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Moves DriverStation HAL code to its own header and definition (#179)

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To allow for future use as a plugin for the HAL simulator.
This commit is contained in:
Thad House
2016-07-17 19:42:33 -07:00
committed by Peter Johnson
parent f7c3f13a7f
commit 75eabfee1c
4 changed files with 187 additions and 162 deletions
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116
hal/include/HAL/DriverStation.h Normal file
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@@ -0,0 +1,116 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2013-2016. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stddef.h>
#include <stdint.h>
#include "HAL/Types.h"
#define HAL_IO_CONFIG_DATA_SIZE 32
#define HAL_SYS_STATUS_DATA_SIZE 44
#define HAL_USER_STATUS_DATA_SIZE \
(984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
struct HAL_ControlWord {
uint32_t enabled : 1;
uint32_t autonomous : 1;
uint32_t test : 1;
uint32_t eStop : 1;
uint32_t fmsAttached : 1;
uint32_t dsAttached : 1;
uint32_t control_reserved : 26;
};
enum HAL_AllianceStationID {
HAL_AllianceStationID_kRed1,
HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3,
HAL_AllianceStationID_kBlue1,
HAL_AllianceStationID_kBlue2,
HAL_AllianceStationID_kBlue3,
};
/* The maximum number of axes that will be stored in a single HALJoystickAxes
* struct. This is used for allocating buffers, not bounds checking, since
* there are usually less axes in practice.
*/
#define HAL_kMaxJoystickAxes 12
#define HAL_kMaxJoystickPOVs 12
struct HAL_JoystickAxes {
uint16_t count;
float axes[HAL_kMaxJoystickAxes];
};
struct HAL_JoystickPOVs {
uint16_t count;
int16_t povs[HAL_kMaxJoystickPOVs];
};
struct HAL_JoystickButtons {
uint32_t buttons;
uint8_t count;
};
struct HAL_JoystickDescriptor {
uint8_t isXbox;
uint8_t type;
char name[256];
uint8_t axisCount;
uint8_t axisTypes[HAL_kMaxJoystickAxes];
uint8_t buttonCount;
uint8_t povCount;
};
#ifdef __cplusplus
extern "C" {
#endif
int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
int32_t wait_ms);
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg);
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord);
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status);
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons);
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc);
HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum);
int32_t HAL_GetJoystickType(int32_t joystickNum);
char* HAL_GetJoystickName(int32_t joystickNum);
int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis);
int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble);
double HAL_GetMatchTime(int32_t* status);
void HAL_WaitForDSData(void);
void HAL_InitializeDriverStation(void);
void HAL_ObserveUserProgramStarting(void);
void HAL_ObserveUserProgramDisabled(void);
void HAL_ObserveUserProgramAutonomous(void);
void HAL_ObserveUserProgramTeleop(void);
void HAL_ObserveUserProgramTest(void);
#ifdef __cplusplus
} // extern "C"
#endif

96
hal/include/HAL/HAL.h
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@@ -20,6 +20,7 @@
#include "HAL/Constants.h"
#include "HAL/Counter.h"
#include "HAL/DIO.h"
#include "HAL/DriverStation.h"
#include "HAL/Errors.h"
#include "HAL/I2C.h"
#include "HAL/Interrupts.h"
@@ -37,72 +38,6 @@
namespace HALUsageReporting = nUsageReporting;
#define HAL_IO_CONFIG_DATA_SIZE 32
#define HAL_SYS_STATUS_DATA_SIZE 44
#define HAL_USER_STATUS_DATA_SIZE \
(984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
struct HAL_ControlWord {
uint32_t enabled : 1;
uint32_t autonomous : 1;
uint32_t test : 1;
uint32_t eStop : 1;
uint32_t fmsAttached : 1;
uint32_t dsAttached : 1;
uint32_t control_reserved : 26;
};
enum HAL_AllianceStationID {
HAL_AllianceStationID_kRed1,
HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3,
HAL_AllianceStationID_kBlue1,
HAL_AllianceStationID_kBlue2,
HAL_AllianceStationID_kBlue3,
};
/* The maximum number of axes that will be stored in a single HALJoystickAxes
* struct. This is used for allocating buffers, not bounds checking, since
* there are usually less axes in practice.
*/
static constexpr size_t HAL_kMaxJoystickAxes = 12;
static constexpr size_t HAL_kMaxJoystickPOVs = 12;
struct HAL_JoystickAxes {
uint16_t count;
float axes[HAL_kMaxJoystickAxes];
};
struct HAL_JoystickPOVs {
uint16_t count;
int16_t povs[HAL_kMaxJoystickPOVs];
};
struct HAL_JoystickButtons {
uint32_t buttons;
uint8_t count;
};
struct HAL_JoystickDescriptor {
uint8_t isXbox;
uint8_t type;
char name[256];
uint8_t axisCount;
uint8_t axisTypes[HAL_kMaxJoystickAxes];
uint8_t buttonCount;
uint8_t povCount;
};
#ifdef __cplusplus
extern "C" {
#endif
@@ -116,39 +51,10 @@ uint64_t HAL_GetFPGATime(int32_t* status);
HAL_Bool HAL_GetFPGAButton(int32_t* status);
int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
int32_t wait_ms);
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg);
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord);
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status);
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons);
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc);
HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum);
int32_t HAL_GetJoystickType(int32_t joystickNum);
char* HAL_GetJoystickName(int32_t joystickNum);
int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis);
int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble);
double HAL_GetMatchTime(int32_t* status);
void HAL_WaitForDSData(void);
HAL_Bool HAL_GetSystemActive(int32_t* status);
HAL_Bool HAL_GetBrownedOut(int32_t* status);
int32_t HAL_Initialize(int32_t mode);
void HAL_ObserveUserProgramStarting(void);
void HAL_ObserveUserProgramDisabled(void);
void HAL_ObserveUserProgramAutonomous(void);
void HAL_ObserveUserProgramTeleop(void);
void HAL_ObserveUserProgramTest(void);
// ifdef's definition is to allow for default parameters in C++.
#ifdef __cplusplus

68
hal/lib/athena/HALAthena.cpp
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@@ -6,7 +6,6 @@
/*----------------------------------------------------------------------------*/
#include "HAL/HAL.h"
#include "HAL/cpp/priority_mutex.h"
#include <signal.h> // linux for kill
#include <stdlib.h>
@@ -23,7 +22,6 @@
#include "FRC_NetworkCommunication/FRCComm.h"
#include "FRC_NetworkCommunication/LoadOut.h"
#include "HAL/Errors.h"
#include "HAL/cpp/priority_condition_variable.h"
#include "HAL/cpp/priority_mutex.h"
#include "HAL/handles/HandlesInternal.h"
#include "ctre/ctre.h"
@@ -33,14 +31,10 @@ static tGlobal* global = nullptr;
static tSysWatchdog* watchdog = nullptr;
static priority_mutex timeMutex;
static priority_mutex msgMutex;
static uint32_t timeEpoch = 0;
static uint32_t prevFPGATime = 0;
static HAL_NotifierHandle rolloverNotifier = 0;
static priority_condition_variable newDSDataAvailableCond;
static priority_mutex newDSDataAvailableMutex;
using namespace hal;
extern "C" {
@@ -231,57 +225,6 @@ HAL_Bool HAL_GetFPGAButton(int32_t* status) {
return global->readUserButton(status);
}
int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
int32_t wait_ms) {
return setErrorData(errors, errorsLength, wait_ms);
}
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg) {
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
std::lock_guard<priority_mutex> lock(msgMutex);
static std::string prev_msg[KEEP_MSGS];
static uint64_t prev_msg_time[KEEP_MSGS] = {0, 0, 0};
int32_t status = 0;
uint64_t curTime = HAL_GetFPGATime(&status);
int i;
for (i = 0; i < KEEP_MSGS; ++i) {
if (prev_msg[i] == details) break;
}
int retval = 0;
if (i == KEEP_MSGS || (curTime - prev_msg_time[i]) >= 1000000) {
retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
details, location, callStack);
if (printMsg) {
if (location && location[0] != '\0') {
fprintf(stderr, "%s at %s: ", isError ? "Error" : "Warning", location);
}
fprintf(stderr, "%s\n", details);
if (callStack && callStack[0] != '\0') {
fprintf(stderr, "%s\n", callStack);
}
}
if (i == KEEP_MSGS) {
// replace the oldest one
i = 0;
uint64_t first = prev_msg_time[0];
for (int j = 1; j < KEEP_MSGS; ++j) {
if (prev_msg_time[j] < first) {
first = prev_msg_time[j];
i = j;
}
}
prev_msg[i] = details;
}
prev_msg_time[i] = curTime;
}
return retval;
}
HAL_Bool HAL_GetSystemActive(int32_t* status) {
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
@@ -313,14 +256,6 @@ static void timerRollover(uint64_t currentTime, void*) {
&status);
}
/**
* Waits for the newest DS packet to arrive. Note that this is a blocking call.
*/
void HAL_WaitForDSData() {
std::unique_lock<priority_mutex> lock(newDSDataAvailableMutex);
newDSDataAvailableCond.wait(lock);
}
/**
* Call this to start up HAL. This is required for robot programs.
*/
@@ -388,8 +323,7 @@ int32_t HAL_Initialize(int32_t mode) {
fs << pid << std::endl;
fs.close();
// Set our DS new data condition variable.
setNewDataSem(newDSDataAvailableCond.native_handle());
HAL_InitializeDriverStation();
return 1;
}

69
hal/lib/shared/HAL.cpp → hal/lib/shared/FRCDriverStation.cpp
View File

@@ -12,13 +12,69 @@
#include <limits>
#include "FRC_NetworkCommunication/FRCComm.h"
#include "HAL/cpp/priority_condition_variable.h"
#include "HAL/cpp/priority_mutex.h"
struct HAL_JoystickAxesInt {
uint16_t count;
int16_t axes[HAL_kMaxJoystickAxes];
};
static priority_mutex msgMutex;
static priority_condition_variable newDSDataAvailableCond;
static priority_mutex newDSDataAvailableMutex;
extern "C" {
int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
int32_t wait_ms) {
return setErrorData(errors, errorsLength, wait_ms);
}
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg) {
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
std::lock_guard<priority_mutex> lock(msgMutex);
static std::string prev_msg[KEEP_MSGS];
static uint64_t prev_msg_time[KEEP_MSGS] = {0, 0, 0};
int32_t status = 0;
uint64_t curTime = HAL_GetFPGATime(&status);
int i;
for (i = 0; i < KEEP_MSGS; ++i) {
if (prev_msg[i] == details) break;
}
int retval = 0;
if (i == KEEP_MSGS || (curTime - prev_msg_time[i]) >= 1000000) {
retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
details, location, callStack);
if (printMsg) {
if (location && location[0] != '\0') {
fprintf(stderr, "%s at %s: ", isError ? "Error" : "Warning", location);
}
fprintf(stderr, "%s\n", details);
if (callStack && callStack[0] != '\0') {
fprintf(stderr, "%s\n", callStack);
}
}
if (i == KEEP_MSGS) {
// replace the oldest one
i = 0;
uint64_t first = prev_msg_time[0];
for (int j = 1; j < KEEP_MSGS; ++j) {
if (prev_msg_time[j] < first) {
first = prev_msg_time[j];
i = j;
}
}
prev_msg[i] = details;
}
prev_msg_time[i] = curTime;
}
return retval;
}
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
std::memset(controlWord, 0, sizeof(HAL_ControlWord));
@@ -175,4 +231,17 @@ void HAL_ObserveUserProgramTest(void) {
FRC_NetworkCommunication_observeUserProgramTest();
}
/**
* Waits for the newest DS packet to arrive. Note that this is a blocking call.
*/
void HAL_WaitForDSData(void) {
std::unique_lock<priority_mutex> lock(newDSDataAvailableMutex);
newDSDataAvailableCond.wait(lock);
}
void HAL_InitializeDriverStation(void) {
// Set our DS new data condition variable.
setNewDataSem(newDSDataAvailableCond.native_handle());
}
} // extern "C"