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[hal, wpilib] Remove DigitalSource and AnalogTrigger (#7753)

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This commit is contained in:
Thad House
2025-01-30 18:58:21 -08:00
committed by GitHub
parent 7533b323d1
commit 6e704370b3
63 changed files with 7 additions and 2994 deletions
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132
wpilibc/src/main/native/cpp/AnalogTrigger.cpp
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@@ -1,132 +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/AnalogTrigger.h"
#include <memory>
#include <utility>
#include <hal/AnalogTrigger.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/AnalogInput.h"
#include "frc/DutyCycle.h"
#include "frc/Errors.h"
using namespace frc;
AnalogTrigger::AnalogTrigger(int channel)
: AnalogTrigger(std::make_shared<AnalogInput>(channel)) {
m_ownsAnalog = true;
wpi::SendableRegistry::AddChild(this, m_analogInput.get());
}
AnalogTrigger::AnalogTrigger(AnalogInput& input)
: AnalogTrigger{{&input, wpi::NullDeleter<AnalogInput>{}}} {}
AnalogTrigger::AnalogTrigger(AnalogInput* input)
: AnalogTrigger{{input, wpi::NullDeleter<AnalogInput>{}}} {}
AnalogTrigger::AnalogTrigger(std::shared_ptr<AnalogInput> input)
: m_analogInput{std::move(input)} {
int32_t status = 0;
m_trigger = HAL_InitializeAnalogTrigger(m_analogInput->m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analogInput->GetChannel());
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
}
AnalogTrigger::AnalogTrigger(DutyCycle& input)
: AnalogTrigger{{&input, wpi::NullDeleter<DutyCycle>{}}} {}
AnalogTrigger::AnalogTrigger(DutyCycle* input)
: AnalogTrigger{{input, wpi::NullDeleter<DutyCycle>{}}} {}
AnalogTrigger::AnalogTrigger(std::shared_ptr<DutyCycle> input)
: m_dutyCycle{input} {
int32_t status = 0;
m_trigger = HAL_InitializeAnalogTriggerDutyCycle(input->m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_dutyCycle->GetSourceChannel());
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
}
void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {
int32_t status = 0;
HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
}
void AnalogTrigger::SetLimitsDutyCycle(double lower, double upper) {
int32_t status = 0;
HAL_SetAnalogTriggerLimitsDutyCycle(m_trigger, lower, upper, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
}
void AnalogTrigger::SetLimitsRaw(int lower, int upper) {
int32_t status = 0;
HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
}
void AnalogTrigger::SetAveraged(bool useAveragedValue) {
int32_t status = 0;
HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
}
void AnalogTrigger::SetFiltered(bool useFilteredValue) {
int32_t status = 0;
HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
}
int AnalogTrigger::GetIndex() const {
int32_t status = 0;
auto ret = HAL_GetAnalogTriggerFPGAIndex(m_trigger, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
return ret;
}
bool AnalogTrigger::GetInWindow() {
int32_t status = 0;
bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
return result;
}
bool AnalogTrigger::GetTriggerState() {
int32_t status = 0;
bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
return result;
}
std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
AnalogTriggerType type) const {
return std::shared_ptr<AnalogTriggerOutput>(
new AnalogTriggerOutput(*this, type));
}
void AnalogTrigger::InitSendable(wpi::SendableBuilder& builder) {
if (m_ownsAnalog) {
m_analogInput->InitSendable(builder);
}
}
int AnalogTrigger::GetSourceChannel() const {
if (m_analogInput) {
return m_analogInput->GetChannel();
} else if (m_dutyCycle) {
return m_dutyCycle->GetSourceChannel();
} else {
return -1;
}
}

48
wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp
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@@ -1,48 +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/AnalogTriggerOutput.h"
#include <hal/AnalogTrigger.h>
#include <hal/FRCUsageReporting.h>
#include "frc/AnalogTrigger.h"
#include "frc/AnalogTriggerType.h"
#include "frc/Errors.h"
using namespace frc;
bool AnalogTriggerOutput::Get() const {
int32_t status = 0;
bool result = HAL_GetAnalogTriggerOutput(
m_trigger->m_trigger, static_cast<HAL_AnalogTriggerType>(m_outputType),
&status);
FRC_CheckErrorStatus(status, "Get");
return result;
}
HAL_Handle AnalogTriggerOutput::GetPortHandleForRouting() const {
return m_trigger->m_trigger;
}
AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const {
return m_outputType;
}
bool AnalogTriggerOutput::IsAnalogTrigger() const {
return true;
}
int AnalogTriggerOutput::GetChannel() const {
return m_trigger->GetIndex();
}
void AnalogTriggerOutput::InitSendable(wpi::SendableBuilder&) {}
AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
AnalogTriggerType outputType)
: m_trigger(&trigger), m_outputType(outputType) {
HAL_Report(HALUsageReporting::kResourceType_AnalogTriggerOutput,
trigger.GetIndex() + 1, static_cast<uint8_t>(outputType) + 1);
}

12
wpilibc/src/main/native/cpp/DigitalInput.cpp
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@@ -42,18 +42,6 @@ bool DigitalInput::Get() const {
return value;
}
HAL_Handle DigitalInput::GetPortHandleForRouting() const {
return m_handle;
}
AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
return static_cast<AnalogTriggerType>(0);
}
bool DigitalInput::IsAnalogTrigger() const {
return false;
}
void DigitalInput::SetSimDevice(HAL_SimDeviceHandle device) {
HAL_SetDIOSimDevice(m_handle, device);
}

12
wpilibc/src/main/native/cpp/DigitalOutput.cpp
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@@ -60,18 +60,6 @@ bool DigitalOutput::Get() const {
return val;
}
HAL_Handle DigitalOutput::GetPortHandleForRouting() const {
return m_handle;
}
AnalogTriggerType DigitalOutput::GetAnalogTriggerTypeForRouting() const {
return static_cast<AnalogTriggerType>(0);
}
bool DigitalOutput::IsAnalogTrigger() const {
return false;
}
int DigitalOutput::GetChannel() const {
return m_channel;
}

1
wpilibc/src/main/native/cpp/DutyCycle.cpp
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@@ -14,7 +14,6 @@
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/DigitalSource.h"
#include "frc/Errors.h"
#include "frc/SensorUtil.h"

1
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -11,7 +11,6 @@
#include <wpi/sendable/SendableBuilder.h>
#include "frc/DigitalInput.h"
#include "frc/DigitalSource.h"
#include "frc/DutyCycle.h"
#include "frc/MathUtil.h"

1
wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
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@@ -12,7 +12,6 @@
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/DigitalSource.h"
#include "frc/Errors.h"
using namespace frc;

89
wpilibc/src/main/native/cpp/simulation/AnalogTriggerSim.cpp
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@@ -1,89 +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/simulation/AnalogTriggerSim.h"
#include <memory>
#include <stdexcept>
#include <hal/simulation/AnalogTriggerData.h>
#include "frc/AnalogTrigger.h"
using namespace frc;
using namespace frc::sim;
AnalogTriggerSim::AnalogTriggerSim(const AnalogTrigger& analogTrigger)
: m_index{analogTrigger.GetIndex()} {}
AnalogTriggerSim AnalogTriggerSim::CreateForChannel(int channel) {
int index = HALSIM_FindAnalogTriggerForChannel(channel);
if (index < 0) {
throw std::out_of_range("no analog trigger found for channel");
}
return AnalogTriggerSim{index};
}
AnalogTriggerSim AnalogTriggerSim::CreateForIndex(int index) {
return AnalogTriggerSim{index};
}
std::unique_ptr<CallbackStore> AnalogTriggerSim::RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogTriggerInitializedCallback);
store->SetUid(HALSIM_RegisterAnalogTriggerInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool AnalogTriggerSim::GetInitialized() const {
return HALSIM_GetAnalogTriggerInitialized(m_index);
}
void AnalogTriggerSim::SetInitialized(bool initialized) {
HALSIM_SetAnalogTriggerInitialized(m_index, initialized);
}
std::unique_ptr<CallbackStore>
AnalogTriggerSim::RegisterTriggerLowerBoundCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback,
&HALSIM_CancelAnalogTriggerTriggerLowerBoundCallback);
store->SetUid(HALSIM_RegisterAnalogTriggerTriggerLowerBoundCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double AnalogTriggerSim::GetTriggerLowerBound() const {
return HALSIM_GetAnalogTriggerTriggerLowerBound(m_index);
}
void AnalogTriggerSim::SetTriggerLowerBound(double triggerLowerBound) {
HALSIM_SetAnalogTriggerTriggerLowerBound(m_index, triggerLowerBound);
}
std::unique_ptr<CallbackStore>
AnalogTriggerSim::RegisterTriggerUpperBoundCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback,
&HALSIM_CancelAnalogTriggerTriggerUpperBoundCallback);
store->SetUid(HALSIM_RegisterAnalogTriggerTriggerUpperBoundCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double AnalogTriggerSim::GetTriggerUpperBound() const {
return HALSIM_GetAnalogTriggerTriggerUpperBound(m_index);
}
void AnalogTriggerSim::SetTriggerUpperBound(double triggerUpperBound) {
HALSIM_SetAnalogTriggerTriggerUpperBound(m_index, triggerUpperBound);
}
void AnalogTriggerSim::ResetData() {
HALSIM_ResetAnalogTriggerData(m_index);
}