[hal,wpilib] Remove a ton of things related to the FPGA (#7846)

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>

wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp

@@ -17,10 +17,6 @@
 using namespace wpi;
 
 AnalogInput::AnalogInput(int channel) {
-  if (!SensorUtil::CheckAnalogInputChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
-
   m_channel = channel;
   int32_t status = 0;
   std::string stackTrace = wpi::util::GetStackTrace(1);
@@ -39,13 +35,6 @@ int AnalogInput::GetValue() const {
   return value;
 }
 
-int AnalogInput::GetAverageValue() const {
-  int32_t status = 0;
-  int value = HAL_GetAnalogAverageValue(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return value;
-}
-
 double AnalogInput::GetVoltage() const {
   int32_t status = 0;
   double voltage = HAL_GetAnalogVoltage(m_port, &status);
@@ -53,70 +42,10 @@ double AnalogInput::GetVoltage() const {
   return voltage;
 }
 
-double AnalogInput::GetAverageVoltage() const {
-  int32_t status = 0;
-  double voltage = HAL_GetAnalogAverageVoltage(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return voltage;
-}
-
 int AnalogInput::GetChannel() const {
   return m_channel;
 }
 
-void AnalogInput::SetAverageBits(int bits) {
-  int32_t status = 0;
-  HAL_SetAnalogAverageBits(m_port, bits, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-}
-
-int AnalogInput::GetAverageBits() const {
-  int32_t status = 0;
-  int averageBits = HAL_GetAnalogAverageBits(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return averageBits;
-}
-
-void AnalogInput::SetOversampleBits(int bits) {
-  int32_t status = 0;
-  HAL_SetAnalogOversampleBits(m_port, bits, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-}
-
-int AnalogInput::GetOversampleBits() const {
-  int32_t status = 0;
-  int oversampleBits = HAL_GetAnalogOversampleBits(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return oversampleBits;
-}
-
-int AnalogInput::GetLSBWeight() const {
-  int32_t status = 0;
-  int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return lsbWeight;
-}
-
-int AnalogInput::GetOffset() const {
-  int32_t status = 0;
-  int offset = HAL_GetAnalogOffset(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return offset;
-}
-
-void AnalogInput::SetSampleRate(double samplesPerSecond) {
-  int32_t status = 0;
-  HAL_SetAnalogSampleRate(samplesPerSecond, &status);
-  WPILIB_CheckErrorStatus(status, "SetSampleRate");
-}
-
-double AnalogInput::GetSampleRate() {
-  int32_t status = 0;
-  double sampleRate = HAL_GetAnalogSampleRate(&status);
-  WPILIB_CheckErrorStatus(status, "GetSampleRate");
-  return sampleRate;
-}
-
 void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetAnalogInputSimDevice(m_port, device);
 }
@@ -124,5 +53,5 @@ void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
 void AnalogInput::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Input");
   builder.AddDoubleProperty(
-      "Value", [=, this] { return GetAverageVoltage(); }, nullptr);
+      "Value", [=, this] { return GetVoltage(); }, nullptr);
 }

wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp

@@ -17,9 +17,6 @@
 using namespace wpi;
 
 DigitalInput::DigitalInput(int channel) {
-  if (!SensorUtil::CheckDigitalChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
   m_channel = channel;
 
   int32_t status = 0;

wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp

@@ -18,9 +18,6 @@ using namespace wpi;
 
 DigitalOutput::DigitalOutput(int channel) {
   m_pwmGenerator = HAL_INVALID_HANDLE;
-  if (!SensorUtil::CheckDigitalChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
   m_channel = channel;
 
   int32_t status = 0;
@@ -120,9 +117,6 @@ void DigitalOutput::DisablePWM() {
 
   int32_t status = 0;
 
-  // Disable the output by routing to a dead bit.
-  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator,
-                                 SensorUtil::GetNumDigitalChannels(), &status);
   WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
 
   HAL_FreeDigitalPWM(m_pwmGenerator);

wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp

@@ -15,10 +15,6 @@
 using namespace wpi;
 
 PWM::PWM(int channel, bool registerSendable) {
-  if (!SensorUtil::CheckPWMChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
-
   auto stack = wpi::util::GetStackTrace(1);
   int32_t status = 0;
   m_handle = HAL_InitializePWMPort(channel, stack.c_str(), &status);

wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp

@@ -9,16 +9,11 @@
 #include "wpi/hal/AddressableLED.h"
 #include "wpi/hal/UsageReporting.hpp"
 #include "wpi/system/Errors.hpp"
-#include "wpi/util/SensorUtil.hpp"
 #include "wpi/util/StackTrace.hpp"
 
 using namespace wpi;
 
 AddressableLED::AddressableLED(int channel) : m_channel{channel} {
-  if (!SensorUtil::CheckDigitalChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
-
   int32_t status = 0;
   auto stack = wpi::util::GetStackTrace(1);
   m_handle = HAL_InitializeAddressableLED(channel, stack.c_str(), &status);

wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp

@@ -16,9 +16,6 @@
 using namespace wpi;
 
 DutyCycle::DutyCycle(int channel) : m_channel{channel} {
-  if (!SensorUtil::CheckDigitalChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
   InitDutyCycle();
 }
 

wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp

@@ -34,40 +34,6 @@ void AnalogInputSim::SetInitialized(bool initialized) {
   HALSIM_SetAnalogInInitialized(m_index, initialized);
 }
 
-std::unique_ptr<CallbackStore> AnalogInputSim::RegisterAverageBitsCallback(
-    NotifyCallback callback, bool initialNotify) {
-  auto store = std::make_unique<CallbackStore>(
-      m_index, -1, callback, &HALSIM_CancelAnalogInAverageBitsCallback);
-  store->SetUid(HALSIM_RegisterAnalogInAverageBitsCallback(
-      m_index, &CallbackStoreThunk, store.get(), initialNotify));
-  return store;
-}
-
-int AnalogInputSim::GetAverageBits() const {
-  return HALSIM_GetAnalogInAverageBits(m_index);
-}
-
-void AnalogInputSim::SetAverageBits(int averageBits) {
-  HALSIM_SetAnalogInAverageBits(m_index, averageBits);
-}
-
-std::unique_ptr<CallbackStore> AnalogInputSim::RegisterOversampleBitsCallback(
-    NotifyCallback callback, bool initialNotify) {
-  auto store = std::make_unique<CallbackStore>(
-      m_index, -1, callback, &HALSIM_CancelAnalogInOversampleBitsCallback);
-  store->SetUid(HALSIM_RegisterAnalogInOversampleBitsCallback(
-      m_index, &CallbackStoreThunk, store.get(), initialNotify));
-  return store;
-}
-
-int AnalogInputSim::GetOversampleBits() const {
-  return HALSIM_GetAnalogInOversampleBits(m_index);
-}
-
-void AnalogInputSim::SetOversampleBits(int oversampleBits) {
-  HALSIM_SetAnalogInOversampleBits(m_index, oversampleBits);
-}
-
 std::unique_ptr<CallbackStore> AnalogInputSim::RegisterVoltageCallback(
     NotifyCallback callback, bool initialNotify) {
   auto store = std::make_unique<CallbackStore>(

wpilibc/src/main/native/cpp/util/SensorUtil.cpp

@@ -4,9 +4,6 @@
 
 #include "wpi/util/SensorUtil.hpp"
 
-#include "wpi/hal/AnalogInput.h"
-#include "wpi/hal/DIO.h"
-#include "wpi/hal/PWM.h"
 #include "wpi/hal/Ports.h"
 
 using namespace wpi;
@@ -19,26 +16,6 @@ int SensorUtil::GetDefaultREVPHModule() {
   return 1;
 }
 
-bool SensorUtil::CheckDigitalChannel(int channel) {
-  return HAL_CheckDIOChannel(channel);
-}
-
-bool SensorUtil::CheckPWMChannel(int channel) {
-  return HAL_CheckPWMChannel(channel);
-}
-
-bool SensorUtil::CheckAnalogInputChannel(int channel) {
-  return HAL_CheckAnalogInputChannel(channel);
-}
-
-int SensorUtil::GetNumDigitalChannels() {
-  return HAL_GetNumDigitalChannels();
-}
-
-int SensorUtil::GetNumAnalogInputs() {
-  return HAL_GetNumAnalogInputs();
-}
-
-int SensorUtil::GetNumPwmChannels() {
-  return HAL_GetNumPWMChannels();
+int SensorUtil::GetNumSmartIoPorts() {
+  return HAL_GetNumSmartIo();
 }

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -28,14 +28,10 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/timestamp.hpp"
 
-static_assert(wpi::RuntimeType::ROBORIO ==
-              static_cast<wpi::RuntimeType>(HAL_RUNTIME_ROBORIO));
-static_assert(wpi::RuntimeType::ROBORIO_2 ==
-              static_cast<wpi::RuntimeType>(HAL_RUNTIME_ROBORIO_2));
-static_assert(wpi::RuntimeType::SIMULATION ==
-              static_cast<wpi::RuntimeType>(HAL_RUNTIME_SIMULATION));
 static_assert(wpi::RuntimeType::SYSTEMCORE ==
               static_cast<wpi::RuntimeType>(HAL_RUNTIME_SYSTEMCORE));
+static_assert(wpi::RuntimeType::SIMULATION ==
+              static_cast<wpi::RuntimeType>(HAL_RUNTIME_SIMULATION));
 
 using SetCameraServerSharedFP = void (*)(wpi::CameraServerShared*);
 

wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp

@@ -51,52 +51,15 @@ class AnalogInput : public wpi::util::Sendable,
    */
   int GetValue() const;
 
-  /**
-   * Get a sample from the output of the oversample and average engine for this
-   * channel.
-   *
-   * The sample is 12-bit + the bits configured in SetOversampleBits().
-   * The value configured in SetAverageBits() will cause this value to be
-   * averaged 2**bits number of samples.
-   *
-   * This is not a sliding window. The sample will not change until
-   * 2**(OversampleBits + AverageBits) samples have been acquired from the
-   * module on this channel.
-   *
-   * Use GetAverageVoltage() to get the analog value in calibrated units.
-   *
-   * @return A sample from the oversample and average engine for this channel.
-   */
-  int GetAverageValue() const;
-
   /**
    * Get a scaled sample straight from this channel.
    *
-   * The value is scaled to units of Volts using the calibrated scaling data
-   * from GetLSBWeight() and GetOffset().
+   * The value is scaled to units of Volts.
    *
    * @return A scaled sample straight from this channel.
    */
   double GetVoltage() const;
 
-  /**
-   * Get a scaled sample from the output of the oversample and average engine
-   * for this channel.
-   *
-   * The value is scaled to units of Volts using the calibrated scaling data
-   * from GetLSBWeight() and GetOffset().
-   *
-   * Using oversampling will cause this value to be higher resolution, but it
-   * will update more slowly.
-   *
-   * Using averaging will cause this value to be more stable, but it will update
-   * more slowly.
-   *
-   * @return A scaled sample from the output of the oversample and average
-   * engine for this channel.
-   */
-  double GetAverageVoltage() const;
-
   /**
    * Get the channel number.
    *
@@ -104,88 +67,6 @@ class AnalogInput : public wpi::util::Sendable,
    */
   int GetChannel() const;
 
-  /**
-   * Set the number of averaging bits.
-   *
-   * This sets the number of averaging bits. The actual number of averaged
-   * samples is 2^bits.
-   *
-   * Use averaging to improve the stability of your measurement at the expense
-   * of sampling rate. The averaging is done automatically in the FPGA.
-   *
-   * @param bits Number of bits of averaging.
-   */
-  void SetAverageBits(int bits);
-
-  /**
-   * Get the number of averaging bits previously configured.
-   *
-   * This gets the number of averaging bits from the FPGA. The actual number of
-   * averaged samples is 2^bits. The averaging is done automatically in the
-   * FPGA.
-   *
-   * @return Number of bits of averaging previously configured.
-   */
-  int GetAverageBits() const;
-
-  /**
-   * Set the number of oversample bits.
-   *
-   * This sets the number of oversample bits. The actual number of oversampled
-   * values is 2^bits. Use oversampling to improve the resolution of your
-   * measurements at the expense of sampling rate. The oversampling is done
-   * automatically in the FPGA.
-   *
-   * @param bits Number of bits of oversampling.
-   */
-  void SetOversampleBits(int bits);
-
-  /**
-   * Get the number of oversample bits previously configured.
-   *
-   * This gets the number of oversample bits from the FPGA. The actual number of
-   * oversampled values is 2^bits. The oversampling is done automatically in the
-   * FPGA.
-   *
-   * @return Number of bits of oversampling previously configured.
-   */
-  int GetOversampleBits() const;
-
-  /**
-   * Get the factory scaling least significant bit weight constant.
-   *
-   * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-   *
-   * @return Least significant bit weight.
-   */
-  int GetLSBWeight() const;
-
-  /**
-   * Get the factory scaling offset constant.
-   *
-   * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-   *
-   * @return Offset constant.
-   */
-  int GetOffset() const;
-
-  /**
-   * Set the sample rate per channel for all analog channels.
-   *
-   * The maximum rate is 500kS/s divided by the number of channels in use.
-   * This is 62500 samples/s per channel.
-   *
-   * @param samplesPerSecond The number of samples per second.
-   */
-  static void SetSampleRate(double samplesPerSecond);
-
-  /**
-   * Get the current sample rate for all channels
-   *
-   * @return Sample rate.
-   */
-  static double GetSampleRate();
-
   /**
    * Indicates this input is used by a simulated device.
    *

wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp

@@ -16,12 +16,7 @@ namespace wpi {
 class AddressableLED;
 
 /**
- * Class implements the PWM generation in the FPGA.
- *
- * The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They
- * are mapped to the microseconds to keep the pulse high, with a range of 0
- * (off) to 4096. Changes are immediately sent to the FPGA, and the update
- * occurs at the next FPGA cycle (5.05ms). There is no delay.
+ * Class for sending pulse-width modulation (PWM) signals.
  */
 class PWM : public wpi::util::Sendable, public wpi::util::SendableHelper<PWM> {
  public:

wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp

@@ -59,58 +59,6 @@ class AnalogInputSim {
    */
   void SetInitialized(bool initialized);
 
-  /**
-   * Register a callback on the number of average bits.
-   *
-   * @param callback the callback that will be called whenever the number of
-   *                 average bits is changed
-   * @param initialNotify if true, the callback will be run on the initial value
-   * @return the CallbackStore object associated with this callback
-   */
-  [[nodiscard]]
-  std::unique_ptr<CallbackStore> RegisterAverageBitsCallback(
-      NotifyCallback callback, bool initialNotify);
-
-  /**
-   * Get the number of average bits.
-   *
-   * @return the number of average bits
-   */
-  int GetAverageBits() const;
-
-  /**
-   * Change the number of average bits.
-   *
-   * @param averageBits the new value
-   */
-  void SetAverageBits(int averageBits);
-
-  /**
-   * Register a callback on the amount of oversampling bits.
-   *
-   * @param callback the callback that will be called whenever the oversampling
-   *                 bits are changed
-   * @param initialNotify if true, the callback will be run on the initial value
-   * @return the CallbackStore object associated with this callback
-   */
-  [[nodiscard]]
-  std::unique_ptr<CallbackStore> RegisterOversampleBitsCallback(
-      NotifyCallback callback, bool initialNotify);
-
-  /**
-   * Get the amount of oversampling bits.
-   *
-   * @return the amount of oversampling bits
-   */
-  int GetOversampleBits() const;
-
-  /**
-   * Change the amount of oversampling bits.
-   *
-   * @param oversampleBits the new value
-   */
-  void SetOversampleBits(int oversampleBits);
-
   /**
    * Register a callback on the voltage.
    *

wpilibc/src/main/native/include/wpi/system/RuntimeType.hpp

@@ -9,12 +9,9 @@ namespace wpi {
  * Runtime type.
  */
 enum class RuntimeType {
-  /// roboRIO 1.0.
-  ROBORIO,
-  /// roboRIO 2.0.
-  ROBORIO_2,
+  /// Systemcore runtime.
+  SYSTEMCORE,
   /// Simulation runtime.
-  SIMULATION,
-  SYSTEMCORE
+  SIMULATION
 };
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/util/SensorUtil.hpp

@@ -28,39 +28,7 @@ class SensorUtil final {
    */
   static int GetDefaultREVPHModule();
 
-  /**
-   * Check that the digital channel number is valid.
-   *
-   * Verify that the channel number is one of the legal channel numbers. Channel
-   * numbers are 0-based.
-   *
-   * @return Digital channel is valid
-   */
-  static bool CheckDigitalChannel(int channel);
-
-  /**
-   * Check that the PWM channel number is valid.
-   *
-   * Verify that the channel number is one of the legal channel numbers. Channel
-   * numbers are 0-based.
-   *
-   * @return PWM channel is valid
-   */
-  static bool CheckPWMChannel(int channel);
-
-  /**
-   * Check that the analog input number is value.
-   *
-   * Verify that the analog input number is one of the legal channel numbers.
-   * Channel numbers are 0-based.
-   *
-   * @return Analog channel is valid
-   */
-  static bool CheckAnalogInputChannel(int channel);
-
-  static int GetNumDigitalChannels();
-  static int GetNumAnalogInputs();
-  static int GetNumPwmChannels();
+  static int GetNumSmartIoPorts();
 };
 
 }  // namespace wpi

wpilibc/src/main/python/semiwrap/AnalogInput.yml

@@ -8,18 +8,8 @@ classes:
     methods:
       AnalogInput:
       GetValue:
-      GetAverageValue:
       GetVoltage:
-      GetAverageVoltage:
       GetChannel:
-      SetAverageBits:
-      GetAverageBits:
-      SetOversampleBits:
-      GetOversampleBits:
-      GetLSBWeight:
-      GetOffset:
-      SetSampleRate:
-      GetSampleRate:
       SetSimDevice:
       InitSendable:
 

wpilibc/src/main/python/semiwrap/SensorUtil.yml

@@ -2,11 +2,6 @@ classes:
   wpi::SensorUtil:
     nodelete: true
     methods:
-      CheckDigitalChannel:
-      CheckPWMChannel:
-      CheckAnalogInputChannel:
       GetDefaultCTREPCMModule:
       GetDefaultREVPHModule:
-      GetNumDigitalChannels:
-      GetNumAnalogInputs:
-      GetNumPwmChannels:
+      GetNumSmartIoPorts:

wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml

@@ -13,12 +13,6 @@ classes:
       RegisterInitializedCallback:
       GetInitialized:
       SetInitialized:
-      RegisterAverageBitsCallback:
-      GetAverageBits:
-      SetAverageBits:
-      RegisterOversampleBitsCallback:
-      GetOversampleBits:
-      SetOversampleBits:
       RegisterVoltageCallback:
       GetVoltage:
       SetVoltage:

wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp

@@ -62,34 +62,4 @@ TEST(AnalogInputSimTest, SetVoltage) {
   }
 }
 
-TEST(AnalogInputSimTest, SetOverSampleBits) {
-  HAL_Initialize(500, 0);
-  AnalogInput input{5};
-  AnalogInputSim sim(input);
-
-  IntCallback callback;
-  auto cb = sim.RegisterOversampleBitsCallback(callback.GetCallback(), false);
-
-  input.SetOversampleBits(3504);
-  EXPECT_EQ(3504, sim.GetOversampleBits());
-  EXPECT_EQ(3504, input.GetOversampleBits());
-  EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(3504, callback.GetLastValue());
-}
-
-TEST(AnalogInputSimTest, SetAverageBits) {
-  HAL_Initialize(500, 0);
-  AnalogInput input{5};
-  AnalogInputSim sim(input);
-
-  IntCallback callback;
-  auto cb = sim.RegisterAverageBitsCallback(callback.GetCallback(), false);
-
-  input.SetAverageBits(3504);
-  EXPECT_EQ(3504, sim.GetAverageBits());
-  EXPECT_EQ(3504, input.GetAverageBits());
-  EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(3504, callback.GetLastValue());
-}
-
 }  // namespace wpi::sim