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Reduced duplication between formatting scripts with Task base class (#80)

Browse Source 
Also added scripts for EOF newline management and for removing trailing whitespace. configure.bat was rewritten to use CRLF line endings. Documentation for the existing scripts was also improved.
This commit is contained in:
Tyler Veness
2016-07-10 08:33:27 -07:00
committed by Peter Johnson
parent ea6876e81f
commit aafca4ed7f
57 changed files with 588 additions and 423 deletions
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4
.clang-format
View File

@@ -20,7 +20,7 @@ AlwaysBreakBeforeMultilineStrings: true
AlwaysBreakTemplateDeclarations: true
BinPackArguments: true
BinPackParameters: true
BraceWrapping:
BraceWrapping:
AfterClass: false
AfterControlStatement: false
AfterEnum: false
@@ -46,7 +46,7 @@ DerivePointerAlignment: false
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
IncludeCategories:
IncludeCategories:
- Regex: '^<.*\.h>'
Priority: 1
- Regex: '^<.*'

92
configure.bat
View File

@@ -1,46 +1,46 @@
:: This file is a helper for allC++Sim
::
:: Usage: cd /build && ../configure
::
:: WARNING -- this is only temporary, and only meant for debug, and only works on my computer
@set WS=C:\Users\peter\gz-ws
@set BOOST_PATH=%WS%\boost_1_56_0
@set BOOST_LIBRARY_DIR=%BOOST_PATH%\lib64-msvc-12.0
@set PROTOBUF_PATH=%WS%\protobuf-2.6.0-win64-vc12
@set OGRE_PATH=%WS%\ogre_src_v1-8-1-vc12-x64-release-debug\build\install\Debug
@set OGRE_INCLUDE_DIR=%OGRE_PATH%\include;%OGRE_PATH%\include\OGRE;%OGRE_PATH%\include\OGRE\RTShaderSystem;%OGRE_PATH%\include\OGRE\Terrain;%OGRE_PATH%\include\OGRE\Paging
@set OGRE_LIBRARY_DIR=%OGRE_PATH%\lib\Debug
set OGRE_LIB_SUFFIX=_d.lib
@set OGRE_LIBS=%OGRE_LIBRARY_DIR%\OgreMain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreOverlay%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreRTShaderSystem%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreTerrain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgrePaging%OGRE_LIB_SUFFIX%
@set OGRE_LIBS=%OGRE_LIBRARY_DIR%\OgreMain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreRTShaderSystem%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreTerrain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgrePaging%OGRE_LIB_SUFFIX%
@set FREEIMAGE_PATH=%WS%\FreeImage-vc12-x64-release-debug
@set FREEIMAGE_INCLUDE_DIR=%FREEIMAGE_PATH%\Source
@set TBB_PATH=%WS%\tbb43_20141023oss
@set TBB_INCLUDEDIR=%TBB_PATH%\include
@set DLFCN_WIN32_PATH=%WS%\dlfcn-win32-vc12-x64-release-debug\build\install\Debug
@set DLFCN_WIN32_INCLUDE_DIR=%DLFCN_WIN32_PATH%\include
@set TINY_XML_INCLUDE_DIR=%WS%\sdformat\src\win\tinyxml
@set GAZEBO_PATH=%WS%\gazebo\build\install\Debug\lib\cmake\gazebo
@set SDFORMAT_PATH=%WS%\sdformat\build\install\Debug\lib\cmake\sdformat
@set IGNITION-MATH_PATH=%WS%\ign-math\build\install\Debug\lib\cmake\ignition-math2
@set INCLUDE=%TINY_XML_INCLUDE_DIR%;%FREEIMAGE_INCLUDE_DIR%;%TBB_INCLUDEDIR%;%DLFCN_WIN32_INCLUDE_DIR%;%INCLUDE%
@set LIB=%LIB%
cmake -G "NMake Makefiles"^
-DCMAKE_INSTALL_PREFIX=build^
-DCMAKE_PREFIX_PATH="%GAZEBO_PATH%;%SDFORMAT_PATH%;%IGNITION-MATH_PATH%"^
-DOGRE_FOUND=1^
-DOGRE_INCLUDE_DIRS="%OGRE_INCLUDE_DIR%"^
-DOGRE_LIBRARIES="%OGRE_LIBS%"^
-DPROTOBUF_SRC_ROOT_FOLDER="%PROTOBUF_PATH%"^
-DBOOST_ROOT="%BOOST_PATH%"^
-DBOOST_LIBRARYDIR="%BOOST_LIBRARY_DIR%"^
..
:: This file is a helper for allC++Sim
::
:: Usage: cd /build && ../configure
::
:: WARNING -- this is only temporary, and only meant for debug, and only works on my computer
@set WS=C:\Users\peter\gz-ws
@set BOOST_PATH=%WS%\boost_1_56_0
@set BOOST_LIBRARY_DIR=%BOOST_PATH%\lib64-msvc-12.0
@set PROTOBUF_PATH=%WS%\protobuf-2.6.0-win64-vc12
@set OGRE_PATH=%WS%\ogre_src_v1-8-1-vc12-x64-release-debug\build\install\Debug
@set OGRE_INCLUDE_DIR=%OGRE_PATH%\include;%OGRE_PATH%\include\OGRE;%OGRE_PATH%\include\OGRE\RTShaderSystem;%OGRE_PATH%\include\OGRE\Terrain;%OGRE_PATH%\include\OGRE\Paging
@set OGRE_LIBRARY_DIR=%OGRE_PATH%\lib\Debug
set OGRE_LIB_SUFFIX=_d.lib
@set OGRE_LIBS=%OGRE_LIBRARY_DIR%\OgreMain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreOverlay%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreRTShaderSystem%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreTerrain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgrePaging%OGRE_LIB_SUFFIX%
@set OGRE_LIBS=%OGRE_LIBRARY_DIR%\OgreMain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreRTShaderSystem%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreTerrain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgrePaging%OGRE_LIB_SUFFIX%
@set FREEIMAGE_PATH=%WS%\FreeImage-vc12-x64-release-debug
@set FREEIMAGE_INCLUDE_DIR=%FREEIMAGE_PATH%\Source
@set TBB_PATH=%WS%\tbb43_20141023oss
@set TBB_INCLUDEDIR=%TBB_PATH%\include
@set DLFCN_WIN32_PATH=%WS%\dlfcn-win32-vc12-x64-release-debug\build\install\Debug
@set DLFCN_WIN32_INCLUDE_DIR=%DLFCN_WIN32_PATH%\include
@set TINY_XML_INCLUDE_DIR=%WS%\sdformat\src\win\tinyxml
@set GAZEBO_PATH=%WS%\gazebo\build\install\Debug\lib\cmake\gazebo
@set SDFORMAT_PATH=%WS%\sdformat\build\install\Debug\lib\cmake\sdformat
@set IGNITION-MATH_PATH=%WS%\ign-math\build\install\Debug\lib\cmake\ignition-math2
@set INCLUDE=%TINY_XML_INCLUDE_DIR%;%FREEIMAGE_INCLUDE_DIR%;%TBB_INCLUDEDIR%;%DLFCN_WIN32_INCLUDE_DIR%;%INCLUDE%
@set LIB=%LIB%
cmake -G "NMake Makefiles"^
-DCMAKE_INSTALL_PREFIX=build^
-DCMAKE_PREFIX_PATH="%GAZEBO_PATH%;%SDFORMAT_PATH%;%IGNITION-MATH_PATH%"^
-DOGRE_FOUND=1^
-DOGRE_INCLUDE_DIRS="%OGRE_INCLUDE_DIR%"^
-DOGRE_LIBRARIES="%OGRE_LIBS%"^
-DPROTOBUF_SRC_ROOT_FOLDER="%PROTOBUF_PATH%"^
-DBOOST_ROOT="%BOOST_PATH%"^
-DBOOST_LIBRARYDIR="%BOOST_LIBRARY_DIR%"^
..

132
license-update.py
View File

@@ -1,132 +0,0 @@
#!/usr/bin/env python3
# If there is already a comment block, a year range through the current year is
# created using the first year in the comment. If there is no comment block, a
# new one is added containing just the current year.
from datetime import date
import os
import re
import sys
sep = os.sep
# If directory separator is backslash, escape it for regexes
if sep == "\\":
sep += "\\"
# Files and directories which should be included in or excluded from the update
regexInclude = re.compile("\.cpp$|\.h$|\.hpp$|\.inc$|\.java$")
folderExclude = "build" + sep + "|\.git" + sep + "|gradle" + sep + \
"|\.gradle" + sep + "|ni-libraries" + sep + "|ctre" + sep + \
"|frccansae" + sep + "|FRC_FPGA_ChipObject" + sep + \
"|gtest" + sep + "|msgs" + sep + "|i2clib" + sep + \
"|NetworkCommunication" + sep + "|ni" + sep + \
"|spilib" + sep + "|visa" + sep
regexExclude = re.compile(folderExclude +
"|NIIMAQdx\.h$|nivision\.h$|NIVisionJNI\.cpp$|"
"can_proto\.h$|jni\.h$|jni_md\.h$")
currentYear = str(date.today().year)
# Recursively create list of files in given directory
files = [os.path.join(dp, f) for dp, dn, fn in
os.walk(os.path.expanduser(".")) for f in fn]
# Apply regex filters to list
files = [f for f in files if regexInclude.search(f)]
files = [f for f in files if not regexExclude.search(f)]
if not files:
print("Error: no files to format", file=sys.stderr)
sys.exit(1)
for name in files:
# List names of files as they are processed if verbose flag was given
if len(sys.argv) > 1 and sys.argv[1] == "-v":
print("Processing", name,)
with open(name, "r", encoding = "ISO-8859-1") as file:
modifyCopyright = False
year = ""
# Get first line of file
line = file.readline()
# If first line is copyright comment
if line[0:2] == "/*":
modifyCopyright = True
# Get next line
line = file.readline()
# Search for start of copyright year
pos = line.find("20")
# Extract it if found
if pos != -1:
year = line[pos:pos + 4]
else:
continue
# Retrieve lines until one past end of comment block
inComment = True
inBlock = True
while inBlock:
if not inComment:
pos = line.find("/*", pos)
if pos != -1:
inComment = True
else:
inBlock = False
else:
pos = line.find("*/", pos)
if pos != -1:
inComment = False
# This assumes no comments are started on the same line after
# another ends
line = file.readline()
pos = 0
with open(name + ".tmp", "w", encoding = "ISO-8859-1") as temp:
# Write first line of comment
temp.write("/*")
for i in range(0, 76):
temp.write("-")
temp.write("*/\n")
# Write second line of comment
temp.write("/* Copyright (c) FIRST ")
if modifyCopyright and year != currentYear:
temp.write(year)
temp.write("-")
temp.write(currentYear)
temp.write(". All Rights Reserved.")
for i in range(0, 24):
temp.write(" ")
if not modifyCopyright or year == currentYear:
for i in range(0, 5):
temp.write(" ")
temp.write("*/\n")
# Write rest of lines of comment
temp.write("/* Open Source Software - may be modified and shared by FRC teams. The code */\n"
"/* must be accompanied by the FIRST BSD license file in the root directory of */\n"
"/* the project. */\n"
"/*")
for i in range(0, 76):
temp.write("-")
temp.write("*/\n")
# If line after comment block isn't empty
if len(line) > 1 and line[0] != " ":
temp.write("\n")
temp.write(line)
# Copy rest of original file into new one
for line in file:
temp.write(line)
# Replace old file
os.remove(name)
os.rename(name + ".tmp", name)

4
license.txt
View File

@@ -14,8 +14,8 @@
*
* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

14
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Connection.java
View File

@@ -34,15 +34,15 @@ import com.google.protobuf.Message;
*/
public class Connection {
private static int HEADER_SIZE = 8;
public String host;
public int port;
private Socket socket;
private ServerSocket ssocket;
private InputStream is;
private OutputStream os;
private static final Logger LOG = Logger.getLogger("Gazebo Transport");
public void connect(String host, int port) throws UnknownHostException, IOException {
@@ -114,7 +114,7 @@ public class Connection {
ssocket = null;
}
}
public byte[] rawRead() throws IOException {
synchronized (is) {
// Figure out the message size
@@ -125,18 +125,18 @@ public class Connection {
return null;
}
int size = Integer.parseInt(new String(buff), 16);
// Read in the actual message
buff = new byte[size];
n = is.read(buff);
if (n != size) {
throw new IOException("Failed to read whole message");
}
return buff;
}
}
public Packet read() throws IOException {
byte[] buff = rawRead();
if (buff == null) {

10
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Msgs.java
View File

@@ -15,23 +15,23 @@ public class Msgs {
public static GzString.String String() {
return GzString.String.getDefaultInstance();
}
public static GzString.String String(String s) {
return GzString.String.newBuilder().setData(s).build();
}
public static GzFloat64.Float64 Float64() {
return GzFloat64.Float64.getDefaultInstance();
}
public static GzFloat64.Float64 Float64(double d) {
return GzFloat64.Float64.newBuilder().setData(d).build();
}
public static Bool Bool() {
return Bool.getDefaultInstance();
}
public static Bool Bool(boolean b) {
return Bool.newBuilder().setData(b).build();
}

4
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Publisher.java
View File

@@ -21,9 +21,9 @@ public class Publisher<T extends Message> implements PublisherRecord {
private List<Connection> listeners;
private boolean latching = false;
private T lastMsg = null;
private static final Logger LOG = Logger.getLogger("Gazebo Transport");
public Publisher(String topic, String msgType, String localHost, int localPort) {
this.topic = topic;
this.msgType = msgType;

4
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/RemotePublisherRecord.java
View File

@@ -35,9 +35,9 @@ public class RemotePublisherRecord implements PublisherRecord {
public String getMsgType() {
return pub.getMsgType();
}
public String toString() {
return String.format("%s (%s) %s:%s", getTopic(), getMsgType(), getHost(), getPort());
return String.format("%s (%s) %s:%s", getTopic(), getMsgType(), getHost(), getPort());
}
@Override

26
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/DS.java
View File

@@ -32,13 +32,13 @@ import gazebo.msgs.GzDriverStation.DriverStation;
public class DS {
private JoystickProvider joystickProvider;
private JoystickList joysticks;
private JFrame mainframe;
private JPanel modePanel;
private ActionListener modeListener;
private ButtonGroup modes;
private JButton enable, refresh;
public enum State {
Disabled, Teleop, Autonomous, Test;
}
@@ -46,14 +46,14 @@ public class DS {
private State state = State.Teleop;
private DriverStation.State protoState = DriverStation.State.TELEOP;
private Publisher<DriverStation> pub;
public DS(JoystickProvider joystickProvider) {
this.joystickProvider = joystickProvider;
mainframe = new JFrame();
mainframe.setTitle("FRC Simulation DriverStation");
mainframe.setLayout(new GridBagLayout());
GridBagConstraints constraints = new GridBagConstraints();
makeModeButtons(constraints);
mainframe.pack();
constraints.gridy = 1;
@@ -65,15 +65,15 @@ public class DS {
mainframe.pack();
constraints.gridy = 1;
makeRefreshButton(constraints);
mainframe.pack();
mainframe.setVisible(true);
}
private void makeModeButtons(GridBagConstraints constraints) {
modePanel = new JPanel();
modePanel.setLayout(new BoxLayout(modePanel, BoxLayout.PAGE_AXIS));
modeListener = new ModeAction(this);
JRadioButton teleop = new JRadioButton("Teleop");
teleop.setActionCommand(State.Teleop.toString());
@@ -85,7 +85,7 @@ public class DS {
test.setActionCommand(State.Test.toString());
test.addActionListener(modeListener);
teleop.setSelected(true);
modes = new ButtonGroup();
modes.add(teleop);
modes.add(auto);
@@ -95,14 +95,14 @@ public class DS {
modePanel.add(test);
mainframe.add(modePanel, constraints);
}
private void makeEnableButton(GridBagConstraints constraints) {
enable = new JButton("Enable");
enable.addActionListener(new EnableAction(this));
enable.setPreferredSize(new Dimension(modePanel.getSize().width, 50));
mainframe.add(enable, constraints);
}
private void makeJoystickUI(GridBagConstraints constraints) {
joysticks = new JoystickList(joystickProvider);
mainframe.add(joysticks, constraints);
@@ -117,19 +117,19 @@ public class DS {
}
joysticks.setListData(sticks);
}
private void makeRefreshButton(GridBagConstraints constraints) {
refresh = new JButton("Refresh Joysticks");
refresh.addActionListener(new RefreshAction(this));
refresh.setPreferredSize(new Dimension(joysticks.getSize().width, 50));
mainframe.add(refresh, constraints);
}
public void setEnabled(boolean enabled) {
this.enabled = enabled;
enable.setText(enabled ? "Disable" : "Enable");
}
public State getState() {
return enabled ? state : State.Disabled;
}

2
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/EnableAction.java
View File

@@ -12,7 +12,7 @@ import java.awt.event.ActionListener;
public class EnableAction implements ActionListener {
private DS ds;
public EnableAction(DS ds) {
this.ds = ds;
}

2
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/FakeJoystick.java
View File

@@ -15,7 +15,7 @@ public class FakeJoystick implements ISimJoystick {
public String getName() {
return "Empty Joystick";
}
public String toString() {
return getName();
}

2
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/JoystickList.java
View File

@@ -116,7 +116,7 @@ public class JoystickList extends JList<ISimJoystick> {
int index = Integer.parseInt(indexString);
JList.DropLocation dl = (JList.DropLocation) support.getDropLocation();
int dropTargetIndex = dl.getIndex();
list.moveElement(index, dropTargetIndex);
return true;

12
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/JoystickProvider.java
View File

@@ -18,11 +18,11 @@ import net.java.games.input.ControllerEnvironment;
public class JoystickProvider {
List<ISimJoystick> joysticks;
public JoystickProvider() {
scanForJoysticks();
}
public List<ISimJoystick> scanForJoysticks() {
List<ISimJoystick> foundControllers = new ArrayList<>();
Controller[] controllers = ControllerEnvironment.getDefaultEnvironment().getControllers();
@@ -30,21 +30,21 @@ public class JoystickProvider {
for(int i = 0; i < controllers.length; i++){
Controller controller = controllers[i];
if (controller.getType() == Controller.Type.STICK
|| controller.getType() == Controller.Type.GAMEPAD
|| controller.getType() == Controller.Type.GAMEPAD
|| controller.getType() == Controller.Type.WHEEL
|| controller.getType() == Controller.Type.FINGERSTICK) {
foundControllers.add(new SimJoystick(controller));
}
}
joysticks = foundControllers;
return foundControllers;
}
public List<ISimJoystick> getJoysticks() {
return joysticks;
}
public void setJoysticks(List<ISimJoystick> joysticks) {
this.joysticks = joysticks;
}

2
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/Main.java
View File

@@ -17,7 +17,7 @@ import org.gazebosim.transport.SubscriberCallback;
public class Main {
private static double simTime = 0;
private static Subscriber<Float64> sub;
public static void main(String args[]) {
Node node = new Node("frc");
try {

4
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/ModeAction.java
View File

@@ -12,11 +12,11 @@ import java.awt.event.ActionListener;
public class ModeAction implements ActionListener {
private DS ds;
public ModeAction(DS ds) {
this.ds = ds;
}
@Override
public void actionPerformed(ActionEvent e) {
ds.setState(DS.State.valueOf(e.getActionCommand()));

4
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/SimJoystick.java
View File

@@ -42,7 +42,7 @@ public class SimJoystick implements ISimJoystick {
return controller.getName();
}
@Override
@Override
public String toString() {
return getName();
}
@@ -60,7 +60,7 @@ public class SimJoystick implements ISimJoystick {
prevNode = node;
prevI = i;
}
@Override
public void publish() {
controller.poll();

4
simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy
View File

@@ -144,7 +144,7 @@ FULL_PATH_NAMES = YES
# will be relative from the directory where doxygen is started.
# This tag requires that the tag FULL_PATH_NAMES is set to YES.
STRIP_FROM_PATH =
STRIP_FROM_PATH =
# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
# path mentioned in the documentation of a class, which tells the reader which
@@ -743,7 +743,7 @@ WARN_LOGFILE =
# spaces.
# Note: If this tag is empty the current directory is searched.
INPUT =
INPUT =
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

15
styleguide/clangformat.py Normal file
View File

@@ -0,0 +1,15 @@
# This task runs clang-format on all C++ source files.
import subprocess
import sys
from task import Task
class ClangFormat(Task):
def getIncludeExtensions(self):
return ["cpp", "h", "inc"]
def run(self, name):
# Run clang-format
if subprocess.call(["clang-format", "-i", "-style=file", name]) == -1:
print("Error: clang-format not found in PATH. Is it installed?",
file = sys.stderr)

95
styleguide/format.py
View File

@@ -1,53 +1,66 @@
#!/usr/bin/env python3
from subprocess import call
# This script runs all formatting tasks on the code base.
#
# Passing "-v" as an argument enables verbosity. Otherwise, this script takes no
# arguments. This should be invoked from either the styleguide directory or the
# root directory of the project.
import os
import re
import subprocess
import sys
sep = os.sep
# If directory separator is backslash, escape it for regexes
if sep == "\\":
sep += "\\"
from clangformat import ClangFormat
from licenseupdate import LicenseUpdate
from newline import Newline
from whitespace import Whitespace
from task import Task
# Files and directories which should be included in or excluded from the update
regexInclude = re.compile("\.cpp$|\.h$|\.hpp$|\.inc$")
folderExclude = "build" + sep + "|\.git" + sep + "|gradle" + sep + \
"|\.gradle" + sep + "|ni-libraries" + sep + "|ctre" + sep + \
"|frccansae" + sep + "|FRC_FPGA_ChipObject" + sep + \
"|gtest" + sep + "|i2clib" + sep + \
"|NetworkCommunication" + sep + "|spilib" + sep + \
"|visa" + sep + "|wpilibj" + sep
regexExclude = re.compile(folderExclude +
"|NIIMAQdx\.h$|nivision\.h$|can_proto\.h$|"
"CanTalonSRX\.h$")
# Check that the current directory is part of a Git repository
def inGitRepo(directory):
ret = subprocess.run(["git", "rev-parse"], stderr = subprocess.DEVNULL)
return ret.returncode == 0
# Handle running in either the root or styleguide directories
configPath = ""
if os.getcwd().rpartition(os.sep)[2] == "styleguide":
configPath = ".."
else:
configPath = "."
def main():
if not inGitRepo("."):
print("Error: not invoked within a Git repository", file = sys.stderr)
sys.exit(1)
# Recursively create list of files in given directory
files = [os.path.join(dp, f) for dp, dn, fn in
os.walk(os.path.expanduser(configPath)) for f in fn]
# Handle running in either the root or styleguide directories
configPath = ""
if os.getcwd().rpartition(os.sep)[2] == "styleguide":
configPath = ".."
else:
configPath = "."
# Apply regex filters to list
files = [f for f in files if regexInclude.search(f)]
files = [f for f in files if not regexExclude.search(f)]
# Recursively create list of files in given directory
files = [os.path.join(dp, f) for dp, dn, fn in
os.walk(os.path.expanduser(configPath)) for f in fn]
# Set clang-format name for platform
clangExec = "clang-format"
if sys.platform.startswith("win32"):
clangExec += ".exe"
if not files:
print("Error: no files found to format", file = sys.stderr)
sys.exit(1)
if not files:
print("Error: no files found to format", file=sys.stderr)
sys.exit(1)
# Don't format generated files
files = [name for name in files if Task.notGeneratedFile(name)]
for name in files:
# List names of files as they are processed if verbose flag was given
if len(sys.argv) > 1 and sys.argv[1] == "-v":
print("Processing", name,)
call([clangExec, "-i", "-style=file", name])
clangFormat = ClangFormat()
licenseUpdate = LicenseUpdate()
newline = Newline()
whitespace = Whitespace()
# Check for verbose flag
isVerbose = len(sys.argv) > 1 and sys.argv[1] == "-v"
for name in files:
if isVerbose:
print("Processing", name,)
for task in [clangFormat, licenseUpdate, newline, whitespace]:
if task.fileMatchesExtension(name):
if isVerbose:
print(" with " + type(task).__name__)
task.run(name)
if __name__ == "__main__":
main()

117
styleguide/licenseupdate.py Normal file
View File

@@ -0,0 +1,117 @@
# This task updates the license comment block at the top of all source files.
# If there is already a comment block, a year range through the current year is
# created using the first year in the comment. If there is no comment block, a
# new one is added containing just the current year.
from datetime import date
from functools import partial
import hashlib
import os
from task import Task
currentYear = str(date.today().year)
class LicenseUpdate(Task):
def getIncludeExtensions(self):
return ["cpp", "h", "inc", "java"]
def run(self, name):
with open(name, "r") as file:
modifyCopyright = False
year = ""
# Get first line of file
line = file.readline()
# If first line is non-documentation comment
if line[0:3] == "/*\n" or line[0:3] == "/*-":
modifyCopyright = True
# Get next line
line = file.readline()
# Search for start of copyright year
pos = line.find("20")
# Extract it if found. If not, rewrite whole comment
if pos != -1:
year = line[pos:pos + 4]
else:
modifyCopyright = False
# Retrieve lines until one past end of comment block
inComment = True
inBlock = True
while inBlock:
if not inComment:
pos = line.find("/*", pos)
if pos != -1:
inComment = True
else:
inBlock = False
else:
pos = line.find("*/", pos)
if pos != -1:
inComment = False
# This assumes no comments are started on the same line
# after another ends
line = file.readline()
pos = 0
with open(name + ".tmp", "w") as temp:
# Write first line of comment
temp.write("/*")
for i in range(0, 76):
temp.write("-")
temp.write("*/\n")
# Write second line of comment
temp.write("/* Copyright (c) FIRST ")
if modifyCopyright and year != currentYear:
temp.write(year)
temp.write("-")
temp.write(currentYear)
temp.write(". All Rights Reserved.")
for i in range(0, 24):
temp.write(" ")
if not modifyCopyright or year == currentYear:
for i in range(0, 5):
temp.write(" ")
temp.write("*/\n")
# Write rest of lines of comment
temp.write("""\
/* 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. */
/*""")
for i in range(0, 76):
temp.write("-")
temp.write("*/\n")
# If line after comment block isn't empty
if len(line) > 1 and line[0] != " ":
temp.write("\n")
temp.write(line)
# Copy rest of original file into new one
for line in file:
temp.write(line)
# Replace old file if it was changed
if self.md5sum(name) != self.md5sum(name + ".tmp"):
os.remove(name)
os.rename(name + ".tmp", name)
else:
os.remove(name + ".tmp")
# Compute MD5 sum of file
@staticmethod
def md5sum(name):
with open(name, mode = "rb") as file:
digest = hashlib.md5()
for buf in iter(partial(file.read, 128), b""):
digest.update(buf)
return digest.hexdigest()

35
styleguide/newline.py Normal file
View File

@@ -0,0 +1,35 @@
# This task ensures that all source files have exactly one EOF newline.
import os
from task import Task
class Newline(Task):
def run(self, name):
newlines = 0
# Remove all but one EOF newline, or append one if necessary
eol = os.linesep
if name.endswith("bat"):
eol = "\r\n"
with open(name, "r+", newline = eol) as file:
# Get file size
file.seek(0, os.SEEK_END)
size = file.tell()
# Seek to last character in file
file.seek(size - 1)
# While last character is a newline
while file.read(1) == "\n":
newlines = newlines + 1
# Seek to character before newline
file.seek(size - 1 - len(eol) * newlines)
if newlines < 1:
# Append newline to end of file
file.seek(size)
file.write("\n")
elif newlines > 1:
# Truncate all but one newline
file.truncate(size - len(eol) * (newlines - 1))

18
styleguide/styleguide.xsl
View File

@@ -50,7 +50,7 @@ xmlns:fn="http://www.w3.org/2005/xpath-functions">
var bodyElements = GetElementsByName(bodyName);
var linkElement = GetElementsByName('link-' + buttonName)[0];
if (bodyElements.length != 1) {
throw Error('ShowHideByName() got the wrong number of bodyElements: ' +
throw Error('ShowHideByName() got the wrong number of bodyElements: ' +
bodyElements.length);
} else {
var bodyElement = bodyElements[0];
@@ -138,10 +138,10 @@ xmlns:fn="http://www.w3.org/2005/xpath-functions">
var showHideAllValue = showHideAllRegex.exec(window.location.href);
if (showHideAllValue != null) {
if (showHideAllValue[2] == "y") {
SetHiddenState(document.getElementsByTagName("body")[0].childNodes,
SetHiddenState(document.getElementsByTagName("body")[0].childNodes,
"inline", '<xsl:value-of select="$hide_button_text"/>');
} else {
SetHiddenState(document.getElementsByTagName("body")[0].childNodes,
SetHiddenState(document.getElementsByTagName("body")[0].childNodes,
"none", '<xsl:value-of select="$show_button_text"/>');
}
}
@@ -551,8 +551,8 @@ xmlns:fn="http://www.w3.org/2005/xpath-functions">
</xsl:template>
<!-- Given text, determine the starting position of code.
This similar to num_leading_spaces_one_line but treats "Yes:" and "No:"
as spaces. Also, if there is no code on the first line, it searches
This similar to num_leading_spaces_one_line but treats "Yes:" and "No:"
as spaces. Also, if there is no code on the first line, it searches
subsequent lines until a non-empty line is found.
Used to find the start of code in snippets like:
Yes: if(foo):
@@ -583,7 +583,7 @@ xmlns:fn="http://www.w3.org/2005/xpath-functions">
<xsl:with-param name="current_count" select="$current_count + 3"/>
</xsl:call-template>
</xsl:when>
<!-- This is only reached if the first line is entirely whitespace or
<!-- This is only reached if the first line is entirely whitespace or
contains nothing but "Yes:" or "No:"-->
<xsl:when test="starts-with($text, '&#xA;')">
<xsl:call-template name="code_start_index">
@@ -716,7 +716,7 @@ xmlns:fn="http://www.w3.org/2005/xpath-functions">
5) Print line[a:c] (Note that we ignore line[0:a])
6) Print line[b:c] in an external span (in order to double the block
indent in external code).
7) Print line[c:<end>] with function names processed to produce both
7) Print line[c:<end>] with function names processed to produce both
internal and external names.
8) If there are more lines, recurse.
-->
@@ -820,7 +820,7 @@ xmlns:fn="http://www.w3.org/2005/xpath-functions">
<xsl:with-param name="b" select="$b"/>
<xsl:with-param name="previous_indent" select="$b"/>
<xsl:with-param name="previous_ends_with_colon" select="0"/>
<xsl:with-param name="is_first_line" select="1"/>
<xsl:with-param name="is_first_line" select="1"/>
</xsl:call-template>
</xsl:template>
@@ -895,7 +895,7 @@ xmlns:fn="http://www.w3.org/2005/xpath-functions">
<!-- Given a single word of text convert it from CamelCase to
lower_with_under.
This means replacing each uppercase character with _ followed by the
lowercase version except for the first character which is replaced
lowercase version except for the first character which is replaced
without adding the _.-->
<xsl:template name="convert_camel_case_to_lowercase_with_under">
<xsl:param name="text"/>

75
styleguide/task.py Normal file
View File

@@ -0,0 +1,75 @@
# Provides a task base class for use by format.py
from abc import *
import os
import re
sep = os.sep
# If directory separator is backslash, escape it for regexes
if sep == "\\":
sep += "\\"
# List of folder regexes which should be excluded from modification
folderExclude = \
[name + sep for name in [
"\.git",
"\.gradle",
"FRC_FPGA_ChipObject",
"NetworkCommunication",
"__pycache__",
"build",
"ctre",
"frccansae",
"gtest",
"i2clib",
"msgs",
"ni-libraries",
"ni" + sep + "vision",
"spilib",
"wpilibj" + sep + "src" + sep + "athena" + sep + "cpp" + sep + "include",
"wpilibj" + sep + "src" + sep + "athena" + sep + "cpp" + sep + "lib",
"wpilibj" + sep + "src" + sep + "athena" + sep + "cpp" + sep + "nivision",
"visa"]]
# List of file regexes which should be excluded from modification
fileExclude = [name + "$" for name in [
"CanTalonSRX\.h",
"NIIMAQdx\.h",
"can_proto\.h",
"nivision\.h",
"\.jar",
"\.patch",
"\.png",
"\.py",
"\.so"]]
# Regex of exclusions
regexExclude = re.compile("|".join(folderExclude + fileExclude))
class Task(object):
__metaclass__ = ABCMeta
def __init__(self):
self.regexInclude = re.compile("|".join(["\." + ext + "$" for ext in
self.getIncludeExtensions()]))
# Extensions of files which should be included in processing
def getIncludeExtensions(self):
return []
# Perform task on file with given name
@abstractmethod
def run(self, name):
return
# Returns True if file isn't generated (generated files are skipped)
@staticmethod
def notGeneratedFile(name):
return not regexExclude.search(name)
# Returns True if file has an extension this task can process
def fileMatchesExtension(self, name):
if self.getIncludeExtensions() != []:
return self.regexInclude.search(name)
else:
return True

23
styleguide/whitespace.py Normal file
View File

@@ -0,0 +1,23 @@
# This task removes trailing whitespace from all source files.
import os
from task import Task
class Whitespace(Task):
def run(self, name):
# Remove trailing whitespace
fileChanged = False
with open(name, "r") as file:
with open(name + ".tmp", "w") as temp:
for line in file:
processedLine = line[0:len(line) - 1].rstrip() + "\n"
if not fileChanged and len(line) != len(processedLine):
fileChanged = True
temp.write(processedLine)
# Replace old file if it was changed
if fileChanged:
os.remove(name)
os.rename(name + ".tmp", name)
else:
os.remove(name + ".tmp")

9
wpilibc/athena/src/Compressor.cpp
View File

@@ -1,6 +1,9 @@
/*
* Compressor.cpp
*/
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. 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. */
/*----------------------------------------------------------------------------*/
#include "Compressor.h"

13
wpilibc/sim/include/WPILib.h
View File

@@ -1,9 +1,10 @@
/*
* WPILIb.h
*
* Created on: May 29, 2014
* Author: alex
*/
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. 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
#define SIMULATION "gazebo"

12
wpilibc/sim/src/simulation/SimContinuousOutput.cpp
View File

@@ -1,9 +1,9 @@
/*
* SimContinuousOutput.cpp
*
* Created on: May 28, 2014
* Author: alex
*/
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. 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. */
/*----------------------------------------------------------------------------*/
#include "simulation/SimContinuousOutput.h"
#include "simulation/MainNode.h"

12
wpilibc/sim/src/simulation/SimDigitalInput.cpp
View File

@@ -1,9 +1,9 @@
/*
* SimDigitalInput.cpp
*
* Created on: May 28, 2014
* Author: alex
*/
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. 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. */
/*----------------------------------------------------------------------------*/
#include "simulation/SimDigitalInput.h"
#include "simulation/MainNode.h"

12
wpilibc/sim/src/simulation/SimFloatInput.cpp
View File

@@ -1,9 +1,9 @@
/*
* SimFloatInput.cpp
*
* Created on: May 28, 2014
* Author: alex
*/
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. 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. */
/*----------------------------------------------------------------------------*/
#include "simulation/SimFloatInput.h"
#include "simulation/MainNode.h"

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java
View File

@@ -28,14 +28,14 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
private static final float kDefaultVoltsPerDegreePerSecond = 0.007f;
protected AnalogInput m_analog;
private boolean m_channelAllocated = false;
private int m_gyroHandle = 0;
/**
* Initialize the gyro. Calibration is handled by calibrate().
*/
public void initGyro() {
if (m_gyroHandle == 0) {
m_gyroHandle = AnalogGyroJNI.initializeAnalogGyro(m_analog.m_port);
}
@@ -107,7 +107,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
throw new NullPointerException("AnalogInput supplied to Gyro constructor is null");
}
initGyro();
AnalogGyroJNI.setAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
AnalogGyroJNI.setAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
(float)offset, center);
reset();
}
@@ -173,7 +173,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second.
*/
public void setSensitivity(double voltsPerDegreePerSecond) {
AnalogGyroJNI.setAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
AnalogGyroJNI.setAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
(float)voltsPerDegreePerSecond);
}

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java
View File

@@ -72,7 +72,7 @@ public class AnalogTrigger {
AnalogJNI.initializeAnalogTrigger(channel.m_port, index.asIntBuffer());
m_index = index.asIntBuffer().get(0);
UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel.getChannel());
UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel.getChannel());
}
/**

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
View File

@@ -80,7 +80,7 @@ public class AnalogTriggerOutput extends DigitalSource {
UsageReporting.report(tResourceType.kResourceType_AnalogTriggerOutput, trigger.getIndex(),
outputType.m_value);
}
/**
* Frees the resources for this output.
*/
@@ -88,7 +88,7 @@ public class AnalogTriggerOutput extends DigitalSource {
if (m_interrupt != 0) {
cancelInterrupts();
}
}
/**
@@ -109,12 +109,12 @@ public class AnalogTriggerOutput extends DigitalSource {
public int getAnalogTriggerTypeForRouting() {
return m_outputType.m_value;
}
@Override
public int getChannel() {
return m_trigger.m_index;
}
@Override
public boolean isAnalogTrigger() {
return true;

12
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
View File

@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj.tables.ITable;
public class DigitalInput extends DigitalSource implements LiveWindowSendable {
private int m_channel = 0;
private int m_handle = 0;
/**
* Create an instance of a Digital Input class. Creates a digital input given a channel.
*
@@ -32,13 +32,13 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
public DigitalInput(int channel) {
checkDigitalChannel(channel);
m_channel = channel;
m_handle = DIOJNI.initializeDIOPort(DIOJNI.getPort((byte)channel), true);
LiveWindow.addSensor("DigitalInput", channel, this);
UsageReporting.report(tResourceType.kResourceType_DigitalInput, channel);
}
/**
* Frees the resources for this output.
*/
@@ -46,7 +46,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
if (m_interrupt != 0) {
cancelInterrupts();
}
DIOJNI.freeDIOPort(m_handle);
}
@@ -79,7 +79,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
public int getAnalogTriggerTypeForRouting() {
return 0;
}
/**
* Is this an analog trigger.
*
@@ -89,7 +89,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
public boolean isAnalogTrigger() {
return false;
}
/**
* Get the HAL Port Handle.
*

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
View File

@@ -36,7 +36,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
public DigitalOutput(int channel) {
checkDigitalChannel(channel);
m_channel = channel;
m_handle = DIOJNI.initializeDIOPort(DIOJNI.getPort((byte)channel), false);
UsageReporting.report(tResourceType.kResourceType_DigitalOutput, channel);
@@ -67,7 +67,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
/**
* @return The GPIO channel number that this object represents.
*/
@Override
@Override
public int getChannel() {
return m_channel;
}
@@ -181,7 +181,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
public int getAnalogTriggerTypeForRouting() {
return 0;
}
/**
* Is this an analog trigger.
*
@@ -191,7 +191,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
public boolean isAnalogTrigger() {
return false;
}
/**
* Get the HAL Port Handle.
*

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalSource.java
View File

@@ -15,6 +15,6 @@ package edu.wpi.first.wpilibj;
*/
public abstract class DigitalSource extends InterruptableSensorBase {
public abstract boolean isAnalogTrigger();
public abstract int getChannel();
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
View File

@@ -70,7 +70,7 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
int portHandle = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_forwardChannel);
m_forwardHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
try {
portHandle = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_reverseChannel);
m_reverseHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
@@ -107,7 +107,7 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
public void set(final Value value) {
boolean forward = false;
boolean reverse = false;
switch (value) {
case kOff:
forward = false;
@@ -138,7 +138,7 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
public Value get() {
boolean valueForward = SolenoidJNI.getSolenoid(m_forwardHandle);
boolean valueReverse = SolenoidJNI.getSolenoid(m_reverseHandle);
if (valueForward) {
return Value.kForward;
}

24
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -81,7 +81,7 @@ public class DriverStation implements RobotState.Interface {
private HALJoystickPOVs[] m_joystickPOVsCache = new HALJoystickPOVs[kJoystickPorts];
private HALJoystickButtons[] m_joystickButtonsCache = new HALJoystickButtons[kJoystickPorts];
// preallocated byte buffer for button count
private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
private int[] m_joystickIsXbox = new int[kJoystickPorts];
private int[] m_joystickType = new int[kJoystickPorts];
@@ -94,7 +94,7 @@ public class DriverStation implements RobotState.Interface {
private final Object m_newControlDataMutex;
private final Object m_joystickMutex;
private volatile boolean m_threadKeepAlive = true;
private boolean m_userInDisabled = false;
private boolean m_userInAutonomous = false;
private boolean m_userInTeleop = false;
@@ -129,9 +129,9 @@ public class DriverStation implements RobotState.Interface {
m_joystickPOVs[i] = new HALJoystickPOVs(FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs);
m_joystickButtonsCache[i] = new HALJoystickButtons();
m_joystickAxesCache[i] =
m_joystickAxesCache[i] =
new HALJoystickAxes(FRCNetworkCommunicationsLibrary.kMaxJoystickAxes);
m_joystickPOVsCache[i] =
m_joystickPOVsCache[i] =
new HALJoystickPOVs(FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs);
}
@@ -216,11 +216,11 @@ public class DriverStation implements RobotState.Interface {
protected void getData() {
// Get the status of all of the joysticks
for (byte stick = 0; stick < kJoystickPorts; stick++) {
m_joystickAxesCache[stick].m_count =
FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick,
m_joystickAxesCache[stick].m_count =
FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick,
m_joystickAxesCache[stick].m_axes);
m_joystickPOVsCache[stick].m_count =
FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs(stick,
m_joystickPOVsCache[stick].m_count =
FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs(stick,
m_joystickPOVsCache[stick].m_povs);
m_joystickButtonsCache[stick].m_buttons =
FRCNetworkCommunicationsLibrary.HALGetJoystickButtons(stick, m_buttonCountBuffer);
@@ -295,7 +295,7 @@ public class DriverStation implements RobotState.Interface {
if (axis < 0 || axis >= FRCNetworkCommunicationsLibrary.kMaxJoystickAxes) {
throw new RuntimeException("Joystick axis is out of range");
}
boolean error = false;
double retVal = 0.0;
synchronized (m_joystickMutex) {
@@ -306,7 +306,7 @@ public class DriverStation implements RobotState.Interface {
} else {
retVal = m_joystickAxes[stick].m_axes[axis];
}
}
}
if (error) {
reportJoystickUnpluggedWarning("Joystick axis " + axis + " on port " + stick
+ " not available, check if controller is plugged in");
@@ -504,7 +504,7 @@ public class DriverStation implements RobotState.Interface {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
}
boolean error = false;
String retVal = "";
String retVal = "";
synchronized (m_joystickMutex) {
// TODO: Remove this when calling for descriptor on empty stick no longer
// crashes
@@ -514,7 +514,7 @@ public class DriverStation implements RobotState.Interface {
} else {
retVal = FRCNetworkCommunicationsLibrary.HALGetJoystickName((byte) stick);
}
}
}
if (error) {
reportJoystickUnpluggedWarning("Joystick on port " + stick
+ " not available, check if controller is plugged in");

16
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -33,10 +33,10 @@ import edu.wpi.first.wpilibj.util.AllocationException;
public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveWindowSendable {
public enum IndexingType {
kResetWhileHigh(0), kResetWhileLow(1), kResetOnFallingEdge(2), kResetOnRisingEdge(3);
@SuppressWarnings("MemberName")
public final int value;
IndexingType(int value) {
this.value = value;
}
@@ -60,9 +60,9 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
private boolean m_allocatedB;
private boolean m_allocatedI;
private PIDSourceType m_pidSource;
private int m_encoder; // the HAL encoder object
/**
* Common initialization code for Encoders. This code allocates resources for Encoders and is
@@ -73,10 +73,10 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @param reverseDirection If true, counts down instead of up (this is all relative)
*/
private void initEncoder(boolean reverseDirection, final EncodingType type) {
m_encoder = EncoderJNI.initializeEncoder(m_aSource.getPortHandleForRouting(),
m_aSource.getAnalogTriggerTypeForRouting(), m_bSource.getPortHandleForRouting(),
m_encoder = EncoderJNI.initializeEncoder(m_aSource.getPortHandleForRouting(),
m_aSource.getAnalogTriggerTypeForRouting(), m_bSource.getPortHandleForRouting(),
m_bSource.getAnalogTriggerTypeForRouting(), reverseDirection, type.value);
m_pidSource = PIDSourceType.kDisplacement;
UsageReporting.report(tResourceType.kResourceType_Encoder, getFPGAIndex(), type.value);
@@ -580,7 +580,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @param type The state that will cause the encoder to reset
*/
public void setIndexSource(DigitalSource source, IndexingType type) {
EncoderJNI.setEncoderIndexSource(m_encoder, source.getPortHandleForRouting(),
EncoderJNI.setEncoderIndexSource(m_encoder, source.getPortHandleForRouting(),
source.getAnalogTriggerTypeForRouting(), type.value);
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
View File

@@ -88,7 +88,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
assert (m_interrupt != 0);
InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
getAnalogTriggerTypeForRouting());
setUpSourceEdge(true, false);
InterruptJNI.attachInterruptHandler(m_interrupt, handler.m_function,
@@ -109,7 +109,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
assert (m_interrupt != 0);
InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
getAnalogTriggerTypeForRouting());
setUpSourceEdge(true, false);
@@ -123,7 +123,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
*/
protected void allocateInterrupts(boolean watcher) {
m_isSynchronousInterrupt = watcher;
m_interrupt = InterruptJNI.initializeInterrupts(watcher);
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
View File

@@ -110,7 +110,7 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
}
private final int m_channel;
private int m_forwardHandle = 0;
private int m_reverseHandle = 0;
private long m_port;
@@ -176,10 +176,10 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
} catch (RuntimeException ex) {
// do nothing. Ignore
}
RelayJNI.freeRelayPort(m_forwardHandle);
RelayJNI.freeRelayPort(m_reverseHandle);
m_forwardHandle = 0;
m_reverseHandle = 0;
}

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java
View File

@@ -18,7 +18,7 @@ public abstract class SensorBase { // TODO: Refactor
/**
* Ticks per microsecond.
*/
public static final int kSystemClockTicksPerMicrosecond =
public static final int kSystemClockTicksPerMicrosecond =
ConstantsJNI.getSystemClockTicksPerMicrosecond();
/**
* Number of digital channels per roboRIO.

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java
View File

@@ -289,7 +289,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda
// single sensor
m_counter.reset(); // reset the counter to zero (invalid data now)
// do the ping to start getting a single range
m_pingChannel.pulse(m_pingChannel.getChannel(), (float) kPingTime);
m_pingChannel.pulse(m_pingChannel.getChannel(), (float) kPingTime);
}
/**

24
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AnalogGyroJNI.java
View File

@@ -9,29 +9,29 @@ package edu.wpi.first.wpilibj.hal;
public class AnalogGyroJNI extends JNIWrapper {
public static native int initializeAnalogGyro(int halAnalogInputHandle);
public static native void setupAnalogGyro(int handle);
public static native void freeAnalogGyro(int handle);
public static native void setAnalogGyroParameters(int handle,
float voltsPerDegreePerSecond,
public static native void setAnalogGyroParameters(int handle,
float voltsPerDegreePerSecond,
float offset, int center);
public static native void setAnalogGyroVoltsPerDegreePerSecond(int handle,
float voltsPerDegreePerSecond);
public static native void resetAnalogGyro(int handle);
public static native void calibrateAnalogGyro(int handle);
public static native void setAnalogGyroDeadband(int handle, float volts);
public static native float getAnalogGyroAngle(int handle);
public static native double getAnalogGyroRate(int handle);
public static native float getAnalogGyroOffset(int handle);
public static native int getAnalogGyroCenter(int handle);
}

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/CounterJNI.java
View File

@@ -16,7 +16,7 @@ public class CounterJNI extends JNIWrapper {
public static native void setCounterAverageSize(int counterHandle, int size);
public static native void setCounterUpSource(int counterHandle, int digitalSourceHandle,
public static native void setCounterUpSource(int counterHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void setCounterUpSourceEdge(int counterHandle, boolean risingEdge,
@@ -24,7 +24,7 @@ public class CounterJNI extends JNIWrapper {
public static native void clearCounterUpSource(int counterHandle);
public static native void setCounterDownSource(int counterHandle, int digitalSourceHandle,
public static native void setCounterDownSource(int counterHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void setCounterDownSourceEdge(int counterHandle, boolean risingEdge,

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/DIOJNI.java
View File

@@ -26,7 +26,7 @@ public class DIOJNI extends JNIWrapper {
public static native boolean isAnyPulsing();
public static native short getLoopTiming();
public static native int allocateDigitalPWM();
public static native void freeDigitalPWM(int pwmGenerator);

24
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java
View File

@@ -10,19 +10,19 @@ package edu.wpi.first.wpilibj.hal;
import java.nio.IntBuffer;
public class EncoderJNI extends JNIWrapper {
public static native int initializeEncoder(int digitalSourceHandleA, int analogTriggerTypeA,
public static native int initializeEncoder(int digitalSourceHandleA, int analogTriggerTypeA,
int digitalSourceHandleB, int analogTriggerTypeB,
boolean reverseDirection, int encodingType);
public static native void freeEncoder(int encoderHandle);
public static native int getEncoder(int encoderHandle);
public static native int getEncoderRaw(int encoderHandle);
public static native int getEncodingScaleFactor(int encoderHandle);
public static native void resetEncoder(int encoderHandle);
public static native double getEncoderPeriod(int encoderHandle);
@@ -32,13 +32,13 @@ public class EncoderJNI extends JNIWrapper {
public static native boolean getEncoderStopped(int encoderHandle);
public static native boolean getEncoderDirection(int encoderHandle);
public static native double getEncoderDistance(int encoderHandle);
public static native double getEncoderRate(int encoderHandle);
public static native void setEncoderMinRate(int encoderHandle, double minRate);
public static native void setEncoderDistancePerPulse(int encoderHandle, double distancePerPulse);
public static native void setEncoderReverseDirection(int encoderHandle,
@@ -49,12 +49,12 @@ public class EncoderJNI extends JNIWrapper {
public static native int getEncoderSamplesToAverage(int encoderHandle);
public static native void setEncoderIndexSource(int encoderHandle, int digitalSourceHandle,
public static native void setEncoderIndexSource(int encoderHandle, int digitalSourceHandle,
int analogTriggerType, int indexingType);
@SuppressWarnings("AbbreviationAsWordInName")
public static native int getEncoderFPGAIndex(int encoderHandle);
public static native int getEncoderEncodingScale(int encoderHandle);
public static native double getEncoderDecodingScaleFactor(int encoderHandle);

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java
View File

@@ -9,7 +9,7 @@ package edu.wpi.first.wpilibj.hal;
public class InterruptJNI extends JNIWrapper {
public static final int HalInvalidHandle = 0;
public interface InterruptJNIHandlerFunction {
void apply(int interruptAssertedMask, Object param);
}
@@ -29,7 +29,7 @@ public class InterruptJNI extends JNIWrapper {
public static native double readInterruptFallingTimestamp(int interruptHandle);
public static native void requestInterrupts(int interruptHandle, int digitalSourceHandle,
public static native void requestInterrupts(int interruptHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void attachInterruptHandler(int interruptHandle,

36
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PortsJNI.java
View File

@@ -9,40 +9,40 @@ package edu.wpi.first.wpilibj.hal;
public class PortsJNI extends JNIWrapper {
public static native int getNumAccumulators();
public static native int getNumAnalogTriggers();
public static native int getNumAnalogInputs();
public static native int getNumAnalogOutputs();
public static native int getNumCounters();
public static native int getNumDigitalHeaders();
public static native int getNumPWMHeaders();
public static native int getNumDigitalPins();
public static native int getNumPWMPins();
public static native int getNumDigitalPWMOutputs();
public static native int getNumEncoders();
public static native int getNumInterrupts();
public static native int getNumRelayPins();
public static native int getNumRelayHeaders();
public static native int getNumPCMModules();
public static native int getNumSolenoidPins();
public static native int getNumPDPModules();
public static native int getNumPDPChannels();
public static native int getNumCanTalons();
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/RelayJNI.java
View File

@@ -9,11 +9,11 @@ package edu.wpi.first.wpilibj.hal;
public class RelayJNI extends DIOJNI {
public static native int initializeRelayPort(int halPortHandle, boolean forward);
public static native void freeRelayPort(int relayPortHandle);
public static native boolean checkRelayChannel(int pin);
public static native void setRelay(int relayPortHandle, boolean on);
public static native boolean getRelay(int relayPortHandle);

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/package.html
View File

@@ -11,7 +11,7 @@ station, and a number of other utility functions like timing and field managemen
The library is designed to:
<ul>
<li>Deal with all the low level interfacing to these components so you can concentrate on
solving this yearÕs Òrobot problemÓ. This is a philosophical decision to let you focus
solving this year's "robot problem". This is a philosophical decision to let you focus
on the higher-level design of your robot rather than deal with the details of the
processor and the operating system.
</li>

7
wpilibj/src/shared/java/edu/wpi/first/wpilibj/PIDController.java
View File

@@ -1,7 +1,8 @@
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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. */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;

16
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/ConstantsPortsTest.java
View File

@@ -35,7 +35,7 @@ public class ConstantsPortsTest extends AbstractComsSetup {
public void testDigitalChannels() {
assertEquals(26, SensorBase.kDigitalChannels);
}
/**
* kAnalogInputChannels.
*/
@@ -43,7 +43,7 @@ public class ConstantsPortsTest extends AbstractComsSetup {
public void testAnalogInputChannels() {
assertEquals(8, SensorBase.kAnalogInputChannels);
}
/**
* kAnalogOutputChannels.
*/
@@ -51,7 +51,7 @@ public class ConstantsPortsTest extends AbstractComsSetup {
public void testAnalogOutputChannels() {
assertEquals(2, SensorBase.kAnalogOutputChannels);
}
/**
* kSolenoidChannels.
*/
@@ -59,7 +59,7 @@ public class ConstantsPortsTest extends AbstractComsSetup {
public void testSolenoidChannels() {
assertEquals(8, SensorBase.kSolenoidChannels);
}
/**
* kPwmChannels.
*/
@@ -67,7 +67,7 @@ public class ConstantsPortsTest extends AbstractComsSetup {
public void testPwmChannels() {
assertEquals(20, SensorBase.kPwmChannels);
}
/**
* kRelayChannels.
*/
@@ -75,7 +75,7 @@ public class ConstantsPortsTest extends AbstractComsSetup {
public void testRelayChannels() {
assertEquals(8, SensorBase.kRelayChannels);
}
/**
* kPDPChannels.
*/
@@ -83,7 +83,7 @@ public class ConstantsPortsTest extends AbstractComsSetup {
public void testPDPChannels() {
assertEquals(16, SensorBase.kPDPChannels);
}
/**
* kPDPModules.
*/
@@ -91,7 +91,7 @@ public class ConstantsPortsTest extends AbstractComsSetup {
public void testPDPModules() {
assertEquals(63, SensorBase.kPDPModules);
}
/**
* kPCMModules.
*/

4
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
View File

@@ -20,8 +20,8 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
@RunWith(Suite.class)
@SuiteClasses({AnalogCrossConnectTest.class, AnalogPotentiometerTest.class,
BuiltInAccelerometerTest.class, CANTalonTest.class,
CircularBufferTest.class, ConstantsPortsTest.class, CounterTest.class,
DigitalGlitchFilterTest.class, DIOCrossConnectTest.class, EncoderTest.class,
CircularBufferTest.class, ConstantsPortsTest.class, CounterTest.class,
DigitalGlitchFilterTest.class, DIOCrossConnectTest.class, EncoderTest.class,
FilterNoiseTest.class, FilterOutputTest.class, GyroTest.class, MotorEncoderTest.class,
MotorInvertingTest.class, PCMTest.class, PDPTest.class, PIDTest.class,
PIDToleranceTest.class, PreferencesTest.class, RelayCrossConnectTest.class,

7
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/package-info.java
View File

@@ -1,3 +1,10 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
/**
* Provides a suite of tests to cover CANJaguar fully in all different control modes and with each
* supported positional input. Different setup parameters are provided in each Test class. All test

6
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterOutputFixture.java
View File

@@ -129,18 +129,18 @@ public abstract class FilterOutputFixture<T extends PIDSource> implements ITestF
@SuppressWarnings("ParameterName")
public abstract double getData(double t);
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
}
@Override
public PIDSourceType getPIDSourceType() {
return PIDSourceType.kDisplacement;
}
@Override
public double pidGet() {
m_count += TestBench.kFilterStep;

7
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/package-info.java
View File

@@ -1,3 +1,10 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
/**
* This is the starting point for the integration testing framework. This package should contain
* classes that are not explicitly for testing the library but instead provide the framework that

2
wpilibjIntegrationTests/src/main/resources/logging.properties
View File

@@ -1,4 +1,4 @@
# "handlers" specifies a comma separated list of log Handler
# "handlers" specifies a comma separated list of log Handler
# classes. These handlers will be installed during VM startup.
# By default we only configure a ConsoleHandler, which will only
# show messages at the INFO and above levels.