WPILib Reorganization

This is a major restructuring of the WPILib repository to simply build
procedures and remove the remnants of Maven from everything except the
eclipse plugins. Gradle files have been largely simplified or rewritten,
taking advantage of splitting up parts of the build into separate build
files for ease of reading.

The eclipse plugins are now in a separate project, as is ntcore. All
dependencies are resolved via Maven dependencies, with the
Jenkins-maintained WPILib repo. Project structures have also been
simplified: we no longer have separate subprojects inside wpilibc and
wpilibj. Where possible, these changes hav been done with git renames,
to make sure we still have full history for all repositories. Other
unrelated subprojects have also been broken out: OutlineViewer is now a
separate project.

Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878

wpilibc/Athena/src/SensorBase.cpp

@@ -0,0 +1,179 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.
+ */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "SensorBase.h"
+
+#include "NetworkCommunication/LoadOut.h"
+#include "WPIErrors.h"
+#include "HAL/HAL.hpp"
+
+const uint32_t SensorBase::kDigitalChannels;
+const uint32_t SensorBase::kAnalogInputs;
+const uint32_t SensorBase::kSolenoidChannels;
+const uint32_t SensorBase::kSolenoidModules;
+const uint32_t SensorBase::kPwmChannels;
+const uint32_t SensorBase::kRelayChannels;
+const uint32_t SensorBase::kPDPChannels;
+const uint32_t SensorBase::kChassisSlots;
+SensorBase* SensorBase::m_singletonList = nullptr;
+
+static bool portsInitialized = false;
+void* SensorBase::m_digital_ports[kDigitalChannels];
+void* SensorBase::m_relay_ports[kRelayChannels];
+void* SensorBase::m_pwm_ports[kPwmChannels];
+
+/**
+ * Creates an instance of the sensor base and gets an FPGA handle
+ */
+SensorBase::SensorBase() {
+  if (!portsInitialized) {
+    for (uint32_t i = 0; i < kDigitalChannels; i++) {
+      void* port = getPort(i);
+      int32_t status = 0;
+      m_digital_ports[i] = initializeDigitalPort(port, &status);
+      wpi_setErrorWithContext(status, getHALErrorMessage(status));
+    }
+
+    for (uint32_t i = 0; i < kRelayChannels; i++) {
+      void* port = getPort(i);
+      int32_t status = 0;
+      m_relay_ports[i] = initializeDigitalPort(port, &status);
+      wpi_setErrorWithContext(status, getHALErrorMessage(status));
+    }
+
+    for (uint32_t i = 0; i < kPwmChannels; i++) {
+      void* port = getPort(i);
+      int32_t status = 0;
+      m_pwm_ports[i] = initializeDigitalPort(port, &status);
+      wpi_setErrorWithContext(status, getHALErrorMessage(status));
+    }
+  }
+}
+
+/**
+ * Add sensor to the singleton list.
+ * Add this sensor to the list of singletons that need to be deleted when
+ * the robot program exits. Each of the sensors on this list are singletons,
+ * that is they aren't allocated directly with new, but instead are allocated
+ * by the static GetInstance method. As a result, they are never deleted when
+ * the program exits. Consequently these sensors may still be holding onto
+ * resources and need to have their destructors called at the end of the
+ * program.
+ */
+void SensorBase::AddToSingletonList() {
+  m_nextSingleton = m_singletonList;
+  m_singletonList = this;
+}
+
+/**
+ * Delete all the singleton classes on the list.
+ * All the classes that were allocated as singletons need to be deleted so
+ * their resources can be freed.
+ */
+void SensorBase::DeleteSingletons() {
+  for (SensorBase* next = m_singletonList; next != nullptr;) {
+    SensorBase* tmp = next;
+    next = next->m_nextSingleton;
+    delete tmp;
+  }
+  m_singletonList = nullptr;
+}
+
+/**
+ * Check that the solenoid module number is valid.
+ *
+ * @return Solenoid module is valid and present
+ */
+bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber) {
+  if (moduleNumber < 64) return true;
+  return false;
+}
+
+/**
+ * Check that the digital channel number is valid.
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are
+ * 1-based.
+ *
+ * @return Digital channel is valid
+ */
+bool SensorBase::CheckDigitalChannel(uint32_t channel) {
+  if (channel < kDigitalChannels) return true;
+  return false;
+}
+
+/**
+ * Check that the digital channel number is valid.
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are
+ * 1-based.
+ *
+ * @return Relay channel is valid
+ */
+bool SensorBase::CheckRelayChannel(uint32_t channel) {
+  if (channel < kRelayChannels) return true;
+  return false;
+}
+
+/**
+ * Check that the digital channel number is valid.
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are
+ * 1-based.
+ *
+ * @return PWM channel is valid
+ */
+bool SensorBase::CheckPWMChannel(uint32_t channel) {
+  if (channel < kPwmChannels) return true;
+  return false;
+}
+
+/**
+ * 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
+ */
+bool SensorBase::CheckAnalogInput(uint32_t channel) {
+  if (channel < kAnalogInputs) return true;
+  return false;
+}
+
+/**
+ * Check that the analog output number is valid.
+ * Verify that the analog output number is one of the legal channel numbers.
+ * Channel numbers
+ * are 0-based.
+ *
+ * @return Analog channel is valid
+ */
+bool SensorBase::CheckAnalogOutput(uint32_t channel) {
+  if (channel < kAnalogOutputs) return true;
+  return false;
+}
+
+/**
+ * Verify that the solenoid channel number is within limits.
+ *
+ * @return Solenoid channel is valid
+ */
+bool SensorBase::CheckSolenoidChannel(uint32_t channel) {
+  if (channel < kSolenoidChannels) return true;
+  return false;
+}
+
+/**
+ * Verify that the power distribution channel number is within limits.
+ *
+ * @return PDP channel is valid
+ */
+bool SensorBase::CheckPDPChannel(uint32_t channel) {
+  if (channel < kPDPChannels) return true;
+  return false;
+}