include <hal/simulation/SPIAccelerometerData.h>
#include <hal/simulation/SPIData.h>
@@ -88,10 +87,6 @@ extern "C" void HALSIM_ResetAllSimData(void) {
HALSIM_ResetPWMData(i);
}
for (int32_t i = 0; i < hal::kNumRelayHeaders; i++) {
HALSIM_ResetRelayData(i);
}
for (int32_t i = 0; i < hal::kNumREVPHModules; i++) {
HALSIM_ResetREVPHData(i);
}

1
hal/src/main/native/systemcore/HAL.cpp
View File

@@ -74,7 +74,6 @@ void InitializeHAL() {
InitializePorts();
InitializePower();
InitializePWM();
InitializeRelay();
InitializeSerialPort();
InitializeSmartIo();
InitializeSPI();

1
hal/src/main/native/systemcore/HALInitializer.h
View File

@@ -48,7 +48,6 @@ extern void InitializeREVPDH();
extern void InitializePorts();
extern void InitializePower();
extern void InitializePWM();
extern void InitializeRelay();
extern void InitializeSerialPort();
extern void InitializeSmartIo();
extern void InitializeSPI();

6
hal/src/main/native/systemcore/Ports.cpp
View File

@@ -50,12 +50,6 @@ int32_t HAL_GetNumEncoders(void) {
int32_t HAL_GetNumInterrupts(void) {
return kNumInterrupts;
}
int32_t HAL_GetNumRelayChannels(void) {
return kNumRelayChannels;
}
int32_t HAL_GetNumRelayHeaders(void) {
return kNumRelayHeaders;
}
int32_t HAL_GetNumCTREPCMModules(void) {
return kNumCTREPCMModules;
}

47
hal/src/main/native/systemcore/Relay.cpp
View File

@@ -1,47 +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 "hal/Relay.h"
#include <string>
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/handles/IndexedHandleResource.h"
using namespace hal;
namespace hal::init {
void InitializeRelay() {}
} // namespace hal::init
extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) {}
HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
return false;
}
void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return false;
}
} // extern "C"

23
hal/src/main/native/systemcore/mockdata/RelayData.cpp
View File

@@ -1,23 +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 "hal/simulation/RelayData.h"
#include "hal/simulation/SimDataValue.h"
extern "C" {
void HALSIM_ResetRelayData(int32_t index) {}
#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, Relay##CAPINAME, RETURN)
DEFINE_CAPI(HAL_Bool, InitializedForward, false)
DEFINE_CAPI(HAL_Bool, InitializedReverse, false)
DEFINE_CAPI(HAL_Bool, Forward, false)
DEFINE_CAPI(HAL_Bool, Reverse, false)
void HALSIM_RegisterRelayAllCallbacks(int32_t index,
HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify) {}
} // extern "C"