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SCRIPT: FRC_ replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:43 -05:00
committed by Peter Johnson
parent 824f36f63a
commit 928ff20695
143 changed files with 477 additions and 477 deletions
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66
wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
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@@ -48,7 +48,7 @@ std::unique_ptr<wpi::util::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>
std::weak_ptr<PneumaticHub::DataStore>& PneumaticHub::GetDataStore(int busId,
int module) {
int32_t numBuses = HAL_GetNumCanBuses();
FRC_AssertMessage(busId >= 0 && busId < numBuses,
WPILIB_AssertMessage(busId >= 0 && busId < numBuses,
"Bus {} out of range. Must be [0-{}).", busId, numBuses);
if (!m_handleMaps) {
m_handleMaps = std::make_unique<
@@ -63,7 +63,7 @@ class PneumaticHub::DataStore {
int32_t status = 0;
HAL_REVPHHandle handle =
HAL_InitializeREVPH(busId, module, stackTrace, &status);
FRC_CheckErrorStatus(status, "Module {}", module);
WPILIB_CheckErrorStatus(status, "Module {}", module);
m_moduleObject = PneumaticHub{busId, handle, module};
m_moduleObject.m_dataStore =
std::shared_ptr<DataStore>{this, wpi::util::NullDeleter<DataStore>()};
@@ -72,7 +72,7 @@ class PneumaticHub::DataStore {
// Check PH firmware version
if (version.FirmwareMajor > 0 && version.FirmwareMajor < 22) {
throw FRC_MakeError(
throw WPILIB_MakeError(
err::AssertionFailure,
"The Pneumatic Hub has firmware version {}.{}.{}, and must be "
"updated to version 2022.0.0 or later using the REV Hardware Client",
@@ -117,36 +117,36 @@ PneumaticHub::PneumaticHub(int /* busId */, HAL_REVPHHandle handle, int module)
bool PneumaticHub::GetCompressor() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressor(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticHub::DisableCompressor() {
int32_t status = 0;
HAL_SetREVPHClosedLoopControlDisabled(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::EnableCompressorDigital() {
int32_t status = 0;
HAL_SetREVPHClosedLoopControlDigital(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::EnableCompressorAnalog(
wpi::units::pounds_per_square_inch_t minPressure,
wpi::units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw FRC_MakeError(err::InvalidParameter,
throw WPILIB_MakeError(err::InvalidParameter,
"maxPressure must be greater than minPressure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
}
if (maxPressure < 0_psi || maxPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
@@ -160,23 +160,23 @@ void PneumaticHub::EnableCompressorAnalog(
int32_t status = 0;
HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::EnableCompressorHybrid(
wpi::units::pounds_per_square_inch_t minPressure,
wpi::units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw FRC_MakeError(err::InvalidParameter,
throw WPILIB_MakeError(err::InvalidParameter,
"maxPressure must be greater than minPressure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
}
if (maxPressure < 0_psi || maxPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
@@ -190,40 +190,40 @@ void PneumaticHub::EnableCompressorHybrid(
int32_t status = 0;
HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
CompressorConfigType PneumaticHub::GetCompressorConfigType() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressorConfig(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return static_cast<CompressorConfigType>(result);
}
bool PneumaticHub::GetPressureSwitch() const {
int32_t status = 0;
auto result = HAL_GetREVPHPressureSwitch(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
wpi::units::ampere_t PneumaticHub::GetCompressorCurrent() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressorCurrent(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::ampere_t{result};
}
void PneumaticHub::SetSolenoids(int mask, int values) {
int32_t status = 0;
HAL_SetREVPHSolenoids(m_handle, mask, values, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
int PneumaticHub::GetSolenoids() const {
int32_t status = 0;
auto result = HAL_GetREVPHSolenoids(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
@@ -234,7 +234,7 @@ int PneumaticHub::GetModuleNumber() const {
int PneumaticHub::GetSolenoidDisabledList() const {
int32_t status = 0;
auto result = HAL_GetREVPHSolenoidDisabledList(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
@@ -242,7 +242,7 @@ void PneumaticHub::FireOneShot(int index) {
int32_t status = 0;
HAL_FireREVPHOneShot(m_handle, index,
m_dataStore->m_oneShotDurMs[index].value(), &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::SetOneShotDuration(int index, wpi::units::second_t duration) {
@@ -287,7 +287,7 @@ PneumaticHub::Version PneumaticHub::GetVersion() const {
HAL_REVPHVersion halVersions;
std::memset(&halVersions, 0, sizeof(halVersions));
HAL_GetREVPHVersion(m_handle, &halVersions, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
PneumaticHub::Version versions;
static_assert(sizeof(halVersions) == sizeof(versions));
static_assert(std::is_standard_layout_v<decltype(versions)>);
@@ -301,7 +301,7 @@ PneumaticHub::Faults PneumaticHub::GetFaults() const {
HAL_REVPHFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetREVPHFaults(m_handle, &halFaults, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
PneumaticHub::Faults faults;
static_assert(sizeof(halFaults) == sizeof(faults));
static_assert(std::is_standard_layout_v<decltype(faults)>);
@@ -315,7 +315,7 @@ PneumaticHub::StickyFaults PneumaticHub::GetStickyFaults() const {
HAL_REVPHStickyFaults halStickyFaults;
std::memset(&halStickyFaults, 0, sizeof(halStickyFaults));
HAL_GetREVPHStickyFaults(m_handle, &halStickyFaults, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
PneumaticHub::StickyFaults stickyFaults;
static_assert(sizeof(halStickyFaults) == sizeof(stickyFaults));
static_assert(std::is_standard_layout_v<decltype(stickyFaults)>);
@@ -359,7 +359,7 @@ bool PneumaticHub::Faults::GetChannelFault(int channel) const {
case 15:
return Channel15Fault != 0;
default:
throw FRC_MakeError(err::ChannelIndexOutOfRange,
throw WPILIB_MakeError(err::ChannelIndexOutOfRange,
"Pneumatics fault channel out of bounds!");
}
}
@@ -367,50 +367,50 @@ bool PneumaticHub::Faults::GetChannelFault(int channel) const {
void PneumaticHub::ClearStickyFaults() {
int32_t status = 0;
HAL_ClearREVPHStickyFaults(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
wpi::units::volt_t PneumaticHub::GetInputVoltage() const {
int32_t status = 0;
auto voltage = HAL_GetREVPHVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::volt_t{voltage};
}
wpi::units::volt_t PneumaticHub::Get5VRegulatedVoltage() const {
int32_t status = 0;
auto voltage = HAL_GetREVPH5VVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::volt_t{voltage};
}
wpi::units::ampere_t PneumaticHub::GetSolenoidsTotalCurrent() const {
int32_t status = 0;
auto current = HAL_GetREVPHSolenoidCurrent(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::ampere_t{current};
}
wpi::units::volt_t PneumaticHub::GetSolenoidsVoltage() const {
int32_t status = 0;
auto voltage = HAL_GetREVPHSolenoidVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::volt_t{voltage};
}
wpi::units::volt_t PneumaticHub::GetAnalogVoltage(int channel) const {
int32_t status = 0;
auto voltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::volt_t{voltage};
}
wpi::units::pounds_per_square_inch_t PneumaticHub::GetPressure(int channel) const {
int32_t status = 0;
auto sensorVoltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
auto supplyVoltage = HAL_GetREVPH5VVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return VoltsToPSI(wpi::units::volt_t{sensorVoltage}, wpi::units::volt_t{supplyVoltage});
}