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

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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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235
wpilibc/src/main/native/cpp/Ultrasonic.cpp
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@@ -25,68 +25,6 @@ std::atomic<bool> Ultrasonic::m_automaticEnabled{false};
std::vector<Ultrasonic*> Ultrasonic::m_sensors;
std::thread Ultrasonic::m_thread;
/**
* Background task that goes through the list of ultrasonic sensors and pings
* each one in turn. The counter is configured to read the timing of the
* returned echo pulse.
*
* DANGER WILL ROBINSON, DANGER WILL ROBINSON:
* This code runs as a task and assumes that none of the ultrasonic sensors
* will change while it's running. Make sure to disable automatic mode before
* touching the list.
*/
void Ultrasonic::UltrasonicChecker() {
while (m_automaticEnabled) {
for (auto& sensor : m_sensors) {
if (!m_automaticEnabled) break;
if (sensor->IsEnabled()) {
sensor->m_pingChannel->Pulse(kPingTime); // do the ping
}
Wait(0.1); // wait for ping to return
}
}
}
/**
* Initialize the Ultrasonic Sensor.
*
* This is the common code that initializes the ultrasonic sensor given that
* there are two digital I/O channels allocated. If the system was running in
* automatic mode (round robin) when the new sensor is added, it is stopped, the
* sensor is added, then automatic mode is restored.
*/
void Ultrasonic::Initialize() {
bool originalMode = m_automaticEnabled;
SetAutomaticMode(false); // Kill task when adding a new sensor
// Link this instance on the list
m_sensors.emplace_back(this);
m_counter.SetMaxPeriod(1.0);
m_counter.SetSemiPeriodMode(true);
m_counter.Reset();
m_enabled = true; // Make it available for round robin scheduling
SetAutomaticMode(originalMode);
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
SetName("Ultrasonic", m_echoChannel->GetChannel());
}
/**
* Create an instance of the Ultrasonic Sensor.
*
* This is designed to support the Daventech SRF04 and Vex ultrasonic sensors.
*
* @param pingChannel The digital output channel that sends the pulse to
* initiate the sensor sending the ping.
* @param echoChannel The digital input channel that receives the echo. The
* length of time that the echo is high represents the
* round trip time of the ping, and the distance.
* @param units The units returned in either kInches or kMilliMeters
*/
Ultrasonic::Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units)
: m_pingChannel(std::make_shared<DigitalOutput>(pingChannel)),
m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
@@ -97,16 +35,6 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units)
AddChild(m_echoChannel);
}
/**
* Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
* channel and a DigitalOutput for the ping channel.
*
* @param pingChannel The digital output object that starts the sensor doing a
* ping. Requires a 10uS pulse to start.
* @param echoChannel The digital input object that times the return pulse to
* determine the range.
* @param units The units returned in either kInches or kMilliMeters
*/
Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
DistanceUnit units)
: m_pingChannel(pingChannel, NullDeleter<DigitalOutput>()),
@@ -121,16 +49,6 @@ Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
Initialize();
}
/**
* Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
* channel and a DigitalOutput for the ping channel.
*
* @param pingChannel The digital output object that starts the sensor doing a
* ping. Requires a 10uS pulse to start.
* @param echoChannel The digital input object that times the return pulse to
* determine the range.
* @param units The units returned in either kInches or kMilliMeters
*/
Ultrasonic::Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
DistanceUnit units)
: m_pingChannel(&pingChannel, NullDeleter<DigitalOutput>()),
@@ -140,16 +58,6 @@ Ultrasonic::Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
Initialize();
}
/**
* Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
* channel and a DigitalOutput for the ping channel.
*
* @param pingChannel The digital output object that starts the sensor doing a
* ping. Requires a 10uS pulse to start.
* @param echoChannel The digital input object that times the return pulse to
* determine the range.
* @param units The units returned in either kInches or kMilliMeters
*/
Ultrasonic::Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
std::shared_ptr<DigitalInput> echoChannel,
DistanceUnit units)
@@ -160,15 +68,12 @@ Ultrasonic::Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
Initialize();
}
/**
* Destructor for the ultrasonic sensor.
*
* Delete the instance of the ultrasonic sensor by freeing the allocated digital
* channels. If the system was in automatic mode (round robin), then it is
* stopped, then started again after this sensor is removed (provided this
* wasn't the last sensor).
*/
Ultrasonic::~Ultrasonic() {
// Delete the instance of the ultrasonic sensor by freeing the allocated
// digital channels. If the system was in automatic mode (round robin), then
// it is stopped, then started again after this sensor is removed (provided
// this wasn't the last sensor).
bool wasAutomaticMode = m_automaticEnabled;
SetAutomaticMode(false);
@@ -181,19 +86,18 @@ Ultrasonic::~Ultrasonic() {
}
}
/**
* Turn Automatic mode on/off.
*
* When in Automatic mode, all sensors will fire in round robin, waiting a set
* time between each sensor.
*
* @param enabling Set to true if round robin scheduling should start for all
* the ultrasonic sensors. This scheduling method assures that
* the sensors are non-interfering because no two sensors fire
* at the same time. If another scheduling algorithm is
* prefered, it can be implemented by pinging the sensors
* manually and waiting for the results to come back.
*/
void Ultrasonic::Ping() {
wpi_assert(!m_automaticEnabled);
// Reset the counter to zero (invalid data now)
m_counter.Reset();
// Do the ping to start getting a single range
m_pingChannel->Pulse(kPingTime);
}
bool Ultrasonic::IsRangeValid() const { return m_counter.Get() > 1; }
void Ultrasonic::SetAutomaticMode(bool enabling) {
if (enabling == m_automaticEnabled) return; // ignore the case of no change
@@ -226,40 +130,6 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
}
}
/**
* Single ping to ultrasonic sensor.
*
* Send out a single ping to the ultrasonic sensor. This only works if automatic
* (round robin) mode is disabled. A single ping is sent out, and the counter
* should count the semi-period when it comes in. The counter is reset to make
* the current value invalid.
*/
void Ultrasonic::Ping() {
wpi_assert(!m_automaticEnabled);
// Reset the counter to zero (invalid data now)
m_counter.Reset();
// Do the ping to start getting a single range
m_pingChannel->Pulse(kPingTime);
}
/**
* Check if there is a valid range measurement.
*
* The ranges are accumulated in a counter that will increment on each edge of
* the echo (return) signal. If the count is not at least 2, then the range has
* not yet been measured, and is invalid.
*/
bool Ultrasonic::IsRangeValid() const { return m_counter.Get() > 1; }
/**
* Get the range in inches from the ultrasonic sensor.
*
* @return Range in inches of the target returned from the ultrasonic sensor. If
* there is no valid value yet, i.e. at least one measurement hasn't
* completed, then return 0.
*/
double Ultrasonic::GetRangeInches() const {
if (IsRangeValid())
return m_counter.GetPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
@@ -267,20 +137,18 @@ double Ultrasonic::GetRangeInches() const {
return 0;
}
/**
* Get the range in millimeters from the ultrasonic sensor.
*
* @return Range in millimeters of the target returned by the ultrasonic sensor.
* If there is no valid value yet, i.e. at least one measurement hasn't
* completed, then return 0.
*/
double Ultrasonic::GetRangeMM() const { return GetRangeInches() * 25.4; }
/**
* Get the range in the current DistanceUnit for the PIDSource base object.
*
* @return The range in DistanceUnit
*/
bool Ultrasonic::IsEnabled() const { return m_enabled; }
void Ultrasonic::SetEnabled(bool enable) { m_enabled = enable; }
void Ultrasonic::SetDistanceUnits(DistanceUnit units) { m_units = units; }
Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits() const {
return m_units;
}
double Ultrasonic::PIDGet() {
switch (m_units) {
case Ultrasonic::kInches:
@@ -298,25 +166,40 @@ void Ultrasonic::SetPIDSourceType(PIDSourceType pidSource) {
}
}
/**
* Set the current DistanceUnit that should be used for the PIDSource base
* object.
*
* @param units The DistanceUnit that should be used.
*/
void Ultrasonic::SetDistanceUnits(DistanceUnit units) { m_units = units; }
/**
* Get the current DistanceUnit that is used for the PIDSource base object.
*
* @return The type of DistanceUnit that is being used.
*/
Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits() const {
return m_units;
}
void Ultrasonic::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Ultrasonic");
builder.AddDoubleProperty("Value", [=]() { return GetRangeInches(); },
nullptr);
}
void Ultrasonic::Initialize() {
bool originalMode = m_automaticEnabled;
SetAutomaticMode(false); // Kill task when adding a new sensor
// Link this instance on the list
m_sensors.emplace_back(this);
m_counter.SetMaxPeriod(1.0);
m_counter.SetSemiPeriodMode(true);
m_counter.Reset();
m_enabled = true; // Make it available for round robin scheduling
SetAutomaticMode(originalMode);
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
SetName("Ultrasonic", m_echoChannel->GetChannel());
}
void Ultrasonic::UltrasonicChecker() {
while (m_automaticEnabled) {
for (auto& sensor : m_sensors) {
if (!m_automaticEnabled) break;
if (sensor->IsEnabled()) {
sensor->m_pingChannel->Pulse(kPingTime); // do the ping
}
Wait(0.1); // wait for ping to return
}
}
}