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[hal] Remove HAL_GetPort (#7754)

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This commit is contained in:
Thad House
2025-01-30 18:59:34 -08:00
committed by GitHub
parent 6e704370b3
commit ad29d45dfb
44 changed files with 84 additions and 272 deletions
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12
hal/src/main/native/cpp/handles/HandlesInternal.cpp
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@@ -49,18 +49,6 @@ void HandleBase::ResetGlobalHandles() {
}
}
}
HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module) {
// set last 8 bits, then shift to first 8 bits
HAL_PortHandle handle = static_cast<HAL_PortHandle>(HAL_HandleEnum::Port);
handle = handle << 24;
// shift module and add to 3rd set of 8 bits
int32_t temp = module;
temp = (temp << 8) & 0xff00;
handle += temp;
// add channel to last 8 bits
handle += channel;
return handle;
}
HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
int16_t version) {
if (index < 0) {

5
hal/src/main/native/cpp/jni/AnalogJNI.cpp
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@@ -25,12 +25,11 @@ extern "C" {
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogInputPort
(JNIEnv* env, jclass, jint id)
(JNIEnv* env, jclass, jint channel)
{
int32_t status = 0;
auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
auto analog =
HAL_InitializeAnalogInputPort((HAL_PortHandle)id, stack.c_str(), &status);
auto analog = HAL_InitializeAnalogInputPort(channel, stack.c_str(), &status);
CheckStatusForceThrow(env, status);
return (jint)analog;
}

6
hal/src/main/native/cpp/jni/DIOJNI.cpp
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@@ -26,12 +26,12 @@ extern "C" {
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_DIOJNI_initializeDIOPort
(JNIEnv* env, jclass, jint id, jboolean input)
(JNIEnv* env, jclass, jint channel, jboolean input)
{
int32_t status = 0;
auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
auto dio = HAL_InitializeDIOPort(
(HAL_PortHandle)id, static_cast<uint8_t>(input), stack.c_str(), &status);
auto dio = HAL_InitializeDIOPort(channel, static_cast<uint8_t>(input),
stack.c_str(), &status);
CheckStatusForceThrow(env, status);
return (jint)dio;
}

5
hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
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@@ -20,12 +20,11 @@ extern "C" {
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_DutyCycleJNI_initialize
(JNIEnv* env, jclass, jint portHandle)
(JNIEnv* env, jclass, jint channel)
{
int32_t status = 0;
auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
auto handle = HAL_InitializeDutyCycle(static_cast<HAL_Handle>(portHandle),
stack.c_str(), &status);
auto handle = HAL_InitializeDutyCycle(channel, stack.c_str(), &status);
CheckStatus(env, status);
return handle;
}

26
hal/src/main/native/cpp/jni/HAL.cpp
View File

@@ -199,30 +199,4 @@ Java_edu_wpi_first_hal_HAL_getSystemTimeValid
return val;
}
/*
* Class: edu_wpi_first_hal_HAL
* Method: getPortWithModule
* Signature: (BB)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_HAL_getPortWithModule
(JNIEnv* env, jclass, jbyte module, jbyte channel)
{
HAL_PortHandle port = HAL_GetPortWithModule(module, channel);
return (jint)port;
}
/*
* Class: edu_wpi_first_hal_HAL
* Method: getPort
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_HAL_getPort
(JNIEnv* env, jclass, jbyte channel)
{
HAL_PortHandle port = HAL_GetPort(channel);
return (jint)port;
}
} // extern "C"

4
hal/src/main/native/cpp/jni/PWMJNI.cpp
View File

@@ -26,11 +26,11 @@ extern "C" {
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_PWMJNI_initializePWMPort
(JNIEnv* env, jclass, jint id)
(JNIEnv* env, jclass, jint channel)
{
int32_t status = 0;
auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, stack.c_str(), &status);
auto pwm = HAL_InitializePWMPort(channel, stack.c_str(), &status);
CheckStatusForceThrow(env, status);
return (jint)pwm;
}

4
hal/src/main/native/include/hal/AnalogInput.h
View File

@@ -21,14 +21,14 @@ extern "C" {
/**
* Initializes the analog input port using the given port object.
*
* @param[in] portHandle Handle to the port to initialize.
* @param[in] channel the smartio channel.
* @param[in] allocationLocation the location where the allocation is occurring
* (can be null)
* @param[out] status the error code, or 0 for success
* @return the created analog input handle
*/
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
HAL_PortHandle portHandle, const char* allocationLocation, int32_t* status);
int32_t channel, const char* allocationLocation, int32_t* status);
/**
* Frees an analog input port.

5
hal/src/main/native/include/hal/DIO.h
View File

@@ -21,15 +21,14 @@ extern "C" {
/**
* Creates a new instance of a digital port.
*
* @param[in] portHandle the port handle to create from
* @param[in] channel the smartio channel
* @param[in] input true for input, false for output
* @param[in] allocationLocation the location where the allocation is occurring
* (can be null)
* @param[out] status Error status variable. 0 on success.
* @return the created digital handle
*/
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
HAL_Bool input,
HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
const char* allocationLocation,
int32_t* status);

4
hal/src/main/native/include/hal/DutyCycle.h
View File

@@ -19,13 +19,13 @@ extern "C" {
/**
* Initialize a DutyCycle input.
*
* @param[in] portHandle the port handle to create from
* @param[in] channel the smartio channel
* @param[in] allocationLocation the location where the allocation is occurring
* (can be null)
* @param[out] status Error status variable. 0 on success.
* @return the created duty cycle handle
*/
HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_PortHandle portHandle,
HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
const char* allocationLocation,
int32_t* status);

24
hal/src/main/native/include/hal/HALBase.h
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@@ -148,30 +148,6 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status);
*/
int32_t HAL_GetCommsDisableCount(int32_t* status);
/**
* Gets a port handle for a specific channel.
*
* The created handle does not need to be freed.
*
* @param channel the channel number
* @return the created port
*/
HAL_PortHandle HAL_GetPort(int32_t channel);
/**
* Gets a port handle for a specific channel and module.
*
* This is expected to be used for PCMs, as the roboRIO does not work with
* modules anymore.
*
* The created handle does not need to be freed.
*
* @param module the module number
* @param channel the channel number
* @return the created port
*/
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
/**
* Reads the microsecond-resolution timer on the FPGA.
*

4
hal/src/main/native/include/hal/PWM.h
View File

@@ -21,13 +21,13 @@ extern "C" {
/**
* Initializes a PWM port.
*
* @param[in] portHandle the port to initialize
* @param[in] channel the smartio channel
* @param[in] allocationLocation the location where the allocation is occurring
* (can be null)
* @param[out] status Error status variable. 0 on success.
* @return the created pwm handle
*/
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
const char* allocationLocation,
int32_t* status);

2
hal/src/main/native/include/hal/Types.h
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@@ -16,8 +16,6 @@
typedef int32_t HAL_Handle;
typedef HAL_Handle HAL_PortHandle;
typedef HAL_Handle HAL_AnalogInputHandle;
typedef HAL_Handle HAL_AnalogOutputHandle;

37
hal/src/main/native/include/hal/handles/HandlesInternal.h
View File

@@ -153,43 +153,6 @@ inline int16_t getHandleTypedIndex(HAL_Handle handle, HAL_HandleEnum enumType,
* Bit 31: 1 if handle error, 0 if no error
*/
// using a 16 bit value so we can store 0-255 and still report error
/**
* Gets the port channel of a port handle.
*
* @param handle the port handle
* @return the port channel
*/
inline int16_t getPortHandleChannel(HAL_PortHandle handle) {
if (!isHandleType(handle, HAL_HandleEnum::Port)) {
return InvalidHandleIndex;
}
return static_cast<uint8_t>(handle & 0xff);
}
// using a 16 bit value so we can store 0-255 and still report error
/**
* Gets the port module of a port handle.
*
* @param handle the port handle
* @return the port module
*/
inline int16_t getPortHandleModule(HAL_PortHandle handle) {
if (!isHandleType(handle, HAL_HandleEnum::Port)) {
return InvalidHandleIndex;
}
return static_cast<uint8_t>((handle >> 8) & 0xff);
}
/**
* Create a port handle.
*
* @param channel the channel
* @param module the module
* @return port handle for the module and channel
*/
HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module);
/**
* Create a handle for a specific index, type and version.
*

6
hal/src/main/native/sim/AnalogInput.cpp
View File

@@ -19,11 +19,9 @@ void InitializeAnalogInput() {}
extern "C" {
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
HAL_PortHandle portHandle, const char* allocationLocation,
int32_t* status) {
int32_t channel, const char* allocationLocation, int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex || channel >= kNumAnalogInputs) {
if (channel < 0 || channel >= kNumAnalogInputs) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
0, kNumAnalogInputs, channel);

6
hal/src/main/native/sim/DIO.cpp
View File

@@ -31,14 +31,12 @@ void InitializeDIO() {
extern "C" {
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
HAL_Bool input,
HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
if (channel < 0 || channel >= kNumDigitalChannels) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
kNumDigitalChannels, channel);

4
hal/src/main/native/sim/DutyCycle.cpp
View File

@@ -33,7 +33,7 @@ void InitializeDutyCycle() {
} // namespace hal::init
extern "C" {
HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_PortHandle portHandle,
HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
@@ -51,7 +51,7 @@ HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_PortHandle portHandle,
}
int16_t index = getHandleIndex(handle);
SimDutyCycleData[index].digitalChannel = getPortHandleChannel(portHandle);
SimDutyCycleData[index].digitalChannel = channel;
SimDutyCycleData[index].initialized = true;
SimDutyCycleData[index].simDevice = 0;
dutyCycle->index = index;

19
hal/src/main/native/sim/HAL.cpp
View File

@@ -112,25 +112,6 @@ void InitializeHAL() {
extern "C" {
HAL_PortHandle HAL_GetPort(int32_t channel) {
// Dont allow a number that wouldn't fit in a uint8_t
if (channel < 0 || channel >= 255) {
return HAL_kInvalidHandle;
}
return createPortHandle(channel, 1);
}
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;
}
if (module < 0 || module >= 255) {
return HAL_kInvalidHandle;
}
return createPortHandle(channel, module);
}
const char* HAL_GetErrorMessage(int32_t code) {
switch (code) {
case 0:

5
hal/src/main/native/sim/PWM.cpp
View File

@@ -63,13 +63,12 @@ static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
if (channel < 0 || channel >= kNumPWMChannels) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
kNumPWMChannels, channel);

6
hal/src/main/native/systemcore/AnalogInput.cpp
View File

@@ -26,12 +26,10 @@ using namespace hal;
extern "C" {
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
HAL_PortHandle portHandle, const char* allocationLocation,
int32_t* status) {
int32_t channel, const char* allocationLocation, int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex || channel >= kNumSmartIo) {
if (channel < 0 || channel >= kNumSmartIo) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog", 0,
kNumSmartIo, channel);

6
hal/src/main/native/systemcore/DIO.cpp
View File

@@ -25,14 +25,12 @@ void InitializeDIO() {}
extern "C" {
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
HAL_Bool input,
HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex || channel >= kNumSmartIo) {
if (channel < 0 || channel >= kNumSmartIo) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
kNumSmartIo, channel);

5
hal/src/main/native/systemcore/DutyCycle.cpp
View File

@@ -24,13 +24,12 @@ void InitializeDutyCycle() {}
} // namespace hal::init
extern "C" {
HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_PortHandle portHandle,
HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex || channel >= kNumSmartIo) {
if (channel < 0 || channel >= kNumSmartIo) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DutyCycle", 0,
kNumSmartIo, channel);

19
hal/src/main/native/systemcore/HAL.cpp
View File

@@ -81,25 +81,6 @@ uint64_t GetDSInitializeTime() {
extern "C" {
HAL_PortHandle HAL_GetPort(int32_t channel) {
// Dont allow a number that wouldn't fit in a uint8_t
if (channel < 0 || channel >= 255) {
return HAL_kInvalidHandle;
}
return createPortHandle(channel, 1);
}
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;
}
if (module < 0 || module >= 255) {
return HAL_kInvalidHandle;
}
return createPortHandle(channel, module);
}
const char* HAL_GetErrorMessage(int32_t code) {
switch (code) {
case 0:

5
hal/src/main/native/systemcore/PWM.cpp
View File

@@ -68,13 +68,12 @@ void InitializePWM() {}
extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex || channel >= kNumSmartIo) {
if (channel < 0 || channel >= kNumSmartIo) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
kNumSmartIo, channel);