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/SerialPort.cpp

@@ -0,0 +1,229 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "SerialPort.h"
+
+//#include "NetworkCommunication/UsageReporting.h"
+#include "HAL/HAL.hpp"
+#include <stdarg.h>
+
+// static ViStatus _VI_FUNCH ioCompleteHandler (ViSession vi, ViEventType
+// eventType, ViEvent event, ViAddr userHandle);
+
+/**
+ * Create an instance of a Serial Port class.
+ *
+ * @param baudRate The baud rate to configure the serial port.
+ * @param port The physical port to use
+ * @param dataBits The number of data bits per transfer.  Valid values are
+ * between 5 and 8 bits.
+ * @param parity Select the type of parity checking to use.
+ * @param stopBits The number of stop bits to use as defined by the enum
+ * StopBits.
+ */
+SerialPort::SerialPort(uint32_t baudRate, Port port, uint8_t dataBits,
+                       SerialPort::Parity parity, SerialPort::StopBits stopBits)
+{
+  int32_t status = 0;
+
+  m_port = port;
+
+  serialInitializePort(port, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  serialSetBaudRate(port, baudRate, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  serialSetDataBits(port, dataBits, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  serialSetParity(port, parity, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  serialSetStopBits(port, stopBits, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+  // Set the default timeout to 5 seconds.
+  SetTimeout(5.0f);
+
+  // Don't wait until the buffer is full to transmit.
+  SetWriteBufferMode(kFlushOnAccess);
+
+  EnableTermination();
+
+  // viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler,
+  // this);
+  // viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_nullptr);
+
+  HALReport(HALUsageReporting::kResourceType_SerialPort, 0);
+}
+
+/**
+ * Destructor.
+ */
+SerialPort::~SerialPort() {
+  int32_t status = 0;
+  serialClose(m_port, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Set the type of flow control to enable on this port.
+ *
+ * By default, flow control is disabled.
+ */
+void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
+  int32_t status = 0;
+  serialSetFlowControl(m_port, flowControl, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Enable termination and specify the termination character.
+ *
+ * Termination is currently only implemented for receive.
+ * When the the terminator is recieved, the Read() or Scanf() will return
+ *   fewer bytes than requested, stopping after the terminator.
+ *
+ * @param terminator The character to use for termination.
+ */
+void SerialPort::EnableTermination(char terminator) {
+  int32_t status = 0;
+  serialEnableTermination(m_port, terminator, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Disable termination behavior.
+ */
+void SerialPort::DisableTermination() {
+  int32_t status = 0;
+  serialDisableTermination(m_port, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Get the number of bytes currently available to read from the serial port.
+ *
+ * @return The number of bytes available to read
+ */
+int32_t SerialPort::GetBytesReceived() {
+  int32_t status = 0;
+  int32_t retVal = serialGetBytesReceived(m_port, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Read raw bytes out of the buffer.
+ *
+ * @param buffer Pointer to the buffer to store the bytes in.
+ * @param count The maximum number of bytes to read.
+ * @return The number of bytes actually read into the buffer.
+ */
+uint32_t SerialPort::Read(char *buffer, int32_t count) {
+  int32_t status = 0;
+  int32_t retVal = serialRead(m_port, buffer, count, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Write raw bytes to the buffer.
+ *
+ * @param buffer Pointer to the buffer to read the bytes from.
+ * @param count The maximum number of bytes to write.
+ * @return The number of bytes actually written into the port.
+ */
+uint32_t SerialPort::Write(const std::string &buffer, int32_t count) {
+  int32_t status = 0;
+  int32_t retVal = serialWrite(m_port, buffer.c_str(), count, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Configure the timeout of the serial port.
+ *
+ * This defines the timeout for transactions with the hardware.
+ * It will affect reads and very large writes.
+ *
+ * @param timeout The number of seconds to to wait for I/O.
+ */
+void SerialPort::SetTimeout(float timeout) {
+  int32_t status = 0;
+  serialSetTimeout(m_port, timeout, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Specify the size of the input buffer.
+ *
+ * Specify the amount of data that can be stored before data
+ * from the device is returned to Read or Scanf.  If you want
+ * data that is recieved to be returned immediately, set this to 1.
+ *
+ * It the buffer is not filled before the read timeout expires, all
+ * data that has been received so far will be returned.
+ *
+ * @param size The read buffer size.
+ */
+void SerialPort::SetReadBufferSize(uint32_t size) {
+  int32_t status = 0;
+  serialSetReadBufferSize(m_port, size, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Specify the size of the output buffer.
+ *
+ * Specify the amount of data that can be stored before being
+ * transmitted to the device.
+ *
+ * @param size The write buffer size.
+ */
+void SerialPort::SetWriteBufferSize(uint32_t size) {
+  int32_t status = 0;
+  serialSetWriteBufferSize(m_port, size, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Specify the flushing behavior of the output buffer.
+ *
+ * When set to kFlushOnAccess, data is synchronously written to the serial port
+ *   after each call to either Printf() or Write().
+ *
+ * When set to kFlushWhenFull, data will only be written to the serial port when
+ *   the buffer is full or when Flush() is called.
+ *
+ * @param mode The write buffer mode.
+ */
+void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) {
+  int32_t status = 0;
+  serialSetWriteMode(m_port, mode, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Force the output buffer to be written to the port.
+ *
+ * This is used when SetWriteBufferMode() is set to kFlushWhenFull to force a
+ * flush before the buffer is full.
+ */
+void SerialPort::Flush() {
+  int32_t status = 0;
+  serialFlush(m_port, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Reset the serial port driver to a known state.
+ *
+ * Empty the transmit and receive buffers in the device and formatted I/O.
+ */
+void SerialPort::Reset() {
+  int32_t status = 0;
+  serialClear(m_port, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}