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SCRIPT namespace replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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74
hal/src/main/native/systemcore/CAN.cpp
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@@ -30,7 +30,7 @@
#include "wpi/util/print.hpp"
#include "wpi/util/timestamp.h"
using namespace hal;
using namespace wpi::hal;
namespace {
@@ -72,7 +72,7 @@ struct CANStreamStorage {
canMask{mask},
canFilter{filter} {}
wpi::circular_buffer<struct HAL_CANStreamMessage> receivedMessages;
wpi::util::circular_buffer<struct HAL_CANStreamMessage> receivedMessages;
bool didOverflow{false};
uint32_t allowedMessages;
uint8_t canBusId;
@@ -83,31 +83,31 @@ struct CANStreamStorage {
};
struct SocketCanState {
wpi::EventLoopRunner readLoopRunner;
wpi::EventLoopRunner writeLoopRunner;
wpi::mutex writeMutex[hal::kNumCanBuses];
int socketHandle[hal::kNumCanBuses];
wpi::net::EventLoopRunner readLoopRunner;
wpi::net::EventLoopRunner writeLoopRunner;
wpi::util::mutex writeMutex[wpi::hal::kNumCanBuses];
int socketHandle[wpi::hal::kNumCanBuses];
// ms to count/timer map
wpi::DenseMap<uint16_t, std::pair<size_t, std::weak_ptr<wpi::uv::Timer>>>
wpi::util::DenseMap<uint16_t, std::pair<size_t, std::weak_ptr<wpi::net::uv::Timer>>>
timers;
// ms to bus mask/packet
wpi::DenseMap<uint16_t,
std::array<std::optional<canfd_frame>, hal::kNumCanBuses>>
wpi::util::DenseMap<uint16_t,
std::array<std::optional<canfd_frame>, wpi::hal::kNumCanBuses>>
timedFrames;
// packet to time
wpi::DenseMap<uint32_t, std::array<uint16_t, hal::kNumCanBuses>> packetToTime;
wpi::util::DenseMap<uint32_t, std::array<uint16_t, wpi::hal::kNumCanBuses>> packetToTime;
wpi::mutex readMutex[hal::kNumCanBuses];
wpi::util::mutex readMutex[wpi::hal::kNumCanBuses];
// TODO(thadhouse) we need a MUCH better way of doing this masking
wpi::DenseMap<uint32_t, HAL_CANStreamMessage> readFrames[hal::kNumCanBuses];
std::vector<CANStreamStorage*> canStreams[hal::kNumCanBuses];
wpi::util::DenseMap<uint32_t, HAL_CANStreamMessage> readFrames[wpi::hal::kNumCanBuses];
std::vector<CANStreamStorage*> canStreams[wpi::hal::kNumCanBuses];
bool InitializeBuses();
void TimerCallback(uint16_t time);
void RemovePeriodic(uint8_t busMask, uint32_t messageId);
void AddPeriodic(wpi::uv::Loop& loop, uint8_t busMask, uint16_t time,
void AddPeriodic(wpi::net::uv::Loop& loop, uint8_t busMask, uint16_t time,
const canfd_frame& frame);
};
@@ -118,7 +118,7 @@ static UnlimitedHandleResource<HAL_CANStreamHandle, CANStreamStorage,
static SocketCanState* canState;
namespace hal::init {
namespace wpi::hal::init {
void InitializeCAN() {
canState = new SocketCanState{};
static UnlimitedHandleResource<HAL_CANStreamHandle, CANStreamStorage,
@@ -126,7 +126,7 @@ void InitializeCAN() {
cSH;
canStreamHandles = &cSH;
}
} // namespace hal::init
} // namespace wpi::hal::init
void CANStreamStorage::CheckFrame(const HAL_CANStreamMessage& message) {
if ((message.messageId & canMask) != canFilter) {
@@ -145,18 +145,18 @@ void CANStreamStorage::CheckFrame(const HAL_CANStreamMessage& message) {
bool SocketCanState::InitializeBuses() {
bool success = true;
readLoopRunner.ExecSync([this, &success](wpi::uv::Loop& loop) {
readLoopRunner.ExecSync([this, &success](wpi::net::uv::Loop& loop) {
int32_t status = 0;
HAL_SetCurrentThreadPriority(true, 50, &status);
if (status != 0) {
wpi::print("Failed to set CAN thread priority\n");
wpi::util::print("Failed to set CAN thread priority\n");
}
for (int i = 0; i < hal::kNumCanBuses; i++) {
for (int i = 0; i < wpi::hal::kNumCanBuses; i++) {
std::scoped_lock lock{writeMutex[i]};
socketHandle[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (socketHandle[i] == -1) {
wpi::print("socket() for CAN {} failed with {}\n", i,
wpi::util::print("socket() for CAN {} failed with {}\n", i,
std::strerror(errno));
success = false;
return;
@@ -166,7 +166,7 @@ bool SocketCanState::InitializeBuses() {
std::snprintf(ifr.ifr_name, sizeof(ifr.ifr_name), "can_s%d", i);
if (ioctl(socketHandle[i], SIOCGIFINDEX, &ifr) == -1) {
wpi::print("ioctl(SIOCGIFINDEX) for CAN {} failed with {}\n",
wpi::util::print("ioctl(SIOCGIFINDEX) for CAN {} failed with {}\n",
ifr.ifr_name, std::strerror(errno));
success = false;
return;
@@ -179,14 +179,14 @@ bool SocketCanState::InitializeBuses() {
if (bind(socketHandle[i], reinterpret_cast<const sockaddr*>(&addr),
sizeof(addr)) == -1) {
wpi::print("bind() for CAN {} failed with {}\n", ifr.ifr_name,
wpi::util::print("bind() for CAN {} failed with {}\n", ifr.ifr_name,
std::strerror(errno));
success = false;
return;
}
if (ioctl(socketHandle[i], SIOCGIFMTU, &ifr) == -1) {
wpi::print("ioctl(SIOCGIFMTU) for CAN {} failed with {}\n",
wpi::util::print("ioctl(SIOCGIFMTU) for CAN {} failed with {}\n",
ifr.ifr_name, std::strerror(errno));
success = false;
return;
@@ -196,7 +196,7 @@ bool SocketCanState::InitializeBuses() {
int fdSet = 1;
if (setsockopt(socketHandle[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fdSet,
sizeof(fdSet)) != 0) {
wpi::print(
wpi::util::print(
"setsockopt(CAN_RAW_FD_FRAMES) for CAN {} failed with {}\n",
ifr.ifr_name, std::strerror(errno));
success = false;
@@ -204,9 +204,9 @@ bool SocketCanState::InitializeBuses() {
}
}
auto poll = wpi::uv::Poll::Create(loop, socketHandle[i]);
auto poll = wpi::net::uv::Poll::Create(loop, socketHandle[i]);
if (!poll) {
wpi::print("wpi::uv::Poll::Create for CAN {} failed\n", ifr.ifr_name);
wpi::util::print("wpi::net::uv::Poll::Create for CAN {} failed\n", ifr.ifr_name);
success = false;
return;
}
@@ -226,7 +226,7 @@ bool SocketCanState::InitializeBuses() {
}
uint32_t messageId = MapSocketCanToMessageId(frame.can_id);
uint64_t timestamp = wpi::Now();
uint64_t timestamp = wpi::util::Now();
// Ensure FDF flag is set for the read later.
if (rVal == CANFD_MTU) {
frame.flags = CANFD_FDF;
@@ -300,24 +300,24 @@ void SocketCanState::RemovePeriodic(uint8_t busId, uint32_t messageId) {
}
}
void SocketCanState::AddPeriodic(wpi::uv::Loop& loop, uint8_t busId,
void SocketCanState::AddPeriodic(wpi::net::uv::Loop& loop, uint8_t busId,
uint16_t time, const canfd_frame& frame) {
packetToTime[frame.can_id][busId] = time;
timedFrames[time][busId] = frame;
auto& timer = timers[time];
timer.first++;
if (timer.first == 1) {
auto newTimer = wpi::uv::Timer::Create(loop);
auto newTimer = wpi::net::uv::Timer::Create(loop);
newTimer->timeout.connect([this, time] { TimerCallback(time); });
newTimer->Start(wpi::uv::Timer::Time{time}, wpi::uv::Timer::Time{time});
newTimer->Start(wpi::net::uv::Timer::Time{time}, wpi::net::uv::Timer::Time{time});
}
}
namespace hal {
namespace wpi::hal {
bool InitializeCanBuses() {
return canState->InitializeBuses();
}
} // namespace hal
} // namespace wpi::hal
namespace {} // namespace
@@ -326,7 +326,7 @@ extern "C" {
void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
const struct HAL_CANMessage* message, int32_t periodMs,
int32_t* status) {
if (busId < 0 || busId >= hal::kNumCanBuses) {
if (busId < 0 || busId >= wpi::hal::kNumCanBuses) {
*status = PARAMETER_OUT_OF_RANGE;
return;
}
@@ -336,7 +336,7 @@ void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
// TODO determine on the real roborio is a non periodic send removes any
// periodic send.
if (periodMs == HAL_CAN_SEND_PERIOD_STOP_REPEATING) {
canState->writeLoopRunner.ExecSync([messageId, busId](wpi::uv::Loop&) {
canState->writeLoopRunner.ExecSync([messageId, busId](wpi::net::uv::Loop&) {
canState->RemovePeriodic(busId, messageId);
});
@@ -385,7 +385,7 @@ void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
if (periodMs > 0) {
canState->writeLoopRunner.ExecAsync(
[busId, periodMs, frame](wpi::uv::Loop& loop) {
[busId, periodMs, frame](wpi::net::uv::Loop& loop) {
canState->AddPeriodic(loop, busId, periodMs, frame);
});
}
@@ -393,7 +393,7 @@ void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
void HAL_CAN_ReceiveMessage(int32_t busId, uint32_t messageId,
struct HAL_CANReceiveMessage* message,
int32_t* status) {
if (busId < 0 || busId >= hal::kNumCanBuses) {
if (busId < 0 || busId >= wpi::hal::kNumCanBuses) {
message->message.dataSize = 0;
message->timeStamp = 0;
*status = PARAMETER_OUT_OF_RANGE;
@@ -421,7 +421,7 @@ HAL_CANStreamHandle HAL_CAN_OpenStreamSession(int32_t busId, uint32_t messageId,
uint32_t messageIdMask,
uint32_t maxMessages,
int32_t* status) {
if (busId < 0 || busId >= hal::kNumCanBuses) {
if (busId < 0 || busId >= wpi::hal::kNumCanBuses) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}