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Switches HAL to fixed length signed integers, and adds our own HAL_Bool Type (#155)

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* Switches HAL to fixed length signed integers, and adds our own HAL_Bool type

* Replaces HAL Floats with Doubles

Doubles are just as fast as floats with optimizations turned on, so
switches to all doubles. All made doubles for consistency.

* Prepends HAL/ to HAL include files. Also fixes some range errors
This commit is contained in:
Thad House
2016-07-12 10:45:14 -07:00
committed by Peter Johnson
parent 4a98e68815
commit b51e85ae26
89 changed files with 900 additions and 795 deletions
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28
hal/lib/shared/HAL.cpp
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@@ -9,6 +9,7 @@
#include <cstdlib>
#include <cstring>
#include <limits>
#include "FRC_NetworkCommunication/FRCComm.h"
@@ -19,7 +20,7 @@ struct HAL_JoystickAxesInt {
extern "C" {
int HAL_GetControlWord(HAL_ControlWord* controlWord) {
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
std::memset(controlWord, 0, sizeof(HAL_ControlWord));
return FRC_NetworkCommunication_getControlWord(
reinterpret_cast<ControlWord_t*>(controlWord));
@@ -32,7 +33,7 @@ HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
return allianceStation;
}
int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes) {
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
HAL_JoystickAxesInt axesInt;
int retVal = FRC_NetworkCommunication_getJoystickAxes(
@@ -55,13 +56,14 @@ int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes) {
return retVal;
}
int HAL_GetJoystickPOVs(uint8_t joystickNum, HAL_JoystickPOVs* povs) {
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
return FRC_NetworkCommunication_getJoystickPOVs(
joystickNum, reinterpret_cast<JoystickPOV_t*>(povs),
HAL_kMaxJoystickPOVs);
}
int HAL_GetJoystickButtons(uint8_t joystickNum, HAL_JoystickButtons* buttons) {
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons) {
return FRC_NetworkCommunication_getJoystickButtons(
joystickNum, &buttons->buttons, &buttons->count);
}
@@ -76,10 +78,10 @@ int HAL_GetJoystickButtons(uint8_t joystickNum, HAL_JoystickButtons* buttons) {
* @return error code reported from Network Comm back-end. Zero is good,
* nonzero is bad.
*/
int HAL_GetJoystickDescriptor(uint8_t joystickNum,
HAL_JoystickDescriptor* desc) {
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc) {
desc->isXbox = 0;
desc->type = -1;
desc->type = std::numeric_limits<uint8_t>::max();
desc->name[0] = '\0';
desc->axisCount =
HAL_kMaxJoystickAxes; /* set to the desc->axisTypes's capacity */
@@ -99,7 +101,7 @@ int HAL_GetJoystickDescriptor(uint8_t joystickNum,
return retval;
}
int HAL_GetJoystickIsXbox(uint8_t joystickNum) {
HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum) {
HAL_JoystickDescriptor joystickDesc;
if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) {
return 0;
@@ -108,7 +110,7 @@ int HAL_GetJoystickIsXbox(uint8_t joystickNum) {
}
}
int HAL_GetJoystickType(uint8_t joystickNum) {
int32_t HAL_GetJoystickType(int32_t joystickNum) {
HAL_JoystickDescriptor joystickDesc;
if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) {
return -1;
@@ -117,7 +119,7 @@ int HAL_GetJoystickType(uint8_t joystickNum) {
}
}
char* HAL_GetJoystickName(uint8_t joystickNum) {
char* HAL_GetJoystickName(int32_t joystickNum) {
HAL_JoystickDescriptor joystickDesc;
if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) {
char* name = static_cast<char*>(std::malloc(1));
@@ -132,7 +134,7 @@ char* HAL_GetJoystickName(uint8_t joystickNum) {
}
}
int HAL_GetJoystickAxisType(uint8_t joystickNum, uint8_t axis) {
int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis) {
HAL_JoystickDescriptor joystickDesc;
if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) {
return -1;
@@ -141,8 +143,8 @@ int HAL_GetJoystickAxisType(uint8_t joystickNum, uint8_t axis) {
}
}
int HAL_SetJoystickOutputs(uint8_t joystickNum, uint32_t outputs,
uint16_t leftRumble, uint16_t rightRumble) {
int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble) {
return FRC_NetworkCommunication_setJoystickOutputs(joystickNum, outputs,
leftRumble, rightRumble);
}