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Moved C++ comments from source files to headers (#1111)

Browse Source 
Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
2018-05-31 20:47:15 -07:00
committed by Peter Johnson
parent d9971a705a
commit 8c680a26f8
234 changed files with 9936 additions and 9309 deletions
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120
hal/src/main/native/sim/DIO.cpp
View File

@@ -37,9 +37,6 @@ void InitializeDIO() {
extern "C" {
/**
* Create a new instance of a digital port.
*/
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
HAL_Bool input, int32_t* status) {
hal::init::CheckInit();
@@ -84,12 +81,6 @@ void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
SimDIOData[port->channel].SetInitialized(true);
}
/**
* Allocate a DO PWM Generator.
* Allocate PWM generators so that they are not accidentally reused.
*
* @return PWM Generator handle
*/
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
auto handle = digitalPWMHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
@@ -109,12 +100,6 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
return handle;
}
/**
* Free the resource associated with a DO PWM generator.
*
* @param pwmGenerator The pwmGen to free that was allocated with
* allocateDigitalPWM()
*/
void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
digitalPWMHandles->Free(pwmGenerator);
@@ -123,14 +108,6 @@ void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
SimDigitalPWMData[id].SetInitialized(false);
}
/**
* Change the frequency of the DO PWM generator.
*
* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is
* logarithmic.
*
* @param rate The frequency to output all digital output PWM signals.
*/
void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
// Currently rounding in the log rate domain... heavy weight toward picking a
// higher freq.
@@ -143,12 +120,6 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
// digitalSystem->writePWMPeriodPower(pwmPeriodPower, status);
}
/**
* Configure the duty-cycle of the PWM generator
*
* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
* @param dutyCycle The percent duty cycle to output [0..1].
*/
void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
double dutyCycle, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
@@ -162,12 +133,6 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
SimDigitalPWMData[id].SetDutyCycle(dutyCycle);
}
/**
* Configure which DO channel the PWM signal is output on
*
* @param pwmGenerator The generator index reserved by allocateDigitalPWM()
* @param channel The Digital Output channel to output on
*/
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
int32_t channel, int32_t* status) {
auto port = digitalPWMHandles->Get(pwmGenerator);
@@ -179,14 +144,6 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
SimDigitalPWMData[id].SetPin(channel);
}
/**
* Write a digital I/O bit to the FPGA.
* Set a single value on a digital I/O channel.
*
* @param channel The Digital I/O channel
* @param value The state to set the digital channel (if it is configured as an
* output)
*/
void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -200,12 +157,6 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
SimDIOData[port->channel].SetValue(value);
}
/**
* Set direction of a DIO channel.
*
* @param channel The Digital I/O channel
* @param input true to set input, false for output
*/
void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -217,13 +168,6 @@ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
SimDIOData[port->channel].SetIsInput(input);
}
/**
* Read a digital I/O bit from the FPGA.
* Get a single value from a digital I/O channel.
*
* @param channel The digital I/O channel
* @return The state of the specified channel
*/
HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -236,13 +180,6 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
return value;
}
/**
* Read the direction of a the Digital I/O lines
* A 1 bit means output and a 0 bit means input.
*
* @param channel The digital I/O channel
* @return The direction of the specified channel
*/
HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -255,14 +192,6 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
return value;
}
/**
* Generate a single pulse.
* Write a pulse to the specified digital output channel. There can only be a
* single pulse going at any time.
*
* @param channel The Digital Output channel that the pulse should be output on
* @param pulseLength The active length of the pulse (in seconds)
*/
void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -273,11 +202,6 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
// TODO (Thad) Add this
}
/**
* Check a DIO line to see if it is currently generating a pulse.
*
* @return A pulse is in progress
*/
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -288,23 +212,10 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
// TODO (Thad) Add this
}
/**
* Check if any DIO line is currently generating a pulse.
*
* @return A pulse on some line is in progress
*/
HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
return false; // TODO(Thad) Figure this out
}
/**
* Write the filter index from the FPGA.
* Set the filter index used to filter out short pulses.
*
* @param dioPortHandle Handle to the digital I/O channel
* @param filterIndex The filter index. Must be in the range 0 - 3, where 0
* means "none" and 1 - 3 means filter # filterIndex - 1.
*/
void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
@@ -316,14 +227,6 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
// TODO(Thad) Figure this out
}
/**
* Read the filter index from the FPGA.
* Get the filter index used to filter out short pulses.
*
* @param dioPortHandle Handle to the digital I/O channel
* @return filterIndex The filter index. Must be in the range 0 - 3,
* where 0 means "none" and 1 - 3 means filter # filterIndex - 1.
*/
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
@@ -334,33 +237,10 @@ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
// TODO(Thad) Figure this out
}
/**
* Set the filter period for the specified filter index.
*
* Set the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
* compilicates the interface. That can be changed later.
*
* @param filterIndex The filter index, 0 - 2.
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) {
// TODO(Thad) figure this out
}
/**
* Get the filter period for the specified filter index.
*
* Get the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
* compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the
* filter values miss-match.
*
* @param filterIndex The filter index, 0 - 2.
* @param value The number of cycles that the signal must not transition to be
* counted as a transition.
*/
int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status) {
return 0; // TODO(Thad) figure this out
}

30
hal/src/main/native/sim/DigitalInternal.cpp
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@@ -28,26 +28,6 @@ void InitializeDigitalInternal() {
}
} // namespace init
/**
* Map DIO channel numbers from their physical number (10 to 26) to their
* position in the bit field.
*/
int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
int32_t remapMXPPWMChannel(int32_t channel) {
if (channel < 14) {
return channel - 10; // first block of 4 pwms (MXP 0-3)
} else {
return channel - 6; // block of PWMs after SPI
}
}
/**
* remap the digital source channel and set the module.
* If it's an analog trigger, determine the module from the high order routing
* channel else do normal digital input remapping based on channel number
* (MXP)
*/
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
uint8_t& channel, uint8_t& module,
@@ -75,6 +55,16 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle,
}
}
int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
int32_t remapMXPPWMChannel(int32_t channel) {
if (channel < 14) {
return channel - 10; // first block of 4 pwms (MXP 0-3)
} else {
return channel - 6; // block of PWMs after SPI
}
}
int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status) {
auto digital = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
if (digital == nullptr) {

15
hal/src/main/native/sim/DigitalInternal.h
View File

@@ -70,11 +70,24 @@ extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
kNumDigitalChannels + kNumPWMHeaders>*
digitalChannelHandles;
/**
* Remap the digital source channel and set the module.
*
* If it's an analog trigger, determine the module from the high order routing
* channel else do normal digital input remapping based on channel number
* (MXP).
*/
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
uint8_t& channel, uint8_t& module, bool& analogTrigger);
int32_t remapMXPPWMChannel(int32_t channel);
/**
* Map DIO channel numbers from their physical number (10 to 26) to their
* position in the bit field.
*/
int32_t remapMXPChannel(int32_t channel);
int32_t remapMXPPWMChannel(int32_t channel);
int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status);
} // namespace hal

29
hal/src/main/native/sim/DriverStation.cpp
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@@ -124,17 +124,7 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
SimDriverStationData->GetJoystickButtons(joystickNum, buttons);
return 0;
}
/**
* Retrieve the Joystick Descriptor for particular slot
* @param desc [out] descriptor (data transfer object) to fill in. desc is
* filled in regardless of success. In other words, if descriptor is not
* available, desc is filled in with default values matching the init-values in
* Java and C++ Driverstation for when caller requests a too-large joystick
* index.
*
* @return error code reported from Network Comm back-end. Zero is good,
* nonzero is bad.
*/
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc) {
SimDriverStationData->GetJoystickDescriptor(joystickNum, desc);
@@ -241,16 +231,8 @@ bool HAL_IsNewControlData(void) {
return true;
}
/**
* Waits for the newest DS packet to arrive. Note that this is a blocking call.
*/
void HAL_WaitForDSData(void) { HAL_WaitForDSDataTimeout(0); }
/**
* Waits for the newest DS packet to arrive. If timeout is <= 0, this will wait
* forever. Otherwise, it will wait until either a new packet, or the timeout
* time has passed. Returns true on new data, false on timeout.
*/
HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
@@ -284,11 +266,6 @@ static int32_t newDataOccur(uint32_t refNum) {
return 0;
}
/*
* Call this to initialize the driver station communication. This will properly
* handle multiple calls. However note that this CANNOT be called from a library
* that interfaces with LabVIEW.
*/
void HAL_InitializeDriverStation(void) {
hal::init::CheckInit();
static std::atomic_bool initialized{false};
@@ -305,10 +282,6 @@ void HAL_InitializeDriverStation(void) {
initialized = true;
}
/*
* Releases the DS Mutex to allow proper shutdown of any threads that are
* waiting on it.
*/
void HAL_ReleaseDSMutex(void) { newDataOccur(refNumber); }
} // extern "C"

4
hal/src/main/native/sim/Extensions.cpp
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@@ -67,10 +67,6 @@ int HAL_LoadOneExtension(const char* library) {
return rc;
}
/**
* Load any extra halsim libraries provided in the HALSIM_EXTENSIONS
* environment variable.
*/
int HAL_LoadExtensions(void) {
int rc = 1;
wpi::SmallVector<wpi::StringRef, 2> libraries;

29
hal/src/main/native/sim/HAL.cpp
View File

@@ -83,9 +83,6 @@ HAL_PortHandle HAL_GetPort(int32_t channel) {
return createPortHandle(channel, 1);
}
/**
* @deprecated Uses module numbers
*/
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) {
// Dont allow a number that wouldn't fit in a uint8_t
if (channel < 0 || channel >= 255) return HAL_kInvalidHandle;
@@ -204,44 +201,18 @@ const char* HAL_GetErrorMessage(int32_t code) {
}
}
/**
* Returns the runtime type of this HAL
*/
HAL_RuntimeType HAL_GetRuntimeType(void) { return HAL_Mock; }
/**
* Return the FPGA Version number.
* For now, expect this to be competition year.
* @return FPGA Version number.
*/
int32_t HAL_GetFPGAVersion(int32_t* status) {
return 2018; // Automatically script this at some point
}
/**
* Return the FPGA Revision number.
* The format of the revision is 3 numbers.
* The 12 most significant bits are the Major Revision.
* the next 8 bits are the Minor Revision.
* The 12 least significant bits are the Build Number.
* @return FPGA Revision number.
*/
int64_t HAL_GetFPGARevision(int32_t* status) {
return 0; // TODO: Find a better number to return;
}
/**
* Read the microsecond-resolution timer on the FPGA.
*
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
uint64_t HAL_GetFPGATime(int32_t* status) { return hal::GetFPGATime(); }
/**
* Get the state of the "USER" button on the roboRIO
* @return true if the button is currently pressed down
*/
HAL_Bool HAL_GetFPGAButton(int32_t* status) {
return SimRoboRioData[0].GetFPGAButton();
}

60
hal/src/main/native/sim/PWM.cpp
View File

@@ -166,14 +166,6 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
return port->eliminateDeadband;
}
/**
* Set a PWM channel to the desired value. The values range from 0 to 255 and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The PWM value to set.
*/
void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -185,15 +177,6 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
SimPWMData[port->channel].SetRawValue(value);
}
/**
* Set a PWM channel to the desired scaled value. The values range from -1 to 1
* and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -215,15 +198,6 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
SimPWMData[port->channel].SetSpeed(speed);
}
/**
* Set a PWM channel to the desired position value. The values range from 0 to 1
* and
* the period is controlled
* by the PWM Period and MinHigh registers.
*
* @param channel The PWM channel to set.
* @param value The scaled PWM value to set.
*/
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -256,12 +230,6 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
SimPWMData[port->channel].SetSpeed(0);
}
/**
* Get a value from a PWM channel. The values range from 0 to 255.
*
* @param channel The PWM channel to read from.
* @return The raw PWM value.
*/
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -272,12 +240,6 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return SimPWMData[port->channel].GetRawValue();
}
/**
* Get a scaled value from a PWM channel. The values range from -1 to 1.
*
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -295,12 +257,6 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return speed;
}
/**
* Get a position value from a PWM channel. The values range from 0 to 1.
*
* @param channel The PWM channel to read from.
* @return The scaled PWM value.
*/
double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
@@ -329,12 +285,6 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
SimPWMData[port->channel].SetZeroLatch(false);
}
/**
* Set how how often the PWM signal is squelched, thus scaling the period.
*
* @param channel The PWM channel to configure.
* @param squelchMask The 2-bit mask of outputs to squelch.
*/
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
@@ -346,17 +296,7 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
SimPWMData[port->channel].SetPeriodScale(squelchMask);
}
/**
* Get the loop timing of the PWM system
*
* @return The loop time
*/
int32_t HAL_GetPWMLoopTiming(int32_t* status) { return kExpectedLoopTiming; }
/**
* Get the pwm starting cycle time
*
* @return The pwm cycle start time.
*/
uint64_t HAL_GetPWMCycleStartTime(int32_t* status) { return 0; }
} // extern "C"