diff --git a/hal/include/HAL/Accelerometer.h b/hal/include/HAL/Accelerometer.h index e84653b057..046ba16198 100644 --- a/hal/include/HAL/Accelerometer.h +++ b/hal/include/HAL/Accelerometer.h @@ -7,16 +7,16 @@ #pragma once -enum AccelerometerRange { - kRange_2G = 0, - kRange_4G = 1, - kRange_8G = 2, +enum HAL_AccelerometerRange { + HAL_AccelerometerRange_k2G = 0, + HAL_AccelerometerRange_k4G = 1, + HAL_AccelerometerRange_k8G = 2, }; extern "C" { -void setAccelerometerActive(bool); -void setAccelerometerRange(AccelerometerRange); -double getAccelerometerX(); -double getAccelerometerY(); -double getAccelerometerZ(); +void HAL_SetAccelerometerActive(bool); +void HAL_SetAccelerometerRange(HAL_AccelerometerRange); +double HAL_GetAccelerometerX(); +double HAL_GetAccelerometerY(); +double HAL_GetAccelerometerZ(); } diff --git a/hal/include/HAL/AnalogAccumulator.h b/hal/include/HAL/AnalogAccumulator.h index 5d6c5a5852..d5ae63db30 100644 --- a/hal/include/HAL/AnalogAccumulator.h +++ b/hal/include/HAL/AnalogAccumulator.h @@ -12,18 +12,20 @@ #include "Handles.h" extern "C" { -bool isAccumulatorChannel(HalAnalogInputHandle analog_port_handle, +bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +void HAL_InitAccumulator(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +void HAL_ResetAccumulator(HAL_AnalogInputHandle analog_port_handle, int32_t* status); -void initAccumulator(HalAnalogInputHandle analog_port_handle, int32_t* status); -void resetAccumulator(HalAnalogInputHandle analog_port_handle, int32_t* status); -void setAccumulatorCenter(HalAnalogInputHandle analog_port_handle, - int32_t center, int32_t* status); -void setAccumulatorDeadband(HalAnalogInputHandle analog_port_handle, - int32_t deadband, int32_t* status); -int64_t getAccumulatorValue(HalAnalogInputHandle analog_port_handle, - int32_t* status); -uint32_t getAccumulatorCount(HalAnalogInputHandle analog_port_handle, - int32_t* status); -void getAccumulatorOutput(HalAnalogInputHandle analog_port_handle, - int64_t* value, uint32_t* count, int32_t* status); +void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analog_port_handle, + int32_t center, int32_t* status); +void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analog_port_handle, + int32_t deadband, int32_t* status); +int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +uint32_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analog_port_handle, + int64_t* value, uint32_t* count, int32_t* status); } diff --git a/hal/include/HAL/AnalogGyro.h b/hal/include/HAL/AnalogGyro.h index c33b82ac7a..9bbb52381b 100644 --- a/hal/include/HAL/AnalogGyro.h +++ b/hal/include/HAL/AnalogGyro.h @@ -12,21 +12,22 @@ #include "HAL/Handles.h" extern "C" { -HalGyroHandle initializeAnalogGyro(HalAnalogInputHandle handle, - int32_t* status); -void setupAnalogGyro(HalGyroHandle handle, int32_t* status); -void freeAnalogGyro(HalGyroHandle handle); -void setAnalogGyroParameters(HalGyroHandle handle, - float voltsPerDegreePerSecond, float offset, - uint32_t center, int32_t* status); -void setAnalogGyroVoltsPerDegreePerSecond(HalGyroHandle handle, - float voltsPerDegreePerSecond, - int32_t* status); -void resetAnalogGyro(HalGyroHandle handle, int32_t* status); -void calibrateAnalogGyro(HalGyroHandle handle, int32_t* status); -void setAnalogGyroDeadband(HalGyroHandle handle, float volts, int32_t* status); -float getAnalogGyroAngle(HalGyroHandle handle, int32_t* status); -double getAnalogGyroRate(HalGyroHandle handle, int32_t* status); -float getAnalogGyroOffset(HalGyroHandle handle, int32_t* status); -uint32_t getAnalogGyroCenter(HalGyroHandle handle, int32_t* status); +HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle handle, + int32_t* status); +void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status); +void HAL_FreeAnalogGyro(HAL_GyroHandle handle); +void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle, + float voltsPerDegreePerSecond, float offset, + uint32_t center, int32_t* status); +void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle, + float voltsPerDegreePerSecond, + int32_t* status); +void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status); +void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status); +void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, float volts, + int32_t* status); +float HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status); +double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status); +float HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status); +uint32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status); } diff --git a/hal/include/HAL/AnalogInput.h b/hal/include/HAL/AnalogInput.h index ce436da5fb..89281f2c5e 100644 --- a/hal/include/HAL/AnalogInput.h +++ b/hal/include/HAL/AnalogInput.h @@ -13,34 +13,34 @@ extern "C" { // Analog input functions -HalAnalogInputHandle initializeAnalogInputPort(HalPortHandle port_handle, - int32_t* status); -void freeAnalogInputPort(HalAnalogInputHandle analog_port_handle); -bool checkAnalogModule(uint8_t module); -bool checkAnalogInputChannel(uint32_t pin); +HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle port_handle, + int32_t* status); +void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analog_port_handle); +bool HAL_CheckAnalogModule(uint8_t module); +bool HAL_CheckAnalogInputChannel(uint32_t pin); -void setAnalogSampleRate(double samplesPerSecond, int32_t* status); -float getAnalogSampleRate(int32_t* status); -void setAnalogAverageBits(HalAnalogInputHandle analog_port_handle, - uint32_t bits, int32_t* status); -uint32_t getAnalogAverageBits(HalAnalogInputHandle analog_port_handle, - int32_t* status); -void setAnalogOversampleBits(HalAnalogInputHandle analog_port_handle, - uint32_t bits, int32_t* status); -uint32_t getAnalogOversampleBits(HalAnalogInputHandle analog_port_handle, - int32_t* status); -int16_t getAnalogValue(HalAnalogInputHandle analog_port_handle, - int32_t* status); -int32_t getAnalogAverageValue(HalAnalogInputHandle analog_port_handle, - int32_t* status); -int32_t getAnalogVoltsToValue(HalAnalogInputHandle analog_port_handle, - double voltage, int32_t* status); -float getAnalogVoltage(HalAnalogInputHandle analog_port_handle, - int32_t* status); -float getAnalogAverageVoltage(HalAnalogInputHandle analog_port_handle, - int32_t* status); -uint32_t getAnalogLSBWeight(HalAnalogInputHandle analog_port_handle, +void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status); +float HAL_GetAnalogSampleRate(int32_t* status); +void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, + uint32_t bits, int32_t* status); +uint32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, + uint32_t bits, int32_t* status); +uint32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +int16_t HAL_GetAnalogValue(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analog_port_handle, + double voltage, int32_t* status); +float HAL_GetAnalogVoltage(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +float HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +uint32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle, + int32_t* status); +int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analog_port_handle, int32_t* status); -int32_t getAnalogOffset(HalAnalogInputHandle analog_port_handle, - int32_t* status); } diff --git a/hal/include/HAL/AnalogOutput.h b/hal/include/HAL/AnalogOutput.h index fb89c63f81..a0681789d0 100644 --- a/hal/include/HAL/AnalogOutput.h +++ b/hal/include/HAL/AnalogOutput.h @@ -12,12 +12,12 @@ #include "Handles.h" extern "C" { -HalAnalogOutputHandle initializeAnalogOutputPort(HalPortHandle port_handle, - int32_t* status); -void freeAnalogOutputPort(HalAnalogOutputHandle analog_output_handle); -void setAnalogOutput(HalAnalogOutputHandle analog_output_handle, double voltage, - int32_t* status); -double getAnalogOutput(HalAnalogOutputHandle analog_output_handle, - int32_t* status); -bool checkAnalogOutputChannel(uint32_t pin); +HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort( + HAL_PortHandle port_handle, int32_t* status); +void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analog_output_handle); +void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle, + double voltage, int32_t* status); +double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle, + int32_t* status); +bool HAL_CheckAnalogOutputChannel(uint32_t pin); } diff --git a/hal/include/HAL/AnalogTrigger.h b/hal/include/HAL/AnalogTrigger.h index eeb6beefab..48532d484f 100644 --- a/hal/include/HAL/AnalogTrigger.h +++ b/hal/include/HAL/AnalogTrigger.h @@ -11,31 +11,32 @@ #include "Handles.h" -enum AnalogTriggerType { - kInWindow = 0, - kState = 1, - kRisingPulse = 2, - kFallingPulse = 3 +enum HAL_AnalogTriggerType { + HAL_Trigger_kInWindow = 0, + HAL_Trigger_kState = 1, + HAL_Trigger_kRisingPulse = 2, + HAL_Trigger_kFallingPulse = 3 }; extern "C" { -HalAnalogTriggerHandle initializeAnalogTrigger(HalAnalogInputHandle port_handle, - uint32_t* index, - int32_t* status); -void cleanAnalogTrigger(HalAnalogTriggerHandle analog_trigger_handle, - int32_t* status); -void setAnalogTriggerLimitsRaw(HalAnalogTriggerHandle analog_trigger_handle, - int32_t lower, int32_t upper, int32_t* status); -void setAnalogTriggerLimitsVoltage(HalAnalogTriggerHandle analog_trigger_handle, - double lower, double upper, int32_t* status); -void setAnalogTriggerAveraged(HalAnalogTriggerHandle analog_trigger_handle, - bool useAveragedValue, int32_t* status); -void setAnalogTriggerFiltered(HalAnalogTriggerHandle analog_trigger_handle, - bool useFilteredValue, int32_t* status); -bool getAnalogTriggerInWindow(HalAnalogTriggerHandle analog_trigger_handle, - int32_t* status); -bool getAnalogTriggerTriggerState(HalAnalogTriggerHandle analog_trigger_handle, +HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger( + HAL_AnalogInputHandle port_handle, uint32_t* index, int32_t* status); +void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analog_trigger_handle, + int32_t* status); +void HAL_SetAnalogTriggerLimitsRaw( + HAL_AnalogTriggerHandle analog_trigger_handle, int32_t lower, int32_t upper, + int32_t* status); +void HAL_SetAnalogTriggerLimitsVoltage( + HAL_AnalogTriggerHandle analog_trigger_handle, double lower, double upper, + int32_t* status); +void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analog_trigger_handle, + bool useAveragedValue, int32_t* status); +void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analog_trigger_handle, + bool useFilteredValue, int32_t* status); +bool HAL_GetAnalogTriggerInWindow(HAL_AnalogTriggerHandle analog_trigger_handle, int32_t* status); -bool getAnalogTriggerOutput(HalAnalogTriggerHandle analog_trigger_handle, - AnalogTriggerType type, int32_t* status); +bool HAL_GetAnalogTriggerTriggerState( + HAL_AnalogTriggerHandle analog_trigger_handle, int32_t* status); +bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analog_trigger_handle, + HAL_AnalogTriggerType type, int32_t* status); } diff --git a/hal/include/HAL/Compressor.h b/hal/include/HAL/Compressor.h index 697b59f5f5..58b382114f 100644 --- a/hal/include/HAL/Compressor.h +++ b/hal/include/HAL/Compressor.h @@ -12,32 +12,33 @@ #include "HAL/Handles.h" extern "C" { -HalCompressorHandle initializeCompressor(uint8_t module, int32_t* status); -bool checkCompressorModule(uint8_t module); +HAL_CompressorHandle HAL_InitializeCompressor(uint8_t module, int32_t* status); +bool HAL_CheckCompressorModule(uint8_t module); -bool getCompressor(HalCompressorHandle compressor_handle, int32_t* status); +bool HAL_GetCompressor(HAL_CompressorHandle compressor_handle, int32_t* status); -void setClosedLoopControl(HalCompressorHandle compressor_handle, bool value, - int32_t* status); -bool getClosedLoopControl(HalCompressorHandle compressor_handle, - int32_t* status); +void HAL_SetClosedLoopControl(HAL_CompressorHandle compressor_handle, + bool value, int32_t* status); +bool HAL_GetClosedLoopControl(HAL_CompressorHandle compressor_handle, + int32_t* status); -bool getPressureSwitch(HalCompressorHandle compressor_handle, int32_t* status); -float getCompressorCurrent(HalCompressorHandle compressor_handle, +bool HAL_GetPressureSwitch(HAL_CompressorHandle compressor_handle, int32_t* status); - -bool getCompressorCurrentTooHighFault(HalCompressorHandle compressor_handle, - int32_t* status); -bool getCompressorCurrentTooHighStickyFault( - HalCompressorHandle compressor_handle, int32_t* status); -bool getCompressorShortedStickyFault(HalCompressorHandle compressor_handle, - int32_t* status); -bool getCompressorShortedFault(HalCompressorHandle compressor_handle, +float HAL_GetCompressorCurrent(HAL_CompressorHandle compressor_handle, int32_t* status); -bool getCompressorNotConnectedStickyFault(HalCompressorHandle compressor_handle, - int32_t* status); -bool getCompressorNotConnectedFault(HalCompressorHandle compressor_handle, - int32_t* status); -void clearAllPCMStickyFaults(HalCompressorHandle compressor_handle, - int32_t* status); + +bool HAL_GetCompressorCurrentTooHighFault( + HAL_CompressorHandle compressor_handle, int32_t* status); +bool HAL_GetCompressorCurrentTooHighStickyFault( + HAL_CompressorHandle compressor_handle, int32_t* status); +bool HAL_GetCompressorShortedStickyFault(HAL_CompressorHandle compressor_handle, + int32_t* status); +bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressor_handle, + int32_t* status); +bool HAL_GetCompressorNotConnectedStickyFault( + HAL_CompressorHandle compressor_handle, int32_t* status); +bool HAL_GetCompressorNotConnectedFault(HAL_CompressorHandle compressor_handle, + int32_t* status); +void HAL_ClearAllPCMStickyFaults(HAL_CompressorHandle compressor_handle, + int32_t* status); } diff --git a/hal/include/HAL/Constants.h b/hal/include/HAL/Constants.h index 8b85d6d99e..ffa8563efe 100644 --- a/hal/include/HAL/Constants.h +++ b/hal/include/HAL/Constants.h @@ -10,5 +10,5 @@ #include extern "C" { -int32_t HAL_getSystemClockTicksPerMicrosecond(void); +int32_t HAL_GetSystemClockTicksPerMicrosecond(void); } diff --git a/hal/include/HAL/Counter.h b/hal/include/HAL/Counter.h index 0bea12465f..8d550d8431 100644 --- a/hal/include/HAL/Counter.h +++ b/hal/include/HAL/Counter.h @@ -12,50 +12,58 @@ #include "HAL/AnalogTrigger.h" #include "HAL/Handles.h" -enum Mode { - kTwoPulse = 0, - kSemiperiod = 1, - kPulseLength = 2, - kExternalDirection = 3 +enum HAL_Counter_Mode { + HAL_Counter_kTwoPulse = 0, + HAL_Counter_kSemiperiod = 1, + HAL_Counter_kPulseLength = 2, + HAL_Counter_kExternalDirection = 3 }; extern "C" { -HalCounterHandle initializeCounter(Mode mode, int32_t* index, int32_t* status); -void freeCounter(HalCounterHandle counter_handle, int32_t* status); -void setCounterAverageSize(HalCounterHandle counter_handle, int32_t size, - int32_t* status); -void setCounterUpSource(HalCounterHandle counter_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, int32_t* status); -void setCounterUpSourceEdge(HalCounterHandle counter_handle, bool risingEdge, - bool fallingEdge, int32_t* status); -void clearCounterUpSource(HalCounterHandle counter_handle, int32_t* status); -void setCounterDownSource(HalCounterHandle counter_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, int32_t* status); -void setCounterDownSourceEdge(HalCounterHandle counter_handle, bool risingEdge, - bool fallingEdge, int32_t* status); -void clearCounterDownSource(HalCounterHandle counter_handle, int32_t* status); -void setCounterUpDownMode(HalCounterHandle counter_handle, int32_t* status); -void setCounterExternalDirectionMode(HalCounterHandle counter_handle, - int32_t* status); -void setCounterSemiPeriodMode(HalCounterHandle counter_handle, - bool highSemiPeriod, int32_t* status); -void setCounterPulseLengthMode(HalCounterHandle counter_handle, - double threshold, int32_t* status); -int32_t getCounterSamplesToAverage(HalCounterHandle counter_handle, - int32_t* status); -void setCounterSamplesToAverage(HalCounterHandle counter_handle, - int samplesToAverage, int32_t* status); -void resetCounter(HalCounterHandle counter_handle, int32_t* status); -int32_t getCounter(HalCounterHandle counter_handle, int32_t* status); -double getCounterPeriod(HalCounterHandle counter_handle, int32_t* status); -void setCounterMaxPeriod(HalCounterHandle counter_handle, double maxPeriod, - int32_t* status); -void setCounterUpdateWhenEmpty(HalCounterHandle counter_handle, bool enabled, +HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index, + int32_t* status); +void HAL_FreeCounter(HAL_CounterHandle counter_handle, int32_t* status); +void HAL_SetCounterAverageSize(HAL_CounterHandle counter_handle, int32_t size, int32_t* status); -bool getCounterStopped(HalCounterHandle counter_handle, int32_t* status); -bool getCounterDirection(HalCounterHandle counter_handle, int32_t* status); -void setCounterReverseDirection(HalCounterHandle counter_handle, - bool reverseDirection, int32_t* status); +void HAL_SetCounterUpSource(HAL_CounterHandle counter_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + int32_t* status); +void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counter_handle, + bool risingEdge, bool fallingEdge, + int32_t* status); +void HAL_ClearCounterUpSource(HAL_CounterHandle counter_handle, + int32_t* status); +void HAL_SetCounterDownSource(HAL_CounterHandle counter_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + int32_t* status); +void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counter_handle, + bool risingEdge, bool fallingEdge, + int32_t* status); +void HAL_ClearCounterDownSource(HAL_CounterHandle counter_handle, + int32_t* status); +void HAL_SetCounterUpDownMode(HAL_CounterHandle counter_handle, + int32_t* status); +void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counter_handle, + int32_t* status); +void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counter_handle, + bool highSemiPeriod, int32_t* status); +void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counter_handle, + double threshold, int32_t* status); +int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counter_handle, + int32_t* status); +void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counter_handle, + int samplesToAverage, int32_t* status); +void HAL_ResetCounter(HAL_CounterHandle counter_handle, int32_t* status); +int32_t HAL_GetCounter(HAL_CounterHandle counter_handle, int32_t* status); +double HAL_GetCounterPeriod(HAL_CounterHandle counter_handle, int32_t* status); +void HAL_SetCounterMaxPeriod(HAL_CounterHandle counter_handle, double maxPeriod, + int32_t* status); +void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counter_handle, + bool enabled, int32_t* status); +bool HAL_GetCounterStopped(HAL_CounterHandle counter_handle, int32_t* status); +bool HAL_GetCounterDirection(HAL_CounterHandle counter_handle, int32_t* status); +void HAL_SetCounterReverseDirection(HAL_CounterHandle counter_handle, + bool reverseDirection, int32_t* status); } diff --git a/hal/include/HAL/DIO.h b/hal/include/HAL/DIO.h index 120960e5d8..2eedfb2c65 100644 --- a/hal/include/HAL/DIO.h +++ b/hal/include/HAL/DIO.h @@ -12,30 +12,31 @@ #include "Handles.h" extern "C" { -HalDigitalHandle initializeDIOPort(HalPortHandle port_handle, uint8_t input, - int32_t* status); -void freeDIOPort(HalDigitalHandle dio_port_handle); +HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle, + uint8_t input, int32_t* status); +void HAL_FreeDIOPort(HAL_DigitalHandle dio_port_handle); -HalDigitalPWMHandle allocateDigitalPWM(int32_t* status); -void freeDigitalPWM(HalDigitalPWMHandle pwmGenerator, int32_t* status); -void setDigitalPWMRate(double rate, int32_t* status); -void setDigitalPWMDutyCycle(HalDigitalPWMHandle pwmGenerator, double dutyCycle, - int32_t* status); -void setDigitalPWMOutputChannel(HalDigitalPWMHandle pwmGenerator, uint32_t pin, - int32_t* status); +HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status); +void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status); +void HAL_SetDigitalPWMRate(double rate, int32_t* status); +void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, + double dutyCycle, int32_t* status); +void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, + uint32_t pin, int32_t* status); -void setDIO(HalDigitalHandle dio_port_handle, short value, int32_t* status); -bool getDIO(HalDigitalHandle dio_port_handle, int32_t* status); -bool getDIODirection(HalDigitalHandle dio_port_handle, int32_t* status); -void pulse(HalDigitalHandle dio_port_handle, double pulseLength, - int32_t* status); -bool isPulsing(HalDigitalHandle dio_port_handle, int32_t* status); -bool isAnyPulsing(int32_t* status); +void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, short value, + int32_t* status); +bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status); +bool HAL_GetDIODirection(HAL_DigitalHandle dio_port_handle, int32_t* status); +void HAL_Pulse(HAL_DigitalHandle dio_port_handle, double pulseLength, + int32_t* status); +bool HAL_IsPulsing(HAL_DigitalHandle dio_port_handle, int32_t* status); +bool HAL_IsAnyPulsing(int32_t* status); -void setFilterSelect(HalDigitalHandle dio_port_handle, int filter_index, - int32_t* status); -int getFilterSelect(HalDigitalHandle dio_port_handle, int32_t* status); +void HAL_SetFilterSelect(HAL_DigitalHandle dio_port_handle, int filter_index, + int32_t* status); +int HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status); -void setFilterPeriod(int filter_index, uint32_t value, int32_t* status); -uint32_t getFilterPeriod(int filter_index, int32_t* status); +void HAL_SetFilterPeriod(int filter_index, uint32_t value, int32_t* status); +uint32_t HAL_GetFilterPeriod(int filter_index, int32_t* status); } diff --git a/hal/include/HAL/Encoder.h b/hal/include/HAL/Encoder.h index cef9db3e34..c3f8b1cd0b 100644 --- a/hal/include/HAL/Encoder.h +++ b/hal/include/HAL/Encoder.h @@ -13,55 +13,64 @@ #include "HAL/Handles.h" extern "C" { -enum EncoderIndexingType { +enum HAL_EncoderIndexingType { HAL_kResetWhileHigh, HAL_kResetWhileLow, HAL_kResetOnFallingEdge, HAL_kResetOnRisingEdge }; -enum EncoderEncodingType { HAL_Encoder_k1X, HAL_Encoder_k2X, HAL_Encoder_k4X }; +enum HAL_EncoderEncodingType { + HAL_Encoder_k1X, + HAL_Encoder_k2X, + HAL_Encoder_k4X +}; -HalEncoderHandle initializeEncoder( - HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA, - HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB, - bool reverseDirection, EncoderEncodingType encodingType, int32_t* status); -void freeEncoder(HalEncoderHandle encoder_handle, int32_t* status); -int32_t getEncoder(HalEncoderHandle encoder_handle, int32_t* status); -int32_t getEncoderRaw(HalEncoderHandle encoder_handle, int32_t* status); -int32_t getEncoderEncodingScale(HalEncoderHandle encoder_handle, +HAL_EncoderHandle HAL_InitializeEncoder( + HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA, + HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB, + bool reverseDirection, HAL_EncoderEncodingType encodingType, + int32_t* status); +void HAL_FreeEncoder(HAL_EncoderHandle encoder_handle, int32_t* status); +int32_t HAL_GetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status); +int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoder_handle, int32_t* status); +int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoder_handle, + int32_t* status); +void HAL_ResetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status); +int32_t HAL_GetEncoderPeriod(HAL_EncoderHandle encoder_handle, int32_t* status); +void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoder_handle, double maxPeriod, + int32_t* status); +uint8_t HAL_GetEncoderStopped(HAL_EncoderHandle encoder_handle, + int32_t* status); +uint8_t HAL_GetEncoderDirection(HAL_EncoderHandle encoder_handle, int32_t* status); -void resetEncoder(HalEncoderHandle encoder_handle, int32_t* status); -int32_t getEncoderPeriod(HalEncoderHandle encoder_handle, int32_t* status); -void setEncoderMaxPeriod(HalEncoderHandle encoder_handle, double maxPeriod, - int32_t* status); -uint8_t getEncoderStopped(HalEncoderHandle encoder_handle, int32_t* status); -uint8_t getEncoderDirection(HalEncoderHandle encoder_handle, int32_t* status); -double getEncoderDistance(HalEncoderHandle encoder_handle, int32_t* status); -double getEncoderRate(HalEncoderHandle encoder_handle, int32_t* status); -void setEncoderMinRate(HalEncoderHandle encoder_handle, double minRate, - int32_t* status); -void setEncoderDistancePerPulse(HalEncoderHandle encoder_handle, - double distancePerPulse, int32_t* status); -void setEncoderReverseDirection(HalEncoderHandle encoder_handle, - uint8_t reverseDirection, int32_t* status); -void setEncoderSamplesToAverage(HalEncoderHandle encoder_handle, - int32_t samplesToAverage, int32_t* status); -int32_t getEncoderSamplesToAverage(HalEncoderHandle encoder_handle, - int32_t* status); +double HAL_GetEncoderDistance(HAL_EncoderHandle encoder_handle, + int32_t* status); +double HAL_GetEncoderRate(HAL_EncoderHandle encoder_handle, int32_t* status); +void HAL_SetEncoderMinRate(HAL_EncoderHandle encoder_handle, double minRate, + int32_t* status); +void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, + double distancePerPulse, int32_t* status); +void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoder_handle, + uint8_t reverseDirection, int32_t* status); +void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, + int32_t samplesToAverage, int32_t* status); +int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, + int32_t* status); -void setEncoderIndexSource(HalEncoderHandle encoder_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, - EncoderIndexingType type, int32_t* status); +void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoder_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + HAL_EncoderIndexingType type, int32_t* status); -int32_t getEncoderFPGAIndex(HalEncoderHandle encoder_handle, int32_t* status); +int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoder_handle, + int32_t* status); -double getEncoderDecodingScaleFactor(HalEncoderHandle encoder_handle, - int32_t* status); +double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoder_handle, + int32_t* status); -double getEncoderDistancePerPulse(HalEncoderHandle encoder_handle, - int32_t* status); +double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, + int32_t* status); -EncoderEncodingType getEncoderEncodingType(HalEncoderHandle encoder_handle, - int32_t* status); +HAL_EncoderEncodingType HAL_GetEncoderEncodingType( + HAL_EncoderHandle encoder_handle, int32_t* status); } diff --git a/hal/include/HAL/HAL.h b/hal/include/HAL/HAL.h index 92598ec19b..fd09567e21 100644 --- a/hal/include/HAL/HAL.h +++ b/hal/include/HAL/HAL.h @@ -53,7 +53,7 @@ namespace HALUsageReporting = nUsageReporting; #define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24 #define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25 -struct HALControlWord { +struct HAL_ControlWord { uint32_t enabled : 1; uint32_t autonomous : 1; uint32_t test : 1; @@ -63,91 +63,92 @@ struct HALControlWord { uint32_t control_reserved : 26; }; -enum HALAllianceStationID { - kHALAllianceStationID_red1, - kHALAllianceStationID_red2, - kHALAllianceStationID_red3, - kHALAllianceStationID_blue1, - kHALAllianceStationID_blue2, - kHALAllianceStationID_blue3, +enum HAL_AllianceStationID { + HAL_AllianceStationID_kRed1, + HAL_AllianceStationID_kRed2, + HAL_AllianceStationID_kRed3, + HAL_AllianceStationID_kBlue1, + HAL_AllianceStationID_kBlue2, + HAL_AllianceStationID_kBlue3, }; /* The maximum number of axes that will be stored in a single HALJoystickAxes * struct. This is used for allocating buffers, not bounds checking, since * there are usually less axes in practice. */ -static const size_t kMaxJoystickAxes = 12; -static const size_t kMaxJoystickPOVs = 12; +static constexpr size_t HAL_kMaxJoystickAxes = 12; +static constexpr size_t HAL_kMaxJoystickPOVs = 12; -struct HALJoystickAxes { +struct HAL_JoystickAxes { uint16_t count; - float axes[kMaxJoystickAxes]; + float axes[HAL_kMaxJoystickAxes]; }; -struct HALJoystickPOVs { +struct HAL_JoystickPOVs { uint16_t count; - int16_t povs[kMaxJoystickPOVs]; + int16_t povs[HAL_kMaxJoystickPOVs]; }; -struct HALJoystickButtons { +struct HAL_JoystickButtons { uint32_t buttons; uint8_t count; }; -struct HALJoystickDescriptor { +struct HAL_JoystickDescriptor { uint8_t isXbox; uint8_t type; char name[256]; uint8_t axisCount; - uint8_t axisTypes[kMaxJoystickAxes]; + uint8_t axisTypes[HAL_kMaxJoystickAxes]; uint8_t buttonCount; uint8_t povCount; }; extern "C" { -HalPortHandle getPort(uint8_t pin); -HalPortHandle getPortWithModule(uint8_t module, uint8_t pin); -const char* getHALErrorMessage(int32_t code); +HAL_PortHandle HAL_GetPort(uint8_t pin); +HAL_PortHandle HAL_GetPortWithModule(uint8_t module, uint8_t pin); +const char* HAL_GetErrorMessage(int32_t code); -uint16_t getFPGAVersion(int32_t* status); -uint32_t getFPGARevision(int32_t* status); -uint64_t getFPGATime(int32_t* status); +uint16_t HAL_GetFPGAVersion(int32_t* status); +uint32_t HAL_GetFPGARevision(int32_t* status); +uint64_t HAL_GetFPGATime(int32_t* status); -bool getFPGAButton(int32_t* status); +bool HAL_GetFPGAButton(int32_t* status); -int HALSetErrorData(const char* errors, int errorsLength, int wait_ms); -int HALSendError(int isError, int32_t errorCode, int isLVCode, - const char* details, const char* location, - const char* callStack, int printMsg); +int HAL_SetErrorData(const char* errors, int errorsLength, int wait_ms); +int HAL_SendError(int isError, int32_t errorCode, int isLVCode, + const char* details, const char* location, + const char* callStack, int printMsg); -int HALGetControlWord(HALControlWord* data); -int HALGetAllianceStation(enum HALAllianceStationID* allianceStation); -int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes* axes); -int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs* povs); -int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons* buttons); -int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor* desc); -int HALGetJoystickIsXbox(uint8_t joystickNum); -int HALGetJoystickType(uint8_t joystickNum); -char* HALGetJoystickName(uint8_t joystickNum); -int HALGetJoystickAxisType(uint8_t joystickNum, uint8_t axis); -int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, - uint16_t leftRumble, uint16_t rightRumble); -int HALGetMatchTime(float* matchTime); +int HAL_GetControlWord(HAL_ControlWord* data); +int HAL_GetAllianceStation(enum HAL_AllianceStationID* allianceStation); +int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes); +int HAL_GetJoystickPOVs(uint8_t joystickNum, HAL_JoystickPOVs* povs); +int HAL_GetJoystickButtons(uint8_t joystickNum, HAL_JoystickButtons* buttons); +int HAL_GetJoystickDescriptor(uint8_t joystickNum, + HAL_JoystickDescriptor* desc); +int HAL_GetJoystickIsXbox(uint8_t joystickNum); +int HAL_GetJoystickType(uint8_t joystickNum); +char* HAL_GetJoystickName(uint8_t joystickNum); +int HAL_GetJoystickAxisType(uint8_t joystickNum, uint8_t axis); +int HAL_SetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, + uint16_t leftRumble, uint16_t rightRumble); +int HAL_GetMatchTime(float* matchTime); -void HALSetNewDataSem(MULTIWAIT_ID sem); +void HAL_SetNewDataSem(MULTIWAIT_ID sem); -bool HALGetSystemActive(int32_t* status); -bool HALGetBrownedOut(int32_t* status); +bool HAL_GetSystemActive(int32_t* status); +bool HAL_GetBrownedOut(int32_t* status); -int HALInitialize(int mode = 0); -void HALNetworkCommunicationObserveUserProgramStarting(); -void HALNetworkCommunicationObserveUserProgramDisabled(); -void HALNetworkCommunicationObserveUserProgramAutonomous(); -void HALNetworkCommunicationObserveUserProgramTeleop(); -void HALNetworkCommunicationObserveUserProgramTest(); +int HAL_Initialize(int mode = 0); +void HAL_NetworkCommunicationObserveUserProgramStarting(); +void HAL_NetworkCommunicationObserveUserProgramDisabled(); +void HAL_NetworkCommunicationObserveUserProgramAutonomous(); +void HAL_NetworkCommunicationObserveUserProgramTeleop(); +void HAL_NetworkCommunicationObserveUserProgramTest(); -uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, - uint8_t context = 0, const char* feature = nullptr); +uint32_t HAL_Report(uint8_t resource, uint8_t instanceNumber, + uint8_t context = 0, const char* feature = nullptr); } // TODO: HACKS for now... diff --git a/hal/include/HAL/Handles.h b/hal/include/HAL/Handles.h index d1e6ada962..683e31f164 100644 --- a/hal/include/HAL/Handles.h +++ b/hal/include/HAL/Handles.h @@ -9,36 +9,36 @@ #include -#define HAL_INVALID_HANDLE 0 +#define HAL_kInvalidHandle 0 -typedef int32_t HalHandle; +typedef int32_t HAL_Handle; -typedef HalHandle HalPortHandle; +typedef HAL_Handle HAL_PortHandle; -typedef HalHandle HalInterruptHandle; +typedef HAL_Handle HAL_InterruptHandle; -typedef HalHandle HalNotifierHandle; +typedef HAL_Handle HAL_NotifierHandle; -typedef HalHandle HalAnalogOutputHandle; +typedef HAL_Handle HAL_AnalogOutputHandle; -typedef HalHandle HalAnalogInputHandle; +typedef HAL_Handle HAL_AnalogInputHandle; -typedef HalHandle HalAnalogTriggerHandle; +typedef HAL_Handle HAL_AnalogTriggerHandle; -typedef HalHandle HalRelayHandle; +typedef HAL_Handle HAL_RelayHandle; -typedef HalHandle HalDigitalHandle; +typedef HAL_Handle HAL_DigitalHandle; -typedef HalHandle HalDigitalPWMHandle; +typedef HAL_Handle HAL_DigitalPWMHandle; -typedef HalHandle HalCounterHandle; +typedef HAL_Handle HAL_CounterHandle; -typedef HalHandle HalCompressorHandle; +typedef HAL_Handle HAL_CompressorHandle; -typedef HalHandle HalSolenoidHandle; +typedef HAL_Handle HAL_SolenoidHandle; -typedef HalHandle HalFPGAEncoderHandle; +typedef HAL_Handle HAL_FPGAEncoderHandle; -typedef HalHandle HalEncoderHandle; +typedef HAL_Handle HAL_EncoderHandle; -typedef HalHandle HalGyroHandle; +typedef HAL_Handle HAL_GyroHandle; diff --git a/hal/include/HAL/I2C.h b/hal/include/HAL/I2C.h index 4b56eac915..fbb09e6ff0 100644 --- a/hal/include/HAL/I2C.h +++ b/hal/include/HAL/I2C.h @@ -10,13 +10,13 @@ #include extern "C" { -void i2CInitialize(uint8_t port, int32_t* status); -int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, - uint8_t sendSize, uint8_t* dataReceived, - uint8_t receiveSize); -int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, - uint8_t sendSize); -int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t* buffer, - uint8_t count); -void i2CClose(uint8_t port); +void HAL_I2CInitialize(uint8_t port, int32_t* status); +int32_t HAL_I2CTransaction(uint8_t port, uint8_t deviceAddress, + uint8_t* dataToSend, uint8_t sendSize, + uint8_t* dataReceived, uint8_t receiveSize); +int32_t HAL_I2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, + uint8_t sendSize); +int32_t HAL_I2CRead(uint8_t port, uint8_t deviceAddress, uint8_t* buffer, + uint8_t count); +void HAL_I2CClose(uint8_t port); } diff --git a/hal/include/HAL/Interrupts.h b/hal/include/HAL/Interrupts.h index 6af9f9bdc7..c775a6125e 100644 --- a/hal/include/HAL/Interrupts.h +++ b/hal/include/HAL/Interrupts.h @@ -16,24 +16,28 @@ extern "C" { typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask, void* param); -HalInterruptHandle initializeInterrupts(bool watcher, int32_t* status); -void cleanInterrupts(HalInterruptHandle interrupt_handle, int32_t* status); +HAL_InterruptHandle HAL_InitializeInterrupts(bool watcher, int32_t* status); +void HAL_CleanInterrupts(HAL_InterruptHandle interrupt_handle, int32_t* status); -uint32_t waitForInterrupt(HalInterruptHandle interrupt_handle, double timeout, - bool ignorePrevious, int32_t* status); -void enableInterrupts(HalInterruptHandle interrupt_handle, int32_t* status); -void disableInterrupts(HalInterruptHandle interrupt_handle, int32_t* status); -double readRisingTimestamp(HalInterruptHandle interrupt_handle, - int32_t* status); -double readFallingTimestamp(HalInterruptHandle interrupt_handle, - int32_t* status); -void requestInterrupts(HalInterruptHandle interrupt_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, int32_t* status); -void attachInterruptHandler(HalInterruptHandle interrupt_handle, - InterruptHandlerFunction handler, void* param, - int32_t* status); -void setInterruptUpSourceEdge(HalInterruptHandle interrupt_handle, - bool risingEdge, bool fallingEdge, +uint32_t HAL_WaitForInterrupt(HAL_InterruptHandle interrupt_handle, + double timeout, bool ignorePrevious, int32_t* status); +void HAL_EnableInterrupts(HAL_InterruptHandle interrupt_handle, + int32_t* status); +void HAL_DisableInterrupts(HAL_InterruptHandle interrupt_handle, + int32_t* status); +double HAL_ReadRisingTimestamp(HAL_InterruptHandle interrupt_handle, + int32_t* status); +double HAL_ReadFallingTimestamp(HAL_InterruptHandle interrupt_handle, + int32_t* status); +void HAL_RequestInterrupts(HAL_InterruptHandle interrupt_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + int32_t* status); +void HAL_AttachInterruptHandler(HAL_InterruptHandle interrupt_handle, + InterruptHandlerFunction handler, void* param, + int32_t* status); +void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interrupt_handle, + bool risingEdge, bool fallingEdge, + int32_t* status); } diff --git a/hal/include/HAL/Notifier.h b/hal/include/HAL/Notifier.h index 66d0ac5a69..4742f2625b 100644 --- a/hal/include/HAL/Notifier.h +++ b/hal/include/HAL/Notifier.h @@ -12,11 +12,11 @@ #include "Handles.h" extern "C" { -HalNotifierHandle initializeNotifier(void (*process)(uint64_t, void*), - void* param, int32_t* status); -void cleanNotifier(HalNotifierHandle notifier_handle, int32_t* status); -void* getNotifierParam(HalNotifierHandle notifier_handle, int32_t* status); -void updateNotifierAlarm(HalNotifierHandle notifier_handle, - uint64_t triggerTime, int32_t* status); -void stopNotifierAlarm(HalNotifierHandle notifier_handle, int32_t* status); +HAL_NotifierHandle HAL_InitializeNotifier(void (*process)(uint64_t, void*), + void* param, int32_t* status); +void HAL_CleanNotifier(HAL_NotifierHandle notifier_handle, int32_t* status); +void* HAL_GetNotifierParam(HAL_NotifierHandle notifier_handle, int32_t* status); +void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifier_handle, + uint64_t triggerTime, int32_t* status); +void HAL_StopNotifierAlarm(HAL_NotifierHandle notifier_handle, int32_t* status); } diff --git a/hal/include/HAL/PDP.h b/hal/include/HAL/PDP.h index 50800c4e67..1e7abfa47c 100644 --- a/hal/include/HAL/PDP.h +++ b/hal/include/HAL/PDP.h @@ -10,13 +10,14 @@ #include extern "C" { -void initializePDP(uint8_t module); -double getPDPTemperature(uint8_t module, int32_t* status); -double getPDPVoltage(uint8_t module, int32_t* status); -double getPDPChannelCurrent(uint8_t module, uint8_t channel, int32_t* status); -double getPDPTotalCurrent(uint8_t module, int32_t* status); -double getPDPTotalPower(uint8_t module, int32_t* status); -double getPDPTotalEnergy(uint8_t module, int32_t* status); -void resetPDPTotalEnergy(uint8_t module, int32_t* status); -void clearPDPStickyFaults(uint8_t module, int32_t* status); +void HAL_InitializePDP(uint8_t module); +double HAL_GetPDPTemperature(uint8_t module, int32_t* status); +double HAL_GetPDPVoltage(uint8_t module, int32_t* status); +double HAL_GetPDPChannelCurrent(uint8_t module, uint8_t channel, + int32_t* status); +double HAL_GetPDPTotalCurrent(uint8_t module, int32_t* status); +double HAL_GetPDPTotalPower(uint8_t module, int32_t* status); +double HAL_GetPDPTotalEnergy(uint8_t module, int32_t* status); +void HAL_ResetPDPTotalEnergy(uint8_t module, int32_t* status); +void HAL_ClearPDPStickyFaults(uint8_t module, int32_t* status); } diff --git a/hal/include/HAL/PWM.h b/hal/include/HAL/PWM.h index 893fd94140..1afe5746be 100644 --- a/hal/include/HAL/PWM.h +++ b/hal/include/HAL/PWM.h @@ -12,36 +12,39 @@ #include "HAL/Handles.h" extern "C" { -HalDigitalHandle initializePWMPort(HalPortHandle port_handle, int32_t* status); -void freePWMPort(HalDigitalHandle pwm_port_handle, int32_t* status); +HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle, + int32_t* status); +void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status); -bool checkPWMChannel(uint8_t pin); +bool HAL_CheckPWMChannel(uint8_t pin); -void setPWMConfig(HalDigitalHandle pwm_port_handle, double maxPwm, - double deadbandMaxPwm, double centerPwm, - double deadbandMinPwm, double minPwm, int32_t* status); -void setPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t maxPwm, - int32_t deadbandMaxPwm, int32_t centerPwm, - int32_t deadbandMinPwm, int32_t minPwm, int32_t* status); -void getPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t* maxPwm, - int32_t* deadbandMaxPwm, int32_t* centerPwm, - int32_t* deadbandMinPwm, int32_t* minPwm, int32_t* status); -void setPWMEliminateDeadband(HalDigitalHandle pwm_port_handle, - uint8_t eliminateDeadband, int32_t* status); -uint8_t getPWMEliminateDeadband(HalDigitalHandle pwm_port_handle, - int32_t* status); -void setPWMRaw(HalDigitalHandle pwm_port_handle, uint16_t value, - int32_t* status); -void setPWMSpeed(HalDigitalHandle pwm_port_handle, float speed, - int32_t* status); -void setPWMPosition(HalDigitalHandle pwm_port_handle, float position, - int32_t* status); -void setPWMDisabled(HalDigitalHandle pwm_port_handle, int32_t* status); -uint16_t getPWMRaw(HalDigitalHandle pwm_port_handle, int32_t* status); -float getPWMSpeed(HalDigitalHandle pwm_port_handle, int32_t* status); -float getPWMPosition(HalDigitalHandle pwm_port_handle, int32_t* status); -void latchPWMZero(HalDigitalHandle pwm_port_handle, int32_t* status); -void setPWMPeriodScale(HalDigitalHandle pwm_port_handle, uint32_t squelchMask, - int32_t* status); -uint16_t getLoopTiming(int32_t* status); +void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double maxPwm, + double deadbandMaxPwm, double centerPwm, + double deadbandMinPwm, double minPwm, int32_t* status); +void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t maxPwm, + int32_t deadbandMaxPwm, int32_t centerPwm, + int32_t deadbandMinPwm, int32_t minPwm, + int32_t* status); +void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm, + int32_t* deadbandMaxPwm, int32_t* centerPwm, + int32_t* deadbandMinPwm, int32_t* minPwm, + int32_t* status); +void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, + uint8_t eliminateDeadband, int32_t* status); +uint8_t HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, + int32_t* status); +void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, uint16_t value, + int32_t* status); +void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, float speed, + int32_t* status); +void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, float position, + int32_t* status); +void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status); +uint16_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status); +float HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status); +float HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status); +void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status); +void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle, + uint32_t squelchMask, int32_t* status); +uint16_t HAL_GetLoopTiming(int32_t* status); } diff --git a/hal/include/HAL/Ports.h b/hal/include/HAL/Ports.h index 88ef083c33..e5dad03a6a 100644 --- a/hal/include/HAL/Ports.h +++ b/hal/include/HAL/Ports.h @@ -10,23 +10,23 @@ #include extern "C" { -int32_t HAL_getNumAccumulators(void); -int32_t HAL_getNumAnalogTriggers(void); -int32_t HAL_getNumAnalogInputs(void); -int32_t HAL_getNumAnalogOutputs(void); -int32_t HAL_getNumCounters(void); -int32_t HAL_getNumDigitalHeaders(void); -int32_t HAL_getNumPWMHeaders(void); -int32_t HAL_getNumDigitalPins(void); -int32_t HAL_getNumPWMPins(void); -int32_t HAL_getNumDigitalPWMOutputs(void); -int32_t HAL_getNumEncoders(void); -int32_t HAL_getNumInterrupts(void); -int32_t HAL_getNumRelayPins(void); -int32_t HAL_getNumRelayHeaders(void); -int32_t HAL_getNumPCMModules(void); -int32_t HAL_getNumSolenoidPins(void); -int32_t HAL_getNumPDPModules(void); -int32_t HAL_getNumPDPChannels(void); -int32_t HAL_getNumCanTalons(void); +int32_t HAL_GetNumAccumulators(void); +int32_t HAL_GetNumAnalogTriggers(void); +int32_t HAL_GetNumAnalogInputs(void); +int32_t HAL_GetNumAnalogOutputs(void); +int32_t HAL_GetNumCounters(void); +int32_t HAL_GetNumDigitalHeaders(void); +int32_t HAL_GetNumPWMHeaders(void); +int32_t HAL_GetNumDigitalPins(void); +int32_t HAL_GetNumPWMPins(void); +int32_t HAL_GetNumDigitalPWMOutputs(void); +int32_t HAL_GetNumEncoders(void); +int32_t HAL_GetNumInterrupts(void); +int32_t HAL_GetNumRelayPins(void); +int32_t HAL_GetNumRelayHeaders(void); +int32_t HAL_GetNumPCMModules(void); +int32_t HAL_GetNumSolenoidPins(void); +int32_t HAL_GetNumPDPModules(void); +int32_t HAL_GetNumPDPChannels(void); +int32_t HAL_GetNumCanTalons(void); } diff --git a/hal/include/HAL/Power.h b/hal/include/HAL/Power.h index 9ef4ef3c3e..3e3ae0c02a 100644 --- a/hal/include/HAL/Power.h +++ b/hal/include/HAL/Power.h @@ -10,18 +10,18 @@ #include extern "C" { -float getVinVoltage(int32_t* status); -float getVinCurrent(int32_t* status); -float getUserVoltage6V(int32_t* status); -float getUserCurrent6V(int32_t* status); -bool getUserActive6V(int32_t* status); -int getUserCurrentFaults6V(int32_t* status); -float getUserVoltage5V(int32_t* status); -float getUserCurrent5V(int32_t* status); -bool getUserActive5V(int32_t* status); -int getUserCurrentFaults5V(int32_t* status); -float getUserVoltage3V3(int32_t* status); -float getUserCurrent3V3(int32_t* status); -bool getUserActive3V3(int32_t* status); -int getUserCurrentFaults3V3(int32_t* status); +float HAL_GetVinVoltage(int32_t* status); +float HAL_GetVinCurrent(int32_t* status); +float HAL_GetUserVoltage6V(int32_t* status); +float HAL_GetUserCurrent6V(int32_t* status); +bool HAL_GetUserActive6V(int32_t* status); +int HAL_GetUserCurrentFaults6V(int32_t* status); +float HAL_GetUserVoltage5V(int32_t* status); +float HAL_GetUserCurrent5V(int32_t* status); +bool HAL_GetUserActive5V(int32_t* status); +int HAL_GetUserCurrentFaults5V(int32_t* status); +float HAL_GetUserVoltage3V3(int32_t* status); +float HAL_GetUserCurrent3V3(int32_t* status); +bool HAL_GetUserActive3V3(int32_t* status); +int HAL_GetUserCurrentFaults3V3(int32_t* status); } diff --git a/hal/include/HAL/Relay.h b/hal/include/HAL/Relay.h index 4ecf66c741..981b477d89 100644 --- a/hal/include/HAL/Relay.h +++ b/hal/include/HAL/Relay.h @@ -12,12 +12,12 @@ #include "Handles.h" extern "C" { -HalRelayHandle initializeRelayPort(HalPortHandle port_handle, uint8_t fwd, - int32_t* status); -void freeRelayPort(HalRelayHandle relay_port_handle); +HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle port_handle, uint8_t fwd, + int32_t* status); +void HAL_FreeRelayPort(HAL_RelayHandle relay_port_handle); -bool checkRelayChannel(uint8_t pin); +bool HAL_CheckRelayChannel(uint8_t pin); -void setRelay(HalRelayHandle relay_port_handle, bool on, int32_t* status); -bool getRelay(HalRelayHandle relay_port_handle, int32_t* status); +void HAL_SetRelay(HAL_RelayHandle relay_port_handle, bool on, int32_t* status); +bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status); } diff --git a/hal/include/HAL/SPI.h b/hal/include/HAL/SPI.h index d7f155580f..834dc48d3a 100644 --- a/hal/include/HAL/SPI.h +++ b/hal/include/HAL/SPI.h @@ -14,33 +14,34 @@ priority_recursive_mutex& spiGetSemaphore(uint8_t port); extern "C" { -void spiInitialize(uint8_t port, int32_t* status); -int32_t spiTransaction(uint8_t port, uint8_t* dataToSend, uint8_t* dataReceived, - uint8_t size); -int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize); -int32_t spiRead(uint8_t port, uint8_t* buffer, uint8_t count); -void spiClose(uint8_t port); -void spiSetSpeed(uint8_t port, uint32_t speed); -void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, - int clk_idle_high); -void spiSetChipSelectActiveHigh(uint8_t port, int32_t* status); -void spiSetChipSelectActiveLow(uint8_t port, int32_t* status); -int32_t spiGetHandle(uint8_t port); -void spiSetHandle(uint8_t port, int32_t handle); +void HAL_SpiInitialize(uint8_t port, int32_t* status); +int32_t HAL_SpiTransaction(uint8_t port, uint8_t* dataToSend, + uint8_t* dataReceived, uint8_t size); +int32_t HAL_SpiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize); +int32_t HAL_SpiRead(uint8_t port, uint8_t* buffer, uint8_t count); +void HAL_SpiClose(uint8_t port); +void HAL_SpiSetSpeed(uint8_t port, uint32_t speed); +void HAL_SpiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, + int clk_idle_high); +void HAL_SpiSetChipSelectActiveHigh(uint8_t port, int32_t* status); +void HAL_SpiSetChipSelectActiveLow(uint8_t port, int32_t* status); +int32_t HAL_SpiGetHandle(uint8_t port); +void HAL_SpiSetHandle(uint8_t port, int32_t handle); -void spiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd, - uint8_t xfer_size, uint32_t valid_mask, - uint32_t valid_value, uint8_t data_shift, - uint8_t data_size, bool is_signed, bool big_endian, - int32_t* status); -void spiFreeAccumulator(uint8_t port, int32_t* status); -void spiResetAccumulator(uint8_t port, int32_t* status); -void spiSetAccumulatorCenter(uint8_t port, int32_t center, int32_t* status); -void spiSetAccumulatorDeadband(uint8_t port, int32_t deadband, int32_t* status); -int32_t spiGetAccumulatorLastValue(uint8_t port, int32_t* status); -int64_t spiGetAccumulatorValue(uint8_t port, int32_t* status); -uint32_t spiGetAccumulatorCount(uint8_t port, int32_t* status); -double spiGetAccumulatorAverage(uint8_t port, int32_t* status); -void spiGetAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count, - int32_t* status); +void HAL_SpiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd, + uint8_t xfer_size, uint32_t valid_mask, + uint32_t valid_value, uint8_t data_shift, + uint8_t data_size, bool is_signed, bool big_endian, + int32_t* status); +void HAL_SpiFreeAccumulator(uint8_t port, int32_t* status); +void HAL_SpiResetAccumulator(uint8_t port, int32_t* status); +void HAL_SpiSetAccumulatorCenter(uint8_t port, int32_t center, int32_t* status); +void HAL_SpiSetAccumulatorDeadband(uint8_t port, int32_t deadband, + int32_t* status); +int32_t HAL_SpiGetAccumulatorLastValue(uint8_t port, int32_t* status); +int64_t HAL_SpiGetAccumulatorValue(uint8_t port, int32_t* status); +uint32_t HAL_SpiGetAccumulatorCount(uint8_t port, int32_t* status); +double HAL_SpiGetAccumulatorAverage(uint8_t port, int32_t* status); +void HAL_SpiGetAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count, + int32_t* status); } diff --git a/hal/include/HAL/Semaphore.h b/hal/include/HAL/Semaphore.h index dcfe3d46c8..b54e73a7cf 100644 --- a/hal/include/HAL/Semaphore.h +++ b/hal/include/HAL/Semaphore.h @@ -15,14 +15,14 @@ typedef priority_condition_variable* MULTIWAIT_ID; typedef priority_condition_variable::native_handle_type NATIVE_MULTIWAIT_ID; extern "C" { -MUTEX_ID initializeMutexNormal(); -void deleteMutex(MUTEX_ID sem); -void takeMutex(MUTEX_ID sem); -bool tryTakeMutex(MUTEX_ID sem); -void giveMutex(MUTEX_ID sem); +MUTEX_ID HAL_InitializeMutexNormal(); +void HAL_DeleteMutex(MUTEX_ID sem); +void HAL_TakeMutex(MUTEX_ID sem); +bool HAL_TryTakeMutex(MUTEX_ID sem); +void HAL_GiveMutex(MUTEX_ID sem); -MULTIWAIT_ID initializeMultiWait(); -void deleteMultiWait(MULTIWAIT_ID sem); -void takeMultiWait(MULTIWAIT_ID sem, MUTEX_ID m); -void giveMultiWait(MULTIWAIT_ID sem); +MULTIWAIT_ID HAL_InitializeMultiWait(); +void HAL_DeleteMultiWait(MULTIWAIT_ID sem); +void HAL_TakeMultiWait(MULTIWAIT_ID sem, MUTEX_ID m); +void HAL_GiveMultiWait(MULTIWAIT_ID sem); } diff --git a/hal/include/HAL/SerialPort.h b/hal/include/HAL/SerialPort.h index 09bed34983..d0abcc97b7 100644 --- a/hal/include/HAL/SerialPort.h +++ b/hal/include/HAL/SerialPort.h @@ -10,23 +10,25 @@ #include extern "C" { -void serialInitializePort(uint8_t port, int32_t* status); -void serialSetBaudRate(uint8_t port, uint32_t baud, int32_t* status); -void serialSetDataBits(uint8_t port, uint8_t bits, int32_t* status); -void serialSetParity(uint8_t port, uint8_t parity, int32_t* status); -void serialSetStopBits(uint8_t port, uint8_t stopBits, int32_t* status); -void serialSetWriteMode(uint8_t port, uint8_t mode, int32_t* status); -void serialSetFlowControl(uint8_t port, uint8_t flow, int32_t* status); -void serialSetTimeout(uint8_t port, float timeout, int32_t* status); -void serialEnableTermination(uint8_t port, char terminator, int32_t* status); -void serialDisableTermination(uint8_t port, int32_t* status); -void serialSetReadBufferSize(uint8_t port, uint32_t size, int32_t* status); -void serialSetWriteBufferSize(uint8_t port, uint32_t size, int32_t* status); -int32_t serialGetBytesReceived(uint8_t port, int32_t* status); -uint32_t serialRead(uint8_t port, char* buffer, int32_t count, int32_t* status); -uint32_t serialWrite(uint8_t port, const char* buffer, int32_t count, - int32_t* status); -void serialFlush(uint8_t port, int32_t* status); -void serialClear(uint8_t port, int32_t* status); -void serialClose(uint8_t port, int32_t* status); +void HAL_SerialInitializePort(uint8_t port, int32_t* status); +void HAL_SerialSetBaudRate(uint8_t port, uint32_t baud, int32_t* status); +void HAL_SerialSetDataBits(uint8_t port, uint8_t bits, int32_t* status); +void HAL_SerialSetParity(uint8_t port, uint8_t parity, int32_t* status); +void HAL_SerialSetStopBits(uint8_t port, uint8_t stopBits, int32_t* status); +void HAL_SerialSetWriteMode(uint8_t port, uint8_t mode, int32_t* status); +void HAL_SerialSetFlowControl(uint8_t port, uint8_t flow, int32_t* status); +void HAL_SerialSetTimeout(uint8_t port, float timeout, int32_t* status); +void HAL_SerialEnableTermination(uint8_t port, char terminator, + int32_t* status); +void HAL_SerialDisableTermination(uint8_t port, int32_t* status); +void HAL_SerialSetReadBufferSize(uint8_t port, uint32_t size, int32_t* status); +void HAL_SerialSetWriteBufferSize(uint8_t port, uint32_t size, int32_t* status); +int32_t HAL_SerialGetBytesReceived(uint8_t port, int32_t* status); +uint32_t HAL_SerialRead(uint8_t port, char* buffer, int32_t count, + int32_t* status); +uint32_t HAL_SerialWrite(uint8_t port, const char* buffer, int32_t count, + int32_t* status); +void HAL_SerialFlush(uint8_t port, int32_t* status); +void HAL_SerialClear(uint8_t port, int32_t* status); +void HAL_SerialClose(uint8_t port, int32_t* status); } diff --git a/hal/include/HAL/Solenoid.h b/hal/include/HAL/Solenoid.h index 723a8d927a..a4e6e1960d 100644 --- a/hal/include/HAL/Solenoid.h +++ b/hal/include/HAL/Solenoid.h @@ -12,18 +12,18 @@ #include "Handles.h" extern "C" { -HalSolenoidHandle initializeSolenoidPort(HalPortHandle port_handle, - int32_t* status); -void freeSolenoidPort(HalSolenoidHandle solenoid_port_handle); -bool checkSolenoidModule(uint8_t module); +HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle port_handle, + int32_t* status); +void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoid_port_handle); +bool HAL_CheckSolenoidModule(uint8_t module); -bool getSolenoid(HalSolenoidHandle solenoid_port_handle, int32_t* status); -uint8_t getAllSolenoids(uint8_t module, int32_t* status); -void setSolenoid(HalSolenoidHandle solenoid_port_handle, bool value, - int32_t* status); +bool HAL_GetSolenoid(HAL_SolenoidHandle solenoid_port_handle, int32_t* status); +uint8_t HAL_GetAllSolenoids(uint8_t module, int32_t* status); +void HAL_SetSolenoid(HAL_SolenoidHandle solenoid_port_handle, bool value, + int32_t* status); -int getPCMSolenoidBlackList(uint8_t module, int32_t* status); -bool getPCMSolenoidVoltageStickyFault(uint8_t module, int32_t* status); -bool getPCMSolenoidVoltageFault(uint8_t module, int32_t* status); -void clearAllPCMStickyFaults_sol(uint8_t module, int32_t* status); +int HAL_GetPCMSolenoidBlackList(uint8_t module, int32_t* status); +bool HAL_GetPCMSolenoidVoltageStickyFault(uint8_t module, int32_t* status); +bool HAL_GetPCMSolenoidVoltageFault(uint8_t module, int32_t* status); +void HAL_ClearAllPCMStickyFaults_sol(uint8_t module, int32_t* status); } diff --git a/hal/include/HAL/Task.h b/hal/include/HAL/Task.h index e69b64fae7..5c3d2d4221 100644 --- a/hal/include/HAL/Task.h +++ b/hal/include/HAL/Task.h @@ -28,9 +28,9 @@ extern "C" { // Note: These constants used to be declared extern and were defined in // Task.cpp. This caused issues with the JNI bindings for java, and so the // instantiations were moved here. -const int32_t HAL_taskLib_ILLEGAL_PRIORITY = 22; // 22 is EINVAL +const int32_t HAL_TaskLib_ILLEGAL_PRIORITY = 22; // 22 is EINVAL -STATUS verifyTaskID(TASK task); -STATUS setTaskPriority(TASK task, int priority); // valid priority [1..99] -STATUS getTaskPriority(TASK task, int* priority); +STATUS HAL_VerifyTaskID(TASK task); +STATUS HAL_SetTaskPriority(TASK task, int priority); // valid priority [1..99] +STATUS HAL_GetTaskPriority(TASK task, int* priority); } diff --git a/hal/lib/athena/Accelerometer.cpp b/hal/lib/athena/Accelerometer.cpp index 274cfe29fb..764e1c86f4 100644 --- a/hal/lib/athena/Accelerometer.cpp +++ b/hal/lib/athena/Accelerometer.cpp @@ -13,6 +13,7 @@ #include #include "ChipObject.h" +#include "HAL/HAL.h" // The 7-bit I2C address with a 0 "send" bit static const uint8_t kSendAddress = (0x1c << 1) | 0; @@ -25,7 +26,7 @@ static const uint8_t kControlStart = 2; static const uint8_t kControlStop = 4; static tAccel* accel = 0; -static AccelerometerRange accelerometerRange; +static HAL_AccelerometerRange accelerometerRange; // Register addresses enum Register { @@ -73,8 +74,6 @@ enum Register { kReg_OffZ = 0x31 }; -extern "C" uint32_t getFPGATime(int32_t* status); - static void writeRegister(Register reg, uint8_t data); static uint8_t readRegister(Register reg); @@ -110,9 +109,9 @@ static void writeRegister(Register reg, uint8_t data) { accel->strobeGO(&status); // Execute and wait until it's done (up to a millisecond) - initialTime = getFPGATime(&status); + initialTime = HAL_GetFPGATime(&status); while (accel->readSTAT(&status) & 1) { - if (getFPGATime(&status) > initialTime + 1000) break; + if (HAL_GetFPGATime(&status) > initialTime + 1000) break; } // Send a stop transmit/receive message with the data @@ -121,9 +120,9 @@ static void writeRegister(Register reg, uint8_t data) { accel->strobeGO(&status); // Execute and wait until it's done (up to a millisecond) - initialTime = getFPGATime(&status); + initialTime = HAL_GetFPGATime(&status); while (accel->readSTAT(&status) & 1) { - if (getFPGATime(&status) > initialTime + 1000) break; + if (HAL_GetFPGATime(&status) > initialTime + 1000) break; } std::fflush(stdout); @@ -140,9 +139,9 @@ static uint8_t readRegister(Register reg) { accel->strobeGO(&status); // Execute and wait until it's done (up to a millisecond) - initialTime = getFPGATime(&status); + initialTime = HAL_GetFPGATime(&status); while (accel->readSTAT(&status) & 1) { - if (getFPGATime(&status) > initialTime + 1000) break; + if (HAL_GetFPGATime(&status) > initialTime + 1000) break; } // Receive a message with the data and stop @@ -151,9 +150,9 @@ static uint8_t readRegister(Register reg) { accel->strobeGO(&status); // Execute and wait until it's done (up to a millisecond) - initialTime = getFPGATime(&status); + initialTime = HAL_GetFPGATime(&status); while (accel->readSTAT(&status) & 1) { - if (getFPGATime(&status) > initialTime + 1000) break; + if (HAL_GetFPGATime(&status) > initialTime + 1000) break; } std::fflush(stdout); @@ -173,11 +172,11 @@ static double unpackAxis(int16_t raw) { raw >>= 4; switch (accelerometerRange) { - case kRange_2G: + case HAL_AccelerometerRange_k2G: return raw / 1024.0; - case kRange_4G: + case HAL_AccelerometerRange_k4G: return raw / 512.0; - case kRange_8G: + case HAL_AccelerometerRange_k8G: return raw / 256.0; default: return 0.0; @@ -190,7 +189,7 @@ extern "C" { * Set the accelerometer to active or standby mode. It must be in standby * mode to change any configuration. */ -void setAccelerometerActive(bool active) { +void HAL_SetAccelerometerActive(bool active) { initializeAccelerometer(); uint8_t ctrlReg1 = readRegister(kReg_CtrlReg1); @@ -202,7 +201,7 @@ void setAccelerometerActive(bool active) { * Set the range of values that can be measured (either 2, 4, or 8 g-forces). * The accelerometer should be in standby mode when this is called. */ -void setAccelerometerRange(AccelerometerRange range) { +void HAL_SetAccelerometerRange(HAL_AccelerometerRange range) { initializeAccelerometer(); accelerometerRange = range; @@ -217,7 +216,7 @@ void setAccelerometerRange(AccelerometerRange range) { * * This is a floating point value in units of 1 g-force */ -double getAccelerometerX() { +double HAL_GetAccelerometerX() { initializeAccelerometer(); int raw = @@ -230,7 +229,7 @@ double getAccelerometerX() { * * This is a floating point value in units of 1 g-force */ -double getAccelerometerY() { +double HAL_GetAccelerometerY() { initializeAccelerometer(); int raw = @@ -243,7 +242,7 @@ double getAccelerometerY() { * * This is a floating point value in units of 1 g-force */ -double getAccelerometerZ() { +double HAL_GetAccelerometerZ() { initializeAccelerometer(); int raw = diff --git a/hal/lib/athena/AnalogAccumulator.cpp b/hal/lib/athena/AnalogAccumulator.cpp index 9fa868d73b..01b2c23e27 100644 --- a/hal/lib/athena/AnalogAccumulator.cpp +++ b/hal/lib/athena/AnalogAccumulator.cpp @@ -18,8 +18,8 @@ extern "C" { * *@return The analog channel is attached to an accumulator. */ -bool isAccumulatorChannel(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -34,16 +34,17 @@ bool isAccumulatorChannel(HalAnalogInputHandle analog_port_handle, /** * Initialize the accumulator. */ -void initAccumulator(HalAnalogInputHandle analog_port_handle, int32_t* status) { - setAccumulatorCenter(analog_port_handle, 0, status); - resetAccumulator(analog_port_handle, status); +void HAL_InitAccumulator(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { + HAL_SetAccumulatorCenter(analog_port_handle, 0, status); + HAL_ResetAccumulator(analog_port_handle, status); } /** * Resets the accumulator to the initial value. */ -void resetAccumulator(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +void HAL_ResetAccumulator(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -68,8 +69,8 @@ void resetAccumulator(HalAnalogInputHandle analog_port_handle, * source from channel 1. Because of this, any non-zero oversample bits will * affect the size of the value for this field. */ -void setAccumulatorCenter(HalAnalogInputHandle analog_port_handle, - int32_t center, int32_t* status) { +void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analog_port_handle, + int32_t center, int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -85,8 +86,8 @@ void setAccumulatorCenter(HalAnalogInputHandle analog_port_handle, /** * Set the accumulator's deadband. */ -void setAccumulatorDeadband(HalAnalogInputHandle analog_port_handle, - int32_t deadband, int32_t* status) { +void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analog_port_handle, + int32_t deadband, int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -107,8 +108,8 @@ void setAccumulatorDeadband(HalAnalogInputHandle analog_port_handle, * * @return The 64-bit value accumulated since the last Reset(). */ -int64_t getAccumulatorValue(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -130,8 +131,8 @@ int64_t getAccumulatorValue(HalAnalogInputHandle analog_port_handle, * * @return The number of times samples from the channel were accumulated. */ -uint32_t getAccumulatorCount(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +uint32_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -153,8 +154,9 @@ uint32_t getAccumulatorCount(HalAnalogInputHandle analog_port_handle, * @param value Pointer to the 64-bit accumulated output. * @param count Pointer to the number of accumulation cycles. */ -void getAccumulatorOutput(HalAnalogInputHandle analog_port_handle, - int64_t* value, uint32_t* count, int32_t* status) { +void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analog_port_handle, + int64_t* value, uint32_t* count, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; diff --git a/hal/lib/athena/AnalogGyro.cpp b/hal/lib/athena/AnalogGyro.cpp index 5765536a0e..3cb330ad9c 100644 --- a/hal/lib/athena/AnalogGyro.cpp +++ b/hal/lib/athena/AnalogGyro.cpp @@ -17,7 +17,7 @@ namespace { struct AnalogGyro { - HalAnalogInputHandle handle; + HAL_AnalogInputHandle handle; float voltsPerDegreePerSecond; float offset; uint32_t center; @@ -32,8 +32,8 @@ static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007; using namespace hal; -static IndexedHandleResource +static IndexedHandleResource analogGyroHandles; static void Wait(double seconds) { @@ -42,13 +42,13 @@ static void Wait(double seconds) { } extern "C" { -HalGyroHandle initializeAnalogGyro(HalAnalogInputHandle analog_handle, - int32_t* status) { - if (!isAccumulatorChannel(analog_handle, status)) { +HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analog_handle, + int32_t* status) { + if (!HAL_IsAccumulatorChannel(analog_handle, status)) { if (*status == 0) { *status = PARAMETER_OUT_OF_RANGE; } - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } // handle known to be correct, so no need to type check @@ -57,13 +57,13 @@ HalGyroHandle initializeAnalogGyro(HalAnalogInputHandle analog_handle, auto handle = analogGyroHandles.Allocate(channel, status); if (*status != 0) - return HAL_INVALID_HANDLE; // failed to allocate. Pass error back. + return HAL_kInvalidHandle; // failed to allocate. Pass error back. // Initialize port structure auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { // would only error on thread issue *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } gyro->handle = analog_handle; @@ -74,7 +74,7 @@ HalGyroHandle initializeAnalogGyro(HalAnalogInputHandle analog_handle, return handle; } -void setupAnalogGyro(HalGyroHandle handle, int32_t* status) { +void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; @@ -83,25 +83,27 @@ void setupAnalogGyro(HalGyroHandle handle, int32_t* status) { gyro->voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond; - setAnalogAverageBits(gyro->handle, kAverageBits, status); + HAL_SetAnalogAverageBits(gyro->handle, kAverageBits, status); if (*status != 0) return; - setAnalogOversampleBits(gyro->handle, kOversampleBits, status); + HAL_SetAnalogOversampleBits(gyro->handle, kOversampleBits, status); if (*status != 0) return; float sampleRate = kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits)); - setAnalogSampleRate(sampleRate, status); + HAL_SetAnalogSampleRate(sampleRate, status); if (*status != 0) return; Wait(0.1); - setAnalogGyroDeadband(handle, 0.0f, status); + HAL_SetAnalogGyroDeadband(handle, 0.0f, status); if (*status != 0) return; } -void freeAnalogGyro(HalGyroHandle handle) { analogGyroHandles.Free(handle); } +void HAL_FreeAnalogGyro(HAL_GyroHandle handle) { + analogGyroHandles.Free(handle); +} -void setAnalogGyroParameters(HalGyroHandle handle, - float voltsPerDegreePerSecond, float offset, - uint32_t center, int32_t* status) { +void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle, + float voltsPerDegreePerSecond, float offset, + uint32_t center, int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; @@ -111,12 +113,12 @@ void setAnalogGyroParameters(HalGyroHandle handle, gyro->voltsPerDegreePerSecond = voltsPerDegreePerSecond; gyro->offset = offset; gyro->center = center; - setAccumulatorCenter(gyro->handle, center, status); + HAL_SetAccumulatorCenter(gyro->handle, center, status); } -void setAnalogGyroVoltsPerDegreePerSecond(HalGyroHandle handle, - float voltsPerDegreePerSecond, - int32_t* status) { +void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle, + float voltsPerDegreePerSecond, + int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; @@ -126,59 +128,63 @@ void setAnalogGyroVoltsPerDegreePerSecond(HalGyroHandle handle, gyro->voltsPerDegreePerSecond = voltsPerDegreePerSecond; } -void resetAnalogGyro(HalGyroHandle handle, int32_t* status) { +void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; return; } - resetAccumulator(gyro->handle, status); + HAL_ResetAccumulator(gyro->handle, status); if (*status != 0) return; - const float sampleTime = 1.0f / getAnalogSampleRate(status); - const float overSamples = 1 << getAnalogOversampleBits(gyro->handle, status); - const float averageSamples = 1 << getAnalogAverageBits(gyro->handle, status); + const float sampleTime = 1.0f / HAL_GetAnalogSampleRate(status); + const float overSamples = + 1 << HAL_GetAnalogOversampleBits(gyro->handle, status); + const float averageSamples = + 1 << HAL_GetAnalogAverageBits(gyro->handle, status); if (*status != 0) return; Wait(sampleTime * overSamples * averageSamples); } -void calibrateAnalogGyro(HalGyroHandle handle, int32_t* status) { +void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; return; } - initAccumulator(gyro->handle, status); + HAL_InitAccumulator(gyro->handle, status); if (*status != 0) return; Wait(kCalibrationSampleTime); int64_t value; uint32_t count; - getAccumulatorOutput(gyro->handle, &value, &count, status); + HAL_GetAccumulatorOutput(gyro->handle, &value, &count, status); if (*status != 0) return; gyro->center = (uint32_t)((float)value / (float)count + .5); gyro->offset = ((float)value / (float)count) - (float)gyro->center; - setAccumulatorCenter(gyro->handle, gyro->center, status); + HAL_SetAccumulatorCenter(gyro->handle, gyro->center, status); if (*status != 0) return; - resetAnalogGyro(handle, status); + HAL_ResetAnalogGyro(handle, status); } -void setAnalogGyroDeadband(HalGyroHandle handle, float volts, int32_t* status) { +void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, float volts, + int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; return; } - int32_t deadband = volts * 1e9 / getAnalogLSBWeight(gyro->handle, status) * - (1 << getAnalogOversampleBits(gyro->handle, status)); + int32_t deadband = volts * 1e9 / + HAL_GetAnalogLSBWeight(gyro->handle, status) * + (1 << HAL_GetAnalogOversampleBits(gyro->handle, status)); if (*status != 0) return; - setAccumulatorDeadband(gyro->handle, deadband, status); + HAL_SetAccumulatorDeadband(gyro->handle, deadband, status); } -float getAnalogGyroAngle(HalGyroHandle handle, int32_t* status) { +float HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; @@ -186,33 +192,33 @@ float getAnalogGyroAngle(HalGyroHandle handle, int32_t* status) { } int64_t rawValue = 0; uint32_t count = 0; - getAccumulatorOutput(gyro->handle, &rawValue, &count, status); + HAL_GetAccumulatorOutput(gyro->handle, &rawValue, &count, status); int64_t value = rawValue - (int64_t)((float)count * gyro->offset); double scaledValue = - value * 1e-9 * (double)getAnalogLSBWeight(gyro->handle, status) * - (double)(1 << getAnalogAverageBits(gyro->handle, status)) / - (getAnalogSampleRate(status) * gyro->voltsPerDegreePerSecond); + value * 1e-9 * (double)HAL_GetAnalogLSBWeight(gyro->handle, status) * + (double)(1 << HAL_GetAnalogAverageBits(gyro->handle, status)) / + (HAL_GetAnalogSampleRate(status) * gyro->voltsPerDegreePerSecond); return (float)scaledValue; } -double getAnalogGyroRate(HalGyroHandle handle, int32_t* status) { +double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; return 0; } - return (getAnalogAverageValue(gyro->handle, status) - + return (HAL_GetAnalogAverageValue(gyro->handle, status) - ((double)gyro->center + gyro->offset)) * - 1e-9 * getAnalogLSBWeight(gyro->handle, status) / - ((1 << getAnalogOversampleBits(gyro->handle, status)) * + 1e-9 * HAL_GetAnalogLSBWeight(gyro->handle, status) / + ((1 << HAL_GetAnalogOversampleBits(gyro->handle, status)) * gyro->voltsPerDegreePerSecond); } -float getAnalogGyroOffset(HalGyroHandle handle, int32_t* status) { +float HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; @@ -221,7 +227,7 @@ float getAnalogGyroOffset(HalGyroHandle handle, int32_t* status) { return gyro->offset; } -uint32_t getAnalogGyroCenter(HalGyroHandle handle, int32_t* status) { +uint32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status) { auto gyro = analogGyroHandles.Get(handle); if (gyro == nullptr) { *status = HAL_HANDLE_ERROR; diff --git a/hal/lib/athena/AnalogInput.cpp b/hal/lib/athena/AnalogInput.cpp index ccdffb0da0..cd73c38bd1 100644 --- a/hal/lib/athena/AnalogInput.cpp +++ b/hal/lib/athena/AnalogInput.cpp @@ -25,43 +25,43 @@ extern "C" { /** * Initialize the analog input port using the given port object. */ -HalAnalogInputHandle initializeAnalogInputPort(HalPortHandle port_handle, - int32_t* status) { +HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle port_handle, + int32_t* status) { initializeAnalog(status); - if (*status != 0) return HAL_INVALID_HANDLE; + if (*status != 0) return HAL_kInvalidHandle; int16_t pin = getPortHandlePin(port_handle); if (pin == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } - HalAnalogInputHandle handle = analogInputHandles.Allocate(pin, status); + HAL_AnalogInputHandle handle = analogInputHandles.Allocate(pin, status); if (*status != 0) - return HAL_INVALID_HANDLE; // failed to allocate. Pass error back. + return HAL_kInvalidHandle; // failed to allocate. Pass error back. // Initialize port structure auto analog_port = analogInputHandles.Get(handle); if (analog_port == nullptr) { // would only error on thread issue *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } analog_port->pin = static_cast(pin); - if (isAccumulatorChannel(handle, status)) { + if (HAL_IsAccumulatorChannel(handle, status)) { analog_port->accumulator = tAccumulator::create(pin, status); } else analog_port->accumulator = nullptr; // Set default configuration analogInputSystem->writeScanList(pin, pin, status); - setAnalogAverageBits(handle, kDefaultAverageBits, status); - setAnalogOversampleBits(handle, kDefaultOversampleBits, status); + HAL_SetAnalogAverageBits(handle, kDefaultAverageBits, status); + HAL_SetAnalogOversampleBits(handle, kDefaultOversampleBits, status); return handle; } -void freeAnalogInputPort(HalAnalogInputHandle analog_port_handle) { +void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analog_port_handle) { auto port = analogInputHandles.Get(analog_port_handle); if (!port) return; // no status, so no need to check for a proper free. @@ -74,7 +74,7 @@ void freeAnalogInputPort(HalAnalogInputHandle analog_port_handle) { * * @return Analog module is valid and present */ -bool checkAnalogModule(uint8_t module) { return module == 1; } +bool HAL_CheckAnalogModule(uint8_t module) { return module == 1; } /** * Check that the analog output channel number is value. @@ -83,7 +83,7 @@ bool checkAnalogModule(uint8_t module) { return module == 1; } * * @return Analog channel is valid */ -bool checkAnalogInputChannel(uint32_t pin) { +bool HAL_CheckAnalogInputChannel(uint32_t pin) { if (pin < kNumAnalogInputs) return true; return false; } @@ -95,7 +95,7 @@ bool checkAnalogInputChannel(uint32_t pin) { * * @param samplesPerSecond The number of samples per channel per second. */ -void setAnalogSampleRate(double samplesPerSecond, int32_t* status) { +void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) { // TODO: This will change when variable size scan lists are implemented. // TODO: Need float comparison with epsilon. // wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond); @@ -130,7 +130,7 @@ void setAnalogSampleRate(double samplesPerSecond, int32_t* status) { * * @return Sample rate. */ -float getAnalogSampleRate(int32_t* status) { +float HAL_GetAnalogSampleRate(int32_t* status) { uint32_t ticksPerConversion = analogInputSystem->readLoopTiming(status); uint32_t ticksPerSample = ticksPerConversion * getAnalogNumActiveChannels(status); @@ -147,8 +147,8 @@ float getAnalogSampleRate(int32_t* status) { * @param analog_port_pointer Pointer to the analog port to configure. * @param bits Number of bits to average. */ -void setAnalogAverageBits(HalAnalogInputHandle analog_port_handle, - uint32_t bits, int32_t* status) { +void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, + uint32_t bits, int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -166,8 +166,8 @@ void setAnalogAverageBits(HalAnalogInputHandle analog_port_handle, * @param analog_port_pointer Pointer to the analog port to use. * @return Bits to average. */ -uint32_t getAnalogAverageBits(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +uint32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -188,8 +188,8 @@ uint32_t getAnalogAverageBits(HalAnalogInputHandle analog_port_handle, * @param analog_port_pointer Pointer to the analog port to use. * @param bits Number of bits to oversample. */ -void setAnalogOversampleBits(HalAnalogInputHandle analog_port_handle, - uint32_t bits, int32_t* status) { +void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, + uint32_t bits, int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -208,8 +208,8 @@ void setAnalogOversampleBits(HalAnalogInputHandle analog_port_handle, * @param analog_port_pointer Pointer to the analog port to use. * @return Bits to oversample. */ -uint32_t getAnalogOversampleBits(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +uint32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -229,15 +229,15 @@ uint32_t getAnalogOversampleBits(HalAnalogInputHandle analog_port_handle, * @param analog_port_pointer Pointer to the analog port to use. * @return A sample straight from the channel on this module. */ -int16_t getAnalogValue(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +int16_t HAL_GetAnalogValue(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; } int16_t value; - if (!checkAnalogInputChannel(port->pin)) { + if (!HAL_CheckAnalogInputChannel(port->pin)) { return 0; } @@ -269,15 +269,15 @@ int16_t getAnalogValue(HalAnalogInputHandle analog_port_handle, * @param analog_port_pointer Pointer to the analog port to use. * @return A sample from the oversample and average engine for the channel. */ -int32_t getAnalogAverageValue(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; } int32_t value; - if (!checkAnalogInputChannel(port->pin)) { + if (!HAL_CheckAnalogInputChannel(port->pin)) { return 0; } @@ -304,11 +304,11 @@ int32_t getAnalogAverageValue(HalAnalogInputHandle analog_port_handle, * @param analog_port_pointer Pointer to the analog port to use. * @return A scaled sample straight from the channel on this module. */ -float getAnalogVoltage(HalAnalogInputHandle analog_port_handle, - int32_t* status) { - int16_t value = getAnalogValue(analog_port_handle, status); - uint32_t LSBWeight = getAnalogLSBWeight(analog_port_handle, status); - int32_t offset = getAnalogOffset(analog_port_handle, status); +float HAL_GetAnalogVoltage(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { + int16_t value = HAL_GetAnalogValue(analog_port_handle, status); + uint32_t LSBWeight = HAL_GetAnalogLSBWeight(analog_port_handle, status); + int32_t offset = HAL_GetAnalogOffset(analog_port_handle, status); float voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9; return voltage; } @@ -326,12 +326,13 @@ float getAnalogVoltage(HalAnalogInputHandle analog_port_handle, * @return A scaled sample from the output of the oversample and average engine * for the channel. */ -float getAnalogAverageVoltage(HalAnalogInputHandle analog_port_handle, - int32_t* status) { - int32_t value = getAnalogAverageValue(analog_port_handle, status); - uint32_t LSBWeight = getAnalogLSBWeight(analog_port_handle, status); - int32_t offset = getAnalogOffset(analog_port_handle, status); - uint32_t oversampleBits = getAnalogOversampleBits(analog_port_handle, status); +float HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { + int32_t value = HAL_GetAnalogAverageValue(analog_port_handle, status); + uint32_t LSBWeight = HAL_GetAnalogLSBWeight(analog_port_handle, status); + int32_t offset = HAL_GetAnalogOffset(analog_port_handle, status); + uint32_t oversampleBits = + HAL_GetAnalogOversampleBits(analog_port_handle, status); float voltage = ((LSBWeight * 1.0e-9 * value) / (float)(1 << oversampleBits)) - offset * 1.0e-9; @@ -350,8 +351,8 @@ float getAnalogAverageVoltage(HalAnalogInputHandle analog_port_handle, * @param voltage The voltage to convert. * @return The raw value for the channel. */ -int32_t getAnalogVoltsToValue(HalAnalogInputHandle analog_port_handle, - double voltage, int32_t* status) { +int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analog_port_handle, + double voltage, int32_t* status) { if (voltage > 5.0) { voltage = 5.0; *status = VOLTAGE_OUT_OF_RANGE; @@ -360,8 +361,8 @@ int32_t getAnalogVoltsToValue(HalAnalogInputHandle analog_port_handle, voltage = 0.0; *status = VOLTAGE_OUT_OF_RANGE; } - uint32_t LSBWeight = getAnalogLSBWeight(analog_port_handle, status); - int32_t offset = getAnalogOffset(analog_port_handle, status); + uint32_t LSBWeight = HAL_GetAnalogLSBWeight(analog_port_handle, status); + int32_t offset = HAL_GetAnalogOffset(analog_port_handle, status); int32_t value = (int32_t)((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9)); return value; } @@ -376,8 +377,8 @@ int32_t getAnalogVoltsToValue(HalAnalogInputHandle analog_port_handle, * @param analog_port_pointer Pointer to the analog port to use. * @return Least significant bit weight. */ -uint32_t getAnalogLSBWeight(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +uint32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -398,8 +399,8 @@ uint32_t getAnalogLSBWeight(HalAnalogInputHandle analog_port_handle, * @param analog_port_pointer Pointer to the analog port to use. * @return Offset constant. */ -int32_t getAnalogOffset(HalAnalogInputHandle analog_port_handle, - int32_t* status) { +int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analog_port_handle, + int32_t* status) { auto port = analogInputHandles.Get(analog_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; diff --git a/hal/lib/athena/AnalogInternal.cpp b/hal/lib/athena/AnalogInternal.cpp index 3e45a683c3..a44d5baa17 100644 --- a/hal/lib/athena/AnalogInternal.cpp +++ b/hal/lib/athena/AnalogInternal.cpp @@ -17,8 +17,8 @@ priority_recursive_mutex analogRegisterWindowMutex; tAI* analogInputSystem = nullptr; tAO* analogOutputSystem = nullptr; -IndexedHandleResource +IndexedHandleResource analogInputHandles; static uint32_t analogNumChannelsToActivate = 0; @@ -34,7 +34,7 @@ void initializeAnalog(int32_t* status) { analogInputSystem = tAI::create(status); analogOutputSystem = tAO::create(status); setAnalogNumChannelsToActivate(kNumAnalogInputs); - setAnalogSampleRate(kDefaultSampleRate, status); + HAL_SetAnalogSampleRate(kDefaultSampleRate, status); analogSystemInitialized = true; } diff --git a/hal/lib/athena/AnalogInternal.h b/hal/lib/athena/AnalogInternal.h index fd1b8cd3d8..3d5d5d366a 100644 --- a/hal/lib/athena/AnalogInternal.h +++ b/hal/lib/athena/AnalogInternal.h @@ -31,8 +31,8 @@ struct AnalogPort { tAccumulator* accumulator; }; -extern IndexedHandleResource +extern IndexedHandleResource analogInputHandles; uint32_t getAnalogNumActiveChannels(int32_t* status); diff --git a/hal/lib/athena/AnalogOutput.cpp b/hal/lib/athena/AnalogOutput.cpp index 9ef958f655..300b4dacec 100644 --- a/hal/lib/athena/AnalogOutput.cpp +++ b/hal/lib/athena/AnalogOutput.cpp @@ -21,8 +21,8 @@ struct AnalogOutput { }; } -static IndexedHandleResource +static IndexedHandleResource analogOutputHandles; extern "C" { @@ -30,34 +30,34 @@ extern "C" { /** * Initialize the analog output port using the given port object. */ -HalAnalogOutputHandle initializeAnalogOutputPort(HalPortHandle port_handle, - int32_t* status) { +HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort( + HAL_PortHandle port_handle, int32_t* status) { initializeAnalog(status); - if (*status != 0) return HAL_INVALID_HANDLE; + if (*status != 0) return HAL_kInvalidHandle; int16_t pin = getPortHandlePin(port_handle); if (pin == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } - HalAnalogOutputHandle handle = analogOutputHandles.Allocate(pin, status); + HAL_AnalogOutputHandle handle = analogOutputHandles.Allocate(pin, status); if (*status != 0) - return HAL_INVALID_HANDLE; // failed to allocate. Pass error back. + return HAL_kInvalidHandle; // failed to allocate. Pass error back. auto port = analogOutputHandles.Get(handle); if (port == nullptr) { // would only error on thread issue *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } port->pin = static_cast(pin); return handle; } -void freeAnalogOutputPort(HalAnalogOutputHandle analog_output_handle) { +void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analog_output_handle) { // no status, so no need to check for a proper free. analogOutputHandles.Free(analog_output_handle); } @@ -69,13 +69,13 @@ void freeAnalogOutputPort(HalAnalogOutputHandle analog_output_handle) { * * @return Analog channel is valid */ -bool checkAnalogOutputChannel(uint32_t pin) { +bool HAL_CheckAnalogOutputChannel(uint32_t pin) { if (pin < kNumAnalogOutputs) return true; return false; } -void setAnalogOutput(HalAnalogOutputHandle analog_output_handle, double voltage, - int32_t* status) { +void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle, + double voltage, int32_t* status) { auto port = analogOutputHandles.Get(analog_output_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -92,8 +92,8 @@ void setAnalogOutput(HalAnalogOutputHandle analog_output_handle, double voltage, analogOutputSystem->writeMXP(port->pin, rawValue, status); } -double getAnalogOutput(HalAnalogOutputHandle analog_output_handle, - int32_t* status) { +double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle, + int32_t* status) { auto port = analogOutputHandles.Get(analog_output_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; diff --git a/hal/lib/athena/AnalogTrigger.cpp b/hal/lib/athena/AnalogTrigger.cpp index 4312695e1c..831411a64f 100644 --- a/hal/lib/athena/AnalogTrigger.cpp +++ b/hal/lib/athena/AnalogTrigger.cpp @@ -19,28 +19,27 @@ using namespace hal; namespace { struct AnalogTrigger { tAnalogTrigger* trigger; - HalAnalogInputHandle analogHandle; + HAL_AnalogInputHandle analogHandle; uint32_t index; }; } -static LimitedHandleResource +static LimitedHandleResource analogTriggerHandles; extern "C" { -HalAnalogTriggerHandle initializeAnalogTrigger(HalAnalogInputHandle port_handle, - uint32_t* index, - int32_t* status) { - if (port_handle == HAL_INVALID_HANDLE) { +HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger( + HAL_AnalogInputHandle port_handle, uint32_t* index, int32_t* status) { + if (port_handle == HAL_kInvalidHandle) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } - HalAnalogInputHandle handle = analogTriggerHandles.Allocate(); - if (handle == HAL_INVALID_HANDLE) { + HAL_AnalogInputHandle handle = analogTriggerHandles.Allocate(); + if (handle == HAL_kInvalidHandle) { *status = NO_AVAILABLE_RESOURCES; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } auto trigger = analogTriggerHandles.Get(handle); trigger->analogHandle = port_handle; @@ -48,7 +47,7 @@ HalAnalogTriggerHandle initializeAnalogTrigger(HalAnalogInputHandle port_handle, auto analog_port = analogInputHandles.Get(trigger->analogHandle); if (analog_port == nullptr) { // would only error on thread issue *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } *index = static_cast(getHandleIndex(handle)); trigger->index = *index; @@ -59,8 +58,8 @@ HalAnalogTriggerHandle initializeAnalogTrigger(HalAnalogInputHandle port_handle, return handle; } -void cleanAnalogTrigger(HalAnalogTriggerHandle analog_trigger_handle, - int32_t* status) { +void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analog_trigger_handle, + int32_t* status) { auto trigger = analogTriggerHandles.Get(analog_trigger_handle); if (trigger == nullptr) { // ignore status error return; @@ -70,8 +69,9 @@ void cleanAnalogTrigger(HalAnalogTriggerHandle analog_trigger_handle, delete trigger->trigger; } -void setAnalogTriggerLimitsRaw(HalAnalogTriggerHandle analog_trigger_handle, - int32_t lower, int32_t upper, int32_t* status) { +void HAL_SetAnalogTriggerLimitsRaw( + HAL_AnalogTriggerHandle analog_trigger_handle, int32_t lower, int32_t upper, + int32_t* status) { auto trigger = analogTriggerHandles.Get(analog_trigger_handle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; @@ -88,9 +88,9 @@ void setAnalogTriggerLimitsRaw(HalAnalogTriggerHandle analog_trigger_handle, * Set the upper and lower limits of the analog trigger. * The limits are given as floating point voltage values. */ -void setAnalogTriggerLimitsVoltage(HalAnalogTriggerHandle analog_trigger_handle, - double lower, double upper, - int32_t* status) { +void HAL_SetAnalogTriggerLimitsVoltage( + HAL_AnalogTriggerHandle analog_trigger_handle, double lower, double upper, + int32_t* status) { auto trigger = analogTriggerHandles.Get(analog_trigger_handle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; @@ -103,9 +103,9 @@ void setAnalogTriggerLimitsVoltage(HalAnalogTriggerHandle analog_trigger_handle, // TODO: This depends on the averaged setting. Only raw values will work as // is. trigger->trigger->writeLowerLimit( - getAnalogVoltsToValue(trigger->analogHandle, lower, status), status); + HAL_GetAnalogVoltsToValue(trigger->analogHandle, lower, status), status); trigger->trigger->writeUpperLimit( - getAnalogVoltsToValue(trigger->analogHandle, upper, status), status); + HAL_GetAnalogVoltsToValue(trigger->analogHandle, upper, status), status); } /** @@ -113,8 +113,8 @@ void setAnalogTriggerLimitsVoltage(HalAnalogTriggerHandle analog_trigger_handle, * If the value is true, then the averaged value is selected for the analog * trigger, otherwise the immediate value is used. */ -void setAnalogTriggerAveraged(HalAnalogTriggerHandle analog_trigger_handle, - bool useAveragedValue, int32_t* status) { +void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analog_trigger_handle, + bool useAveragedValue, int32_t* status) { auto trigger = analogTriggerHandles.Get(analog_trigger_handle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; @@ -134,8 +134,8 @@ void setAnalogTriggerAveraged(HalAnalogTriggerHandle analog_trigger_handle, * is designed to help with 360 degree pot applications for the period where the * pot crosses through zero. */ -void setAnalogTriggerFiltered(HalAnalogTriggerHandle analog_trigger_handle, - bool useFilteredValue, int32_t* status) { +void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analog_trigger_handle, + bool useFilteredValue, int32_t* status) { auto trigger = analogTriggerHandles.Get(analog_trigger_handle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; @@ -154,8 +154,8 @@ void setAnalogTriggerFiltered(HalAnalogTriggerHandle analog_trigger_handle, * True if the analog input is between the upper and lower limits. * @return The InWindow output of the analog trigger. */ -bool getAnalogTriggerInWindow(HalAnalogTriggerHandle analog_trigger_handle, - int32_t* status) { +bool HAL_GetAnalogTriggerInWindow(HAL_AnalogTriggerHandle analog_trigger_handle, + int32_t* status) { auto trigger = analogTriggerHandles.Get(analog_trigger_handle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; @@ -171,8 +171,8 @@ bool getAnalogTriggerInWindow(HalAnalogTriggerHandle analog_trigger_handle, * If in Hysteresis, maintain previous state. * @return The TriggerState output of the analog trigger. */ -bool getAnalogTriggerTriggerState(HalAnalogTriggerHandle analog_trigger_handle, - int32_t* status) { +bool HAL_GetAnalogTriggerTriggerState( + HAL_AnalogTriggerHandle analog_trigger_handle, int32_t* status) { auto trigger = analogTriggerHandles.Get(analog_trigger_handle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; @@ -185,8 +185,8 @@ bool getAnalogTriggerTriggerState(HalAnalogTriggerHandle analog_trigger_handle, * Get the state of the analog trigger output. * @return The state of the analog trigger output. */ -bool getAnalogTriggerOutput(HalAnalogTriggerHandle analog_trigger_handle, - AnalogTriggerType type, int32_t* status) { +bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analog_trigger_handle, + HAL_AnalogTriggerType type, int32_t* status) { auto trigger = analogTriggerHandles.Get(analog_trigger_handle); if (trigger == nullptr) { *status = HAL_HANDLE_ERROR; @@ -194,15 +194,15 @@ bool getAnalogTriggerOutput(HalAnalogTriggerHandle analog_trigger_handle, } bool result = false; switch (type) { - case kInWindow: + case HAL_Trigger_kInWindow: result = trigger->trigger->readOutput_InHysteresis(trigger->index, status); break; // XXX: Backport - case kState: + case HAL_Trigger_kState: result = trigger->trigger->readOutput_OverLimit(trigger->index, status); break; // XXX: Backport - case kRisingPulse: - case kFallingPulse: + case HAL_Trigger_kRisingPulse: + case HAL_Trigger_kFallingPulse: *status = ANALOG_TRIGGER_PULSE_OUTPUT_ERROR; return false; } diff --git a/hal/lib/athena/Compressor.cpp b/hal/lib/athena/Compressor.cpp index 0f42d081cf..16095fa6d6 100644 --- a/hal/lib/athena/Compressor.cpp +++ b/hal/lib/athena/Compressor.cpp @@ -17,11 +17,11 @@ using namespace hal; extern "C" { -HalCompressorHandle initializeCompressor(uint8_t module, int32_t* status) { +HAL_CompressorHandle HAL_InitializeCompressor(uint8_t module, int32_t* status) { // fail on invalid index; - if (!checkCompressorModule(module)) { + if (!HAL_CheckCompressorModule(module)) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } initializePCM(module); @@ -29,14 +29,17 @@ HalCompressorHandle initializeCompressor(uint8_t module, int32_t* status) { // As compressors can have unlimited objects, just create a // handle with the module number as the index. - return (HalCompressorHandle)createHandle(module, HalHandleEnum::Compressor); + return (HAL_CompressorHandle)createHandle(module, HAL_HandleEnum::Compressor); } -bool checkCompressorModule(uint8_t module) { return module < kNumPCMModules; } +bool HAL_CheckCompressorModule(uint8_t module) { + return module < kNumPCMModules; +} -bool getCompressor(HalCompressorHandle compressor_handle, int32_t* status) { +bool HAL_GetCompressor(HAL_CompressorHandle compressor_handle, + int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -49,10 +52,10 @@ bool getCompressor(HalCompressorHandle compressor_handle, int32_t* status) { return value; } -void setClosedLoopControl(HalCompressorHandle compressor_handle, bool value, - int32_t* status) { +void HAL_SetClosedLoopControl(HAL_CompressorHandle compressor_handle, + bool value, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return; @@ -62,10 +65,10 @@ void setClosedLoopControl(HalCompressorHandle compressor_handle, bool value, *status = module->SetClosedLoopControl(value); } -bool getClosedLoopControl(HalCompressorHandle compressor_handle, - int32_t* status) { +bool HAL_GetClosedLoopControl(HAL_CompressorHandle compressor_handle, + int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -78,9 +81,10 @@ bool getClosedLoopControl(HalCompressorHandle compressor_handle, return value; } -bool getPressureSwitch(HalCompressorHandle compressor_handle, int32_t* status) { +bool HAL_GetPressureSwitch(HAL_CompressorHandle compressor_handle, + int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -93,10 +97,10 @@ bool getPressureSwitch(HalCompressorHandle compressor_handle, int32_t* status) { return value; } -float getCompressorCurrent(HalCompressorHandle compressor_handle, - int32_t* status) { +float HAL_GetCompressorCurrent(HAL_CompressorHandle compressor_handle, + int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return 0; @@ -108,10 +112,10 @@ float getCompressorCurrent(HalCompressorHandle compressor_handle, return value; } -bool getCompressorCurrentTooHighFault(HalCompressorHandle compressor_handle, - int32_t* status) { +bool HAL_GetCompressorCurrentTooHighFault( + HAL_CompressorHandle compressor_handle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -123,10 +127,10 @@ bool getCompressorCurrentTooHighFault(HalCompressorHandle compressor_handle, return value; } -bool getCompressorCurrentTooHighStickyFault( - HalCompressorHandle compressor_handle, int32_t* status) { +bool HAL_GetCompressorCurrentTooHighStickyFault( + HAL_CompressorHandle compressor_handle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -138,10 +142,10 @@ bool getCompressorCurrentTooHighStickyFault( return value; } -bool getCompressorShortedStickyFault(HalCompressorHandle compressor_handle, - int32_t* status) { +bool HAL_GetCompressorShortedStickyFault(HAL_CompressorHandle compressor_handle, + int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -153,10 +157,10 @@ bool getCompressorShortedStickyFault(HalCompressorHandle compressor_handle, return value; } -bool getCompressorShortedFault(HalCompressorHandle compressor_handle, - int32_t* status) { +bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressor_handle, + int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -168,10 +172,10 @@ bool getCompressorShortedFault(HalCompressorHandle compressor_handle, return value; } -bool getCompressorNotConnectedStickyFault(HalCompressorHandle compressor_handle, - int32_t* status) { +bool HAL_GetCompressorNotConnectedStickyFault( + HAL_CompressorHandle compressor_handle, int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -183,10 +187,10 @@ bool getCompressorNotConnectedStickyFault(HalCompressorHandle compressor_handle, return value; } -bool getCompressorNotConnectedFault(HalCompressorHandle compressor_handle, - int32_t* status) { +bool HAL_GetCompressorNotConnectedFault(HAL_CompressorHandle compressor_handle, + int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return false; @@ -198,10 +202,10 @@ bool getCompressorNotConnectedFault(HalCompressorHandle compressor_handle, return value; } -void clearAllPCMStickyFaults(HalCompressorHandle compressor_handle, - int32_t* status) { +void HAL_ClearAllPCMStickyFaults(HAL_CompressorHandle compressor_handle, + int32_t* status) { int16_t index = - getHandleTypedIndex(compressor_handle, HalHandleEnum::Compressor); + getHandleTypedIndex(compressor_handle, HAL_HandleEnum::Compressor); if (index == InvalidHandleIndex) { *status = HAL_HANDLE_ERROR; return; diff --git a/hal/lib/athena/Constants.cpp b/hal/lib/athena/Constants.cpp index 9c23ae6652..4bbf1923d9 100644 --- a/hal/lib/athena/Constants.cpp +++ b/hal/lib/athena/Constants.cpp @@ -12,7 +12,7 @@ using namespace hal; extern "C" { -int32_t HAL_getSystemClockTicksPerMicrosecond(void) { +int32_t HAL_GetSystemClockTicksPerMicrosecond(void) { return kSystemClockTicksPerMicrosecond; } } diff --git a/hal/lib/athena/Counter.cpp b/hal/lib/athena/Counter.cpp index 56b9e8cb22..cc3f1d354f 100644 --- a/hal/lib/athena/Counter.cpp +++ b/hal/lib/athena/Counter.cpp @@ -22,21 +22,22 @@ struct Counter { }; } -static LimitedHandleResource +static LimitedHandleResource counterHandles; extern "C" { -HalCounterHandle initializeCounter(Mode mode, int32_t* index, int32_t* status) { +HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index, + int32_t* status) { auto handle = counterHandles.Allocate(); - if (handle == HAL_INVALID_HANDLE) { // out of resources + if (handle == HAL_kInvalidHandle) { // out of resources *status = NO_AVAILABLE_RESOURCES; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } auto counter = counterHandles.Get(handle); if (counter == nullptr) { // would only occur on thread issues *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } *index = static_cast(getHandleIndex(handle)); @@ -47,7 +48,7 @@ HalCounterHandle initializeCounter(Mode mode, int32_t* index, int32_t* status) { return handle; } -void freeCounter(HalCounterHandle counter_handle, int32_t* status) { +void HAL_FreeCounter(HAL_CounterHandle counter_handle, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { // don't throw status as unneccesary return; @@ -56,8 +57,8 @@ void freeCounter(HalCounterHandle counter_handle, int32_t* status) { counterHandles.Free(counter_handle); } -void setCounterAverageSize(HalCounterHandle counter_handle, int32_t size, - int32_t* status) { +void HAL_SetCounterAverageSize(HAL_CounterHandle counter_handle, int32_t size, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -70,9 +71,10 @@ void setCounterAverageSize(HalCounterHandle counter_handle, int32_t size, * Set the source object that causes the counter to count up. * Set the up counting DigitalSource. */ -void setCounterUpSource(HalCounterHandle counter_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, int32_t* status) { +void HAL_SetCounterUpSource(HAL_CounterHandle counter_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -95,9 +97,10 @@ void setCounterUpSource(HalCounterHandle counter_handle, counter->counter->writeConfig_UpSource_AnalogTrigger(routingAnalogTrigger, status); - if (counter->counter->readConfig_Mode(status) == kTwoPulse || - counter->counter->readConfig_Mode(status) == kExternalDirection) { - setCounterUpSourceEdge(counter_handle, true, false, status); + if (counter->counter->readConfig_Mode(status) == HAL_Counter_kTwoPulse || + counter->counter->readConfig_Mode(status) == + HAL_Counter_kExternalDirection) { + HAL_SetCounterUpSourceEdge(counter_handle, true, false, status); } counter->counter->strobeReset(status); } @@ -106,8 +109,9 @@ void setCounterUpSource(HalCounterHandle counter_handle, * Set the edge sensitivity on an up counting source. * Set the up source to either detect rising edges or falling edges. */ -void setCounterUpSourceEdge(HalCounterHandle counter_handle, bool risingEdge, - bool fallingEdge, int32_t* status) { +void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counter_handle, + bool risingEdge, bool fallingEdge, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -120,7 +124,8 @@ void setCounterUpSourceEdge(HalCounterHandle counter_handle, bool risingEdge, /** * Disable the up counting source to the counter. */ -void clearCounterUpSource(HalCounterHandle counter_handle, int32_t* status) { +void HAL_ClearCounterUpSource(HAL_CounterHandle counter_handle, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -137,17 +142,17 @@ void clearCounterUpSource(HalCounterHandle counter_handle, int32_t* status) { * Set the source object that causes the counter to count down. * Set the down counting DigitalSource. */ -void setCounterDownSource(HalCounterHandle counter_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, - int32_t* status) { +void HAL_SetCounterDownSource(HAL_CounterHandle counter_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; } unsigned char mode = counter->counter->readConfig_Mode(status); - if (mode != kTwoPulse && mode != kExternalDirection) { + if (mode != HAL_Counter_kTwoPulse && mode != HAL_Counter_kExternalDirection) { // TODO: wpi_setWPIErrorWithContext(ParameterOutOfRange, "Counter only // supports DownSource in TwoPulse and ExternalDirection modes."); *status = PARAMETER_OUT_OF_RANGE; @@ -170,7 +175,7 @@ void setCounterDownSource(HalCounterHandle counter_handle, counter->counter->writeConfig_DownSource_AnalogTrigger(routingAnalogTrigger, status); - setCounterDownSourceEdge(counter_handle, true, false, status); + HAL_SetCounterDownSourceEdge(counter_handle, true, false, status); counter->counter->strobeReset(status); } @@ -178,8 +183,9 @@ void setCounterDownSource(HalCounterHandle counter_handle, * Set the edge sensitivity on a down counting source. * Set the down source to either detect rising edges or falling edges. */ -void setCounterDownSourceEdge(HalCounterHandle counter_handle, bool risingEdge, - bool fallingEdge, int32_t* status) { +void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counter_handle, + bool risingEdge, bool fallingEdge, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -192,7 +198,8 @@ void setCounterDownSourceEdge(HalCounterHandle counter_handle, bool risingEdge, /** * Disable the down counting source to the counter. */ -void clearCounterDownSource(HalCounterHandle counter_handle, int32_t* status) { +void HAL_ClearCounterDownSource(HAL_CounterHandle counter_handle, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -209,13 +216,14 @@ void clearCounterDownSource(HalCounterHandle counter_handle, int32_t* status) { * Set standard up / down counting mode on this counter. * Up and down counts are sourced independently from two inputs. */ -void setCounterUpDownMode(HalCounterHandle counter_handle, int32_t* status) { +void HAL_SetCounterUpDownMode(HAL_CounterHandle counter_handle, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; } - counter->counter->writeConfig_Mode(kTwoPulse, status); + counter->counter->writeConfig_Mode(HAL_Counter_kTwoPulse, status); } /** @@ -223,30 +231,30 @@ void setCounterUpDownMode(HalCounterHandle counter_handle, int32_t* status) { * Counts are sourced on the Up counter input. * The Down counter input represents the direction to count. */ -void setCounterExternalDirectionMode(HalCounterHandle counter_handle, - int32_t* status) { +void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counter_handle, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; } - counter->counter->writeConfig_Mode(kExternalDirection, status); + counter->counter->writeConfig_Mode(HAL_Counter_kExternalDirection, status); } /** * Set Semi-period mode on this counter. * Counts up on both rising and falling edges. */ -void setCounterSemiPeriodMode(HalCounterHandle counter_handle, - bool highSemiPeriod, int32_t* status) { +void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counter_handle, + bool highSemiPeriod, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; } - counter->counter->writeConfig_Mode(kSemiperiod, status); + counter->counter->writeConfig_Mode(HAL_Counter_kSemiperiod, status); counter->counter->writeConfig_UpRisingEdge(highSemiPeriod, status); - setCounterUpdateWhenEmpty(counter_handle, false, status); + HAL_SetCounterUpdateWhenEmpty(counter_handle, false, status); } /** @@ -256,14 +264,14 @@ void setCounterSemiPeriodMode(HalCounterHandle counter_handle, * @param threshold The pulse length beyond which the counter counts the * opposite direction. Units are seconds. */ -void setCounterPulseLengthMode(HalCounterHandle counter_handle, - double threshold, int32_t* status) { +void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counter_handle, + double threshold, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; } - counter->counter->writeConfig_Mode(kPulseLength, status); + counter->counter->writeConfig_Mode(HAL_Counter_kPulseLength, status); counter->counter->writeConfig_PulseLengthThreshold( (uint32_t)(threshold * 1.0e6) * kSystemClockTicksPerMicrosecond, status); } @@ -275,8 +283,8 @@ void setCounterPulseLengthMode(HalCounterHandle counter_handle, * mechanical imperfections or as oversampling to increase resolution. * @return SamplesToAverage The number of samples being averaged (from 1 to 127) */ -int32_t getCounterSamplesToAverage(HalCounterHandle counter_handle, - int32_t* status) { +int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counter_handle, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -291,8 +299,8 @@ int32_t getCounterSamplesToAverage(HalCounterHandle counter_handle, * mechanical imperfections or as oversampling to increase resolution. * @param samplesToAverage The number of samples to average from 1 to 127. */ -void setCounterSamplesToAverage(HalCounterHandle counter_handle, - int samplesToAverage, int32_t* status) { +void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counter_handle, + int samplesToAverage, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -309,7 +317,7 @@ void setCounterSamplesToAverage(HalCounterHandle counter_handle, * Set the counter value to zero. This doesn't effect the running state of the * counter, just sets the current value to zero. */ -void resetCounter(HalCounterHandle counter_handle, int32_t* status) { +void HAL_ResetCounter(HAL_CounterHandle counter_handle, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -323,7 +331,7 @@ void resetCounter(HalCounterHandle counter_handle, int32_t* status) { * Read the value at this instant. It may still be running, so it reflects the * current value. Next time it is read, it might have a different value. */ -int32_t getCounter(HalCounterHandle counter_handle, int32_t* status) { +int32_t HAL_GetCounter(HAL_CounterHandle counter_handle, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -339,7 +347,7 @@ int32_t getCounter(HalCounterHandle counter_handle, int32_t* status) { * velocity calculations to determine shaft speed. * @returns The period of the last two pulses in units of seconds. */ -double getCounterPeriod(HalCounterHandle counter_handle, int32_t* status) { +double HAL_GetCounterPeriod(HAL_CounterHandle counter_handle, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -367,8 +375,8 @@ double getCounterPeriod(HalCounterHandle counter_handle, int32_t* status) { * @param maxPeriod The maximum period where the counted device is considered * moving in seconds. */ -void setCounterMaxPeriod(HalCounterHandle counter_handle, double maxPeriod, - int32_t* status) { +void HAL_SetCounterMaxPeriod(HAL_CounterHandle counter_handle, double maxPeriod, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -391,8 +399,8 @@ void setCounterMaxPeriod(HalCounterHandle counter_handle, double maxPeriod, * and you will likely not see the stopped bit become true (since it is updated * at the end of an average and there are no samples to average). */ -void setCounterUpdateWhenEmpty(HalCounterHandle counter_handle, bool enabled, - int32_t* status) { +void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counter_handle, + bool enabled, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -409,7 +417,7 @@ void setCounterUpdateWhenEmpty(HalCounterHandle counter_handle, bool enabled, * @return Returns true if the most recent counter period exceeds the MaxPeriod * value set by SetMaxPeriod. */ -bool getCounterStopped(HalCounterHandle counter_handle, int32_t* status) { +bool HAL_GetCounterStopped(HAL_CounterHandle counter_handle, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -422,7 +430,8 @@ bool getCounterStopped(HalCounterHandle counter_handle, int32_t* status) { * The last direction the counter value changed. * @return The last direction the counter value changed. */ -bool getCounterDirection(HalCounterHandle counter_handle, int32_t* status) { +bool HAL_GetCounterDirection(HAL_CounterHandle counter_handle, + int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; @@ -438,18 +447,19 @@ bool getCounterDirection(HalCounterHandle counter_handle, int32_t* status) { * 1X and 2X quadrature encoding only. Any other counter mode isn't supported. * @param reverseDirection true if the value counted should be negated. */ -void setCounterReverseDirection(HalCounterHandle counter_handle, - bool reverseDirection, int32_t* status) { +void HAL_SetCounterReverseDirection(HAL_CounterHandle counter_handle, + bool reverseDirection, int32_t* status) { auto counter = counterHandles.Get(counter_handle); if (counter == nullptr) { *status = HAL_HANDLE_ERROR; return; } - if (counter->counter->readConfig_Mode(status) == kExternalDirection) { + if (counter->counter->readConfig_Mode(status) == + HAL_Counter_kExternalDirection) { if (reverseDirection) - setCounterDownSourceEdge(counter_handle, true, true, status); + HAL_SetCounterDownSourceEdge(counter_handle, true, true, status); else - setCounterDownSourceEdge(counter_handle, false, true, status); + HAL_SetCounterDownSourceEdge(counter_handle, false, true, status); } } } diff --git a/hal/lib/athena/DIO.cpp b/hal/lib/athena/DIO.cpp index 7de37cd5ea..68e9f86145 100644 --- a/hal/lib/athena/DIO.cpp +++ b/hal/lib/athena/DIO.cpp @@ -19,8 +19,8 @@ using namespace hal; // Create a mutex to protect changes to the digital output values static priority_recursive_mutex digitalDIOMutex; -static LimitedHandleResource +static LimitedHandleResource digitalPWMHandles; extern "C" { @@ -28,27 +28,27 @@ extern "C" { /** * Create a new instance of a digital port. */ -HalDigitalHandle initializeDIOPort(HalPortHandle port_handle, uint8_t input, - int32_t* status) { +HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle, + uint8_t input, int32_t* status) { initializeDigital(status); - if (*status != 0) return HAL_INVALID_HANDLE; + if (*status != 0) return HAL_kInvalidHandle; int16_t pin = getPortHandlePin(port_handle); if (pin == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } - auto handle = digitalPinHandles.Allocate(pin, HalHandleEnum::DIO, status); + auto handle = digitalPinHandles.Allocate(pin, HAL_HandleEnum::DIO, status); if (*status != 0) - return HAL_INVALID_HANDLE; // failed to allocate. Pass error back. + return HAL_kInvalidHandle; // failed to allocate. Pass error back. - auto port = digitalPinHandles.Get(handle, HalHandleEnum::DIO); + auto port = digitalPinHandles.Get(handle, HAL_HandleEnum::DIO); if (port == nullptr) { // would only occur on thread issue. *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } port->pin = static_cast(pin); @@ -88,9 +88,9 @@ HalDigitalHandle initializeDIOPort(HalPortHandle port_handle, uint8_t input, return handle; } -void freeDIOPort(HalDigitalHandle dio_port_handle) { +void HAL_FreeDIOPort(HAL_DigitalHandle dio_port_handle) { // no status, so no need to check for a proper free. - digitalPinHandles.Free(dio_port_handle, HalHandleEnum::DIO); + digitalPinHandles.Free(dio_port_handle, HAL_HandleEnum::DIO); } /** @@ -99,17 +99,17 @@ void freeDIOPort(HalDigitalHandle dio_port_handle) { * * @return PWM Generator handle */ -HalDigitalPWMHandle allocateDigitalPWM(int32_t* status) { +HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) { auto handle = digitalPWMHandles.Allocate(); - if (handle == HAL_INVALID_HANDLE) { + if (handle == HAL_kInvalidHandle) { *status = NO_AVAILABLE_RESOURCES; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } auto id = digitalPWMHandles.Get(handle); if (id == nullptr) { // would only occur on thread issue. *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } *id = static_cast(getHandleIndex(handle)); @@ -122,7 +122,7 @@ HalDigitalPWMHandle allocateDigitalPWM(int32_t* status) { * @param pwmGenerator The pwmGen to free that was allocated with * allocateDigitalPWM() */ -void freeDigitalPWM(HalDigitalPWMHandle pwmGenerator, int32_t* status) { +void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) { digitalPWMHandles.Free(pwmGenerator); } @@ -134,7 +134,7 @@ void freeDigitalPWM(HalDigitalPWMHandle pwmGenerator, int32_t* status) { * * @param rate The frequency to output all digital output PWM signals. */ -void setDigitalPWMRate(double rate, int32_t* status) { +void HAL_SetDigitalPWMRate(double rate, int32_t* status) { // Currently rounding in the log rate domain... heavy weight toward picking a // higher freq. // TODO: Round in the linear rate domain. @@ -151,8 +151,8 @@ void setDigitalPWMRate(double rate, int32_t* status) { * @param pwmGenerator The generator index reserved by allocateDigitalPWM() * @param dutyCycle The percent duty cycle to output [0..1]. */ -void setDigitalPWMDutyCycle(HalDigitalPWMHandle pwmGenerator, double dutyCycle, - int32_t* status) { +void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, + double dutyCycle, int32_t* status) { auto port = digitalPWMHandles.Get(pwmGenerator); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -184,8 +184,8 @@ void setDigitalPWMDutyCycle(HalDigitalPWMHandle pwmGenerator, double dutyCycle, * @param pwmGenerator The generator index reserved by allocateDigitalPWM() * @param channel The Digital Output channel to output on */ -void setDigitalPWMOutputChannel(HalDigitalPWMHandle pwmGenerator, uint32_t pin, - int32_t* status) { +void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, + uint32_t pin, int32_t* status) { auto port = digitalPWMHandles.Get(pwmGenerator); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -207,8 +207,9 @@ void setDigitalPWMOutputChannel(HalDigitalPWMHandle pwmGenerator, uint32_t pin, * @param value The state to set the digital channel (if it is configured as an * output) */ -void setDIO(HalDigitalHandle dio_port_handle, short value, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HalHandleEnum::DIO); +void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, short value, + int32_t* status) { + auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -250,8 +251,8 @@ void setDIO(HalDigitalHandle dio_port_handle, short value, int32_t* status) { * @param channel The digital I/O channel * @return The state of the specified channel */ -bool getDIO(HalDigitalHandle dio_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HalHandleEnum::DIO); +bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status) { + auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -283,8 +284,8 @@ bool getDIO(HalDigitalHandle dio_port_handle, int32_t* status) { * @param channel The digital I/O channel * @return The direction of the specified channel */ -bool getDIODirection(HalDigitalHandle dio_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HalHandleEnum::DIO); +bool HAL_GetDIODirection(HAL_DigitalHandle dio_port_handle, int32_t* status) { + auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -311,9 +312,9 @@ bool getDIODirection(HalDigitalHandle dio_port_handle, int32_t* status) { * @param channel The Digital Output channel that the pulse should be output on * @param pulseLength The active length of the pulse (in seconds) */ -void pulse(HalDigitalHandle dio_port_handle, double pulseLength, - int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HalHandleEnum::DIO); +void HAL_Pulse(HAL_DigitalHandle dio_port_handle, double pulseLength, + int32_t* status) { + auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -337,8 +338,8 @@ void pulse(HalDigitalHandle dio_port_handle, double pulseLength, * * @return A pulse is in progress */ -bool isPulsing(HalDigitalHandle dio_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HalHandleEnum::DIO); +bool HAL_IsPulsing(HAL_DigitalHandle dio_port_handle, int32_t* status) { + auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -357,7 +358,7 @@ bool isPulsing(HalDigitalHandle dio_port_handle, int32_t* status) { * * @return A pulse on some line is in progress */ -bool isAnyPulsing(int32_t* status) { +bool HAL_IsAnyPulsing(int32_t* status) { tDIO::tPulse pulseRegister = digitalSystem->readPulse(status); return pulseRegister.Headers != 0 && pulseRegister.MXP != 0; } @@ -370,9 +371,9 @@ bool isAnyPulsing(int32_t* status) { * @param filter_index The filter index. Must be in the range 0 - 3, * where 0 means "none" and 1 - 3 means filter # filter_index - 1. */ -void setFilterSelect(HalDigitalHandle dio_port_handle, int filter_index, - int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HalHandleEnum::DIO); +void HAL_SetFilterSelect(HAL_DigitalHandle dio_port_handle, int filter_index, + int32_t* status) { + auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -395,8 +396,8 @@ void setFilterSelect(HalDigitalHandle dio_port_handle, int filter_index, * @return filter_index The filter index. Must be in the range 0 - 3, * where 0 means "none" and 1 - 3 means filter # filter_index - 1. */ -int getFilterSelect(HalDigitalHandle dio_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(dio_port_handle, HalHandleEnum::DIO); +int HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status) { + auto port = digitalPinHandles.Get(dio_port_handle, HAL_HandleEnum::DIO); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -422,7 +423,7 @@ int getFilterSelect(HalDigitalHandle dio_port_handle, int32_t* status) { * @param value The number of cycles that the signal must not transition to be * counted as a transition. */ -void setFilterPeriod(int filter_index, uint32_t value, int32_t* status) { +void HAL_SetFilterPeriod(int filter_index, uint32_t value, int32_t* status) { std::lock_guard sync(digitalDIOMutex); digitalSystem->writeFilterPeriodHdr(filter_index, value, status); if (*status == 0) { @@ -442,7 +443,7 @@ void setFilterPeriod(int filter_index, uint32_t value, int32_t* status) { * @param value The number of cycles that the signal must not transition to be * counted as a transition. */ -uint32_t getFilterPeriod(int filter_index, int32_t* status) { +uint32_t HAL_GetFilterPeriod(int filter_index, int32_t* status) { uint32_t hdr_period = 0; uint32_t mxp_period = 0; { diff --git a/hal/lib/athena/DigitalInternal.cpp b/hal/lib/athena/DigitalInternal.cpp index 89dd8ce84d..9e2cb78335 100644 --- a/hal/lib/athena/DigitalInternal.cpp +++ b/hal/lib/athena/DigitalInternal.cpp @@ -29,7 +29,7 @@ tPWM* pwmSystem = nullptr; bool digitalSystemsInitialized = false; -DigitalHandleResource digitalPinHandles; @@ -109,18 +109,18 @@ uint32_t remapMXPPWMChannel(uint32_t pin) { * If it's an analog trigger, determine the module from the high order routing * channel else do normal digital input remapping based on pin number (MXP) */ -extern "C++" bool remapDigitalSource(HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, +extern "C++" bool remapDigitalSource(HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, uint32_t& pin, uint8_t& module, bool& analogTrigger) { - if (isHandleType(digitalSourceHandle, HalHandleEnum::AnalogTrigger)) { + if (isHandleType(digitalSourceHandle, HAL_HandleEnum::AnalogTrigger)) { // If handle passed, index is not negative uint32_t index = getHandleIndex(digitalSourceHandle); pin = (index << 2) + analogTriggerType; module = pin >> 4; analogTrigger = true; return true; - } else if (isHandleType(digitalSourceHandle, HalHandleEnum::DIO)) { + } else if (isHandleType(digitalSourceHandle, HAL_HandleEnum::DIO)) { uint32_t index = getHandleIndex(digitalSourceHandle); if (index >= kNumDigitalHeaders) { pin = remapMXPChannel(index); diff --git a/hal/lib/athena/DigitalInternal.h b/hal/lib/athena/DigitalInternal.h index a9fa640bfd..81d1bbc2ba 100644 --- a/hal/lib/athena/DigitalInternal.h +++ b/hal/lib/athena/DigitalInternal.h @@ -72,13 +72,13 @@ struct DigitalPort { int32_t minPwm = 0; }; -extern DigitalHandleResource digitalPinHandles; void initializeDigital(int32_t* status); -bool remapDigitalSource(HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, uint32_t& pin, +bool remapDigitalSource(HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, uint32_t& pin, uint8_t& module, bool& analogTrigger); uint32_t remapMXPPWMChannel(uint32_t pin); uint32_t remapMXPChannel(uint32_t pin); diff --git a/hal/lib/athena/Encoder.cpp b/hal/lib/athena/Encoder.cpp index 950c12cac2..8984b6a365 100644 --- a/hal/lib/athena/Encoder.cpp +++ b/hal/lib/athena/Encoder.cpp @@ -17,22 +17,23 @@ using namespace hal; -Encoder::Encoder(HalHandle digitalSourceHandleA, - AnalogTriggerType analogTriggerTypeA, - HalHandle digitalSourceHandleB, - AnalogTriggerType analogTriggerTypeB, bool reverseDirection, - EncoderEncodingType encodingType, int32_t* status) { +Encoder::Encoder(HAL_Handle digitalSourceHandleA, + HAL_AnalogTriggerType analogTriggerTypeA, + HAL_Handle digitalSourceHandleB, + HAL_AnalogTriggerType analogTriggerTypeB, + bool reverseDirection, HAL_EncoderEncodingType encodingType, + int32_t* status) { m_encodingType = encodingType; switch (encodingType) { case HAL_Encoder_k4X: { m_encodingScale = 4; - m_encoder = initializeFPGAEncoder( + m_encoder = HAL_InitializeFPGAEncoder( digitalSourceHandleA, analogTriggerTypeA, digitalSourceHandleB, analogTriggerTypeB, reverseDirection, &m_index, status); if (*status != 0) { return; } - m_counter = HAL_INVALID_HANDLE; + m_counter = HAL_kInvalidHandle; SetMaxPeriod(.5, status); break; } @@ -51,40 +52,42 @@ Encoder::Encoder(HalHandle digitalSourceHandleA, } } -void Encoder::SetupCounter(HalHandle digitalSourceHandleA, - AnalogTriggerType analogTriggerTypeA, - HalHandle digitalSourceHandleB, - AnalogTriggerType analogTriggerTypeB, +void Encoder::SetupCounter(HAL_Handle digitalSourceHandleA, + HAL_AnalogTriggerType analogTriggerTypeA, + HAL_Handle digitalSourceHandleB, + HAL_AnalogTriggerType analogTriggerTypeB, bool reverseDirection, - EncoderEncodingType encodingType, int32_t* status) { + HAL_EncoderEncodingType encodingType, + int32_t* status) { m_encodingScale = encodingType == HAL_Encoder_k1X ? 1 : 2; - m_counter = initializeCounter(kExternalDirection, &m_index, status); + m_counter = + HAL_InitializeCounter(HAL_Counter_kExternalDirection, &m_index, status); if (*status != 0) return; - setCounterMaxPeriod(m_counter, 0.5, status); + HAL_SetCounterMaxPeriod(m_counter, 0.5, status); if (*status != 0) return; - setCounterUpSource(m_counter, digitalSourceHandleA, analogTriggerTypeA, - status); + HAL_SetCounterUpSource(m_counter, digitalSourceHandleA, analogTriggerTypeA, + status); if (*status != 0) return; - setCounterDownSource(m_counter, digitalSourceHandleB, analogTriggerTypeB, - status); + HAL_SetCounterDownSource(m_counter, digitalSourceHandleB, analogTriggerTypeB, + status); if (*status != 0) return; if (encodingType == HAL_Encoder_k1X) { - setCounterUpSourceEdge(m_counter, true, false, status); - setCounterAverageSize(m_counter, 1, status); + HAL_SetCounterUpSourceEdge(m_counter, true, false, status); + HAL_SetCounterAverageSize(m_counter, 1, status); } else { - setCounterUpSourceEdge(m_counter, true, true, status); - setCounterAverageSize(m_counter, 2, status); + HAL_SetCounterUpSourceEdge(m_counter, true, true, status); + HAL_SetCounterAverageSize(m_counter, 2, status); } - setCounterDownSourceEdge(m_counter, reverseDirection, true, status); + HAL_SetCounterDownSourceEdge(m_counter, reverseDirection, true, status); } Encoder::~Encoder() { - if (m_counter != HAL_INVALID_HANDLE) { + if (m_counter != HAL_kInvalidHandle) { int32_t status = 0; - freeCounter(m_counter, &status); + HAL_FreeCounter(m_counter, &status); } else { int32_t status = 0; - freeFPGAEncoder(m_encoder, &status); + HAL_FreeFPGAEncoder(m_encoder, &status); } } @@ -95,9 +98,9 @@ int32_t Encoder::Get(int32_t* status) const { int32_t Encoder::GetRaw(int32_t* status) const { if (m_counter) { - return getCounter(m_counter, status); + return HAL_GetCounter(m_counter, status); } else { - return getFPGAEncoder(m_encoder, status); + return HAL_GetFPGAEncoder(m_encoder, status); } } @@ -107,41 +110,41 @@ int32_t Encoder::GetEncodingScale(int32_t* status) const { void Encoder::Reset(int32_t* status) { if (m_counter) { - resetCounter(m_counter, status); + HAL_ResetCounter(m_counter, status); } else { - resetFPGAEncoder(m_encoder, status); + HAL_ResetFPGAEncoder(m_encoder, status); } } double Encoder::GetPeriod(int32_t* status) const { if (m_counter) { - return getCounterPeriod(m_counter, status) / DecodingScaleFactor(); + return HAL_GetCounterPeriod(m_counter, status) / DecodingScaleFactor(); } else { - return getFPGAEncoderPeriod(m_encoder, status); + return HAL_GetFPGAEncoderPeriod(m_encoder, status); } } void Encoder::SetMaxPeriod(double maxPeriod, int32_t* status) { if (m_counter) { - setCounterMaxPeriod(m_counter, maxPeriod, status); + HAL_SetCounterMaxPeriod(m_counter, maxPeriod, status); } else { - setFPGAEncoderMaxPeriod(m_encoder, maxPeriod, status); + HAL_SetFPGAEncoderMaxPeriod(m_encoder, maxPeriod, status); } } bool Encoder::GetStopped(int32_t* status) const { if (m_counter) { - return getCounterStopped(m_counter, status); + return HAL_GetCounterStopped(m_counter, status); } else { - return getFPGAEncoderStopped(m_encoder, status); + return HAL_GetFPGAEncoderStopped(m_encoder, status); } } bool Encoder::GetDirection(int32_t* status) const { if (m_counter) { - return getCounterDirection(m_counter, status); + return HAL_GetCounterDirection(m_counter, status); } else { - return getFPGAEncoderDirection(m_encoder, status); + return HAL_GetFPGAEncoderDirection(m_encoder, status); } } @@ -163,9 +166,9 @@ void Encoder::SetDistancePerPulse(double distancePerPulse, int32_t* status) { void Encoder::SetReverseDirection(bool reverseDirection, int32_t* status) { if (m_counter) { - setCounterReverseDirection(m_counter, reverseDirection, status); + HAL_SetCounterReverseDirection(m_counter, reverseDirection, status); } else { - setFPGAEncoderReverseDirection(m_encoder, reverseDirection, status); + HAL_SetFPGAEncoderReverseDirection(m_encoder, reverseDirection, status); } } @@ -175,23 +178,23 @@ void Encoder::SetSamplesToAverage(int samplesToAverage, int32_t* status) { return; } if (m_counter) { - setCounterSamplesToAverage(m_counter, samplesToAverage, status); + HAL_SetCounterSamplesToAverage(m_counter, samplesToAverage, status); } else { - setFPGAEncoderSamplesToAverage(m_encoder, samplesToAverage, status); + HAL_SetFPGAEncoderSamplesToAverage(m_encoder, samplesToAverage, status); } } int32_t Encoder::GetSamplesToAverage(int32_t* status) const { if (m_counter) { - return getCounterSamplesToAverage(m_counter, status); + return HAL_GetCounterSamplesToAverage(m_counter, status); } else { - return getFPGAEncoderSamplesToAverage(m_encoder, status); + return HAL_GetFPGAEncoderSamplesToAverage(m_encoder, status); } } -void Encoder::SetIndexSource(HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, - EncoderIndexingType type, int32_t* status) { +void Encoder::SetIndexSource(HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + HAL_EncoderIndexingType type, int32_t* status) { if (m_counter) { *status = HAL_COUNTER_NOT_SUPPORTED; return; @@ -200,8 +203,9 @@ void Encoder::SetIndexSource(HalHandle digitalSourceHandle, (type == HAL_kResetWhileHigh) || (type == HAL_kResetOnRisingEdge); bool edgeSensitive = (type == HAL_kResetOnFallingEdge) || (type == HAL_kResetOnRisingEdge); - setFPGAEncoderIndexSource(m_encoder, digitalSourceHandle, analogTriggerType, - activeHigh, edgeSensitive, status); + HAL_SetFPGAEncoderIndexSource(m_encoder, digitalSourceHandle, + analogTriggerType, activeHigh, edgeSensitive, + status); } double Encoder::DecodingScaleFactor() const { @@ -217,33 +221,34 @@ double Encoder::DecodingScaleFactor() const { } } -static LimitedClassedHandleResource + HAL_HandleEnum::Encoder> encoderHandles; extern "C" { -HalEncoderHandle initializeEncoder( - HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA, - HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB, - bool reverseDirection, EncoderEncodingType encodingType, int32_t* status) { +HAL_EncoderHandle HAL_InitializeEncoder( + HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA, + HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB, + bool reverseDirection, HAL_EncoderEncodingType encodingType, + int32_t* status) { auto encoder = std::make_shared( digitalSourceHandleA, analogTriggerTypeA, digitalSourceHandleB, analogTriggerTypeB, reverseDirection, encodingType, status); - if (*status != 0) return HAL_INVALID_HANDLE; // return in creation error + if (*status != 0) return HAL_kInvalidHandle; // return in creation error auto handle = encoderHandles.Allocate(encoder); - if (handle == HAL_INVALID_HANDLE) { + if (handle == HAL_kInvalidHandle) { *status = NO_AVAILABLE_RESOURCES; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } return handle; } -void freeEncoder(HalEncoderHandle encoder_handle, int32_t* status) { +void HAL_FreeEncoder(HAL_EncoderHandle encoder_handle, int32_t* status) { encoderHandles.Free(encoder_handle); } -int32_t getEncoder(HalEncoderHandle encoder_handle, int32_t* status) { +int32_t HAL_GetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -252,7 +257,7 @@ int32_t getEncoder(HalEncoderHandle encoder_handle, int32_t* status) { return encoder->Get(status); } -int32_t getEncoderRaw(HalEncoderHandle encoder_handle, int32_t* status) { +int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoder_handle, int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -261,8 +266,8 @@ int32_t getEncoderRaw(HalEncoderHandle encoder_handle, int32_t* status) { return encoder->GetRaw(status); } -int32_t getEncoderEncodingScale(HalEncoderHandle encoder_handle, - int32_t* status) { +int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoder_handle, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -271,7 +276,7 @@ int32_t getEncoderEncodingScale(HalEncoderHandle encoder_handle, return encoder->GetEncodingScale(status); } -void resetEncoder(HalEncoderHandle encoder_handle, int32_t* status) { +void HAL_ResetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -280,7 +285,8 @@ void resetEncoder(HalEncoderHandle encoder_handle, int32_t* status) { encoder->Reset(status); } -int32_t getEncoderPeriod(HalEncoderHandle encoder_handle, int32_t* status) { +int32_t HAL_GetEncoderPeriod(HAL_EncoderHandle encoder_handle, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -289,8 +295,8 @@ int32_t getEncoderPeriod(HalEncoderHandle encoder_handle, int32_t* status) { return encoder->GetPeriod(status); } -void setEncoderMaxPeriod(HalEncoderHandle encoder_handle, double maxPeriod, - int32_t* status) { +void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoder_handle, double maxPeriod, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -299,7 +305,8 @@ void setEncoderMaxPeriod(HalEncoderHandle encoder_handle, double maxPeriod, encoder->SetMaxPeriod(maxPeriod, status); } -uint8_t getEncoderStopped(HalEncoderHandle encoder_handle, int32_t* status) { +uint8_t HAL_GetEncoderStopped(HAL_EncoderHandle encoder_handle, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -308,7 +315,8 @@ uint8_t getEncoderStopped(HalEncoderHandle encoder_handle, int32_t* status) { return encoder->GetStopped(status); } -uint8_t getEncoderDirection(HalEncoderHandle encoder_handle, int32_t* status) { +uint8_t HAL_GetEncoderDirection(HAL_EncoderHandle encoder_handle, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -317,7 +325,8 @@ uint8_t getEncoderDirection(HalEncoderHandle encoder_handle, int32_t* status) { return encoder->GetDirection(status); } -double getEncoderDistance(HalEncoderHandle encoder_handle, int32_t* status) { +double HAL_GetEncoderDistance(HAL_EncoderHandle encoder_handle, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -326,7 +335,7 @@ double getEncoderDistance(HalEncoderHandle encoder_handle, int32_t* status) { return encoder->GetDistance(status); } -double getEncoderRate(HalEncoderHandle encoder_handle, int32_t* status) { +double HAL_GetEncoderRate(HAL_EncoderHandle encoder_handle, int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -335,8 +344,8 @@ double getEncoderRate(HalEncoderHandle encoder_handle, int32_t* status) { return encoder->GetRate(status); } -void setEncoderMinRate(HalEncoderHandle encoder_handle, double minRate, - int32_t* status) { +void HAL_SetEncoderMinRate(HAL_EncoderHandle encoder_handle, double minRate, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -345,8 +354,8 @@ void setEncoderMinRate(HalEncoderHandle encoder_handle, double minRate, encoder->SetMinRate(minRate, status); } -void setEncoderDistancePerPulse(HalEncoderHandle encoder_handle, - double distancePerPulse, int32_t* status) { +void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, + double distancePerPulse, int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -355,8 +364,8 @@ void setEncoderDistancePerPulse(HalEncoderHandle encoder_handle, encoder->SetDistancePerPulse(distancePerPulse, status); } -void setEncoderReverseDirection(HalEncoderHandle encoder_handle, - uint8_t reverseDirection, int32_t* status) { +void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoder_handle, + uint8_t reverseDirection, int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -365,8 +374,8 @@ void setEncoderReverseDirection(HalEncoderHandle encoder_handle, encoder->SetReverseDirection(reverseDirection, status); } -void setEncoderSamplesToAverage(HalEncoderHandle encoder_handle, - int32_t samplesToAverage, int32_t* status) { +void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, + int32_t samplesToAverage, int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -375,8 +384,8 @@ void setEncoderSamplesToAverage(HalEncoderHandle encoder_handle, encoder->SetSamplesToAverage(samplesToAverage, status); } -int32_t getEncoderSamplesToAverage(HalEncoderHandle encoder_handle, - int32_t* status) { +int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -385,8 +394,8 @@ int32_t getEncoderSamplesToAverage(HalEncoderHandle encoder_handle, return encoder->GetSamplesToAverage(status); } -double getEncoderDecodingScaleFactor(HalEncoderHandle encoder_handle, - int32_t* status) { +double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoder_handle, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -395,8 +404,8 @@ double getEncoderDecodingScaleFactor(HalEncoderHandle encoder_handle, return encoder->DecodingScaleFactor(); } -double getEncoderDistancePerPulse(HalEncoderHandle encoder_handle, - int32_t* status) { +double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -405,8 +414,8 @@ double getEncoderDistancePerPulse(HalEncoderHandle encoder_handle, return encoder->GetDistancePerPulse(); } -EncoderEncodingType getEncoderEncodingType(HalEncoderHandle encoder_handle, - int32_t* status) { +HAL_EncoderEncodingType HAL_GetEncoderEncodingType( + HAL_EncoderHandle encoder_handle, int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -415,10 +424,10 @@ EncoderEncodingType getEncoderEncodingType(HalEncoderHandle encoder_handle, return encoder->GetEncodingType(); } -void setEncoderIndexSource(HalEncoderHandle encoder_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, - EncoderIndexingType type, int32_t* status) { +void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoder_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + HAL_EncoderIndexingType type, int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -427,7 +436,8 @@ void setEncoderIndexSource(HalEncoderHandle encoder_handle, encoder->SetIndexSource(digitalSourceHandle, analogTriggerType, type, status); } -int32_t getEncoderFPGAIndex(HalEncoderHandle encoder_handle, int32_t* status) { +int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoder_handle, + int32_t* status) { auto encoder = encoderHandles.Get(encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; diff --git a/hal/lib/athena/EncoderInternal.h b/hal/lib/athena/EncoderInternal.h index 2ce3a05dfe..7a5af6dfc0 100644 --- a/hal/lib/athena/EncoderInternal.h +++ b/hal/lib/athena/EncoderInternal.h @@ -14,10 +14,11 @@ namespace hal { class Encoder { public: - Encoder(HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA, - HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB, - bool reverseDirection, EncoderEncodingType encodingType, - int32_t* status); + Encoder(HAL_Handle digitalSourceHandleA, + HAL_AnalogTriggerType analogTriggerTypeA, + HAL_Handle digitalSourceHandleB, + HAL_AnalogTriggerType analogTriggerTypeB, bool reverseDirection, + HAL_EncoderEncodingType encodingType, int32_t* status); ~Encoder(); // CounterBase interface @@ -38,9 +39,9 @@ class Encoder { void SetSamplesToAverage(int samplesToAverage, int32_t* status); int32_t GetSamplesToAverage(int32_t* status) const; - void SetIndexSource(HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, - EncoderIndexingType type, int32_t* status); + void SetIndexSource(HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + HAL_EncoderIndexingType type, int32_t* status); int32_t GetFPGAIndex() const { return m_index; } @@ -50,24 +51,25 @@ class Encoder { double GetDistancePerPulse() const { return m_distancePerPulse; } - EncoderEncodingType GetEncodingType() const { return m_encodingType; } + HAL_EncoderEncodingType GetEncodingType() const { return m_encodingType; } private: - void SetupCounter(HalHandle digitalSourceHandleA, - AnalogTriggerType analogTriggerTypeA, - HalHandle digitalSourceHandleB, - AnalogTriggerType analogTriggerTypeB, bool reverseDirection, - EncoderEncodingType encodingType, int32_t* status); + void SetupCounter(HAL_Handle digitalSourceHandleA, + HAL_AnalogTriggerType analogTriggerTypeA, + HAL_Handle digitalSourceHandleB, + HAL_AnalogTriggerType analogTriggerTypeB, + bool reverseDirection, HAL_EncoderEncodingType encodingType, + int32_t* status); - HalFPGAEncoderHandle m_encoder = HAL_INVALID_HANDLE; + HAL_FPGAEncoderHandle m_encoder = HAL_kInvalidHandle; - HalCounterHandle m_counter = HAL_INVALID_HANDLE; + HAL_CounterHandle m_counter = HAL_kInvalidHandle; int32_t m_index = 0; double m_distancePerPulse = 1.0; - EncoderEncodingType m_encodingType; + HAL_EncoderEncodingType m_encodingType; int32_t m_encodingScale; }; diff --git a/hal/lib/athena/FPGAEncoder.cpp b/hal/lib/athena/FPGAEncoder.cpp index 07ab120ea3..1b219a0774 100644 --- a/hal/lib/athena/FPGAEncoder.cpp +++ b/hal/lib/athena/FPGAEncoder.cpp @@ -22,17 +22,15 @@ struct Encoder { static const double DECODING_SCALING_FACTOR = 0.25; -static LimitedHandleResource +static LimitedHandleResource fpgaEncoderHandles; extern "C" { -HalFPGAEncoderHandle initializeFPGAEncoder(HalHandle digitalSourceHandleA, - AnalogTriggerType analogTriggerTypeA, - HalHandle digitalSourceHandleB, - AnalogTriggerType analogTriggerTypeB, - bool reverseDirection, - int32_t* index, int32_t* status) { +HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder( + HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA, + HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB, + bool reverseDirection, int32_t* index, int32_t* status) { bool routingAnalogTriggerA = false; uint32_t routingPinA = 0; uint8_t routingModuleA = 0; @@ -48,19 +46,19 @@ HalFPGAEncoderHandle initializeFPGAEncoder(HalHandle digitalSourceHandleA, if (!successA || !successB) { *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } auto handle = fpgaEncoderHandles.Allocate(); - if (handle == HAL_INVALID_HANDLE) { // out of resources + if (handle == HAL_kInvalidHandle) { // out of resources *status = NO_AVAILABLE_RESOURCES; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } auto encoder = fpgaEncoderHandles.Get(handle); if (encoder == nullptr) { // will only error on thread issue *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } encoder->index = static_cast(getHandleIndex(handle)); @@ -83,8 +81,8 @@ HalFPGAEncoderHandle initializeFPGAEncoder(HalHandle digitalSourceHandleA, return handle; } -void freeFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status) { +void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); fpgaEncoderHandles.Free(fpga_encoder_handle); if (encoder == nullptr) { @@ -98,8 +96,8 @@ void freeFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, * Reset the Encoder distance to zero. * Resets the current count to zero on the encoder. */ -void resetFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status) { +void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -114,8 +112,8 @@ void resetFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, * factor. * @return Current fpga count from the encoder */ -int32_t getFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status) { +int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -134,8 +132,8 @@ int32_t getFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, * * @return Period in seconds of the most recent pulse. */ -double getFPGAEncoderPeriod(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status) { +double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -170,8 +168,8 @@ double getFPGAEncoderPeriod(HalFPGAEncoderHandle fpga_encoder_handle, * FPGA will * report the device stopped. This is expressed in seconds. */ -void setFPGAEncoderMaxPeriod(HalFPGAEncoderHandle fpga_encoder_handle, - double maxPeriod, int32_t* status) { +void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, + double maxPeriod, int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -188,8 +186,8 @@ void setFPGAEncoderMaxPeriod(HalFPGAEncoderHandle fpga_encoder_handle, * one where the most recent pulse width exceeds the MaxPeriod. * @return True if the encoder is considered stopped. */ -bool getFPGAEncoderStopped(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status) { +bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -202,8 +200,8 @@ bool getFPGAEncoderStopped(HalFPGAEncoderHandle fpga_encoder_handle, * The last direction the encoder value changed. * @return The last direction the encoder value changed. */ -bool getFPGAEncoderDirection(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status) { +bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -218,8 +216,9 @@ bool getFPGAEncoderDirection(HalFPGAEncoderHandle fpga_encoder_handle, * correct software direction regardless of the mounting. * @param reverseDirection true if the encoder direction should be reversed */ -void setFPGAEncoderReverseDirection(HalFPGAEncoderHandle fpga_encoder_handle, - bool reverseDirection, int32_t* status) { +void HAL_SetFPGAEncoderReverseDirection( + HAL_FPGAEncoderHandle fpga_encoder_handle, bool reverseDirection, + int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -234,9 +233,9 @@ void setFPGAEncoderReverseDirection(HalFPGAEncoderHandle fpga_encoder_handle, * mechanical imperfections or as oversampling to increase resolution. * @param samplesToAverage The number of samples to average from 1 to 127. */ -void setFPGAEncoderSamplesToAverage(HalFPGAEncoderHandle fpga_encoder_handle, - uint32_t samplesToAverage, - int32_t* status) { +void HAL_SetFPGAEncoderSamplesToAverage( + HAL_FPGAEncoderHandle fpga_encoder_handle, uint32_t samplesToAverage, + int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -254,8 +253,8 @@ void setFPGAEncoderSamplesToAverage(HalFPGAEncoderHandle fpga_encoder_handle, * mechanical imperfections or as oversampling to increase resolution. * @return SamplesToAverage The number of samples being averaged (from 1 to 127) */ -uint32_t getFPGAEncoderSamplesToAverage( - HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status) { +uint32_t HAL_GetFPGAEncoderSamplesToAverage( + HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; @@ -268,11 +267,11 @@ uint32_t getFPGAEncoderSamplesToAverage( * Set an index source for an encoder, which is an input that resets the * encoder's count. */ -void setFPGAEncoderIndexSource(HalFPGAEncoderHandle fpga_encoder_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, - bool activeHigh, bool edgeSensitive, - int32_t* status) { +void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpga_encoder_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + bool activeHigh, bool edgeSensitive, + int32_t* status) { auto encoder = fpgaEncoderHandles.Get(fpga_encoder_handle); if (encoder == nullptr) { *status = HAL_HANDLE_ERROR; diff --git a/hal/lib/athena/FPGAEncoder.h b/hal/lib/athena/FPGAEncoder.h index 6d319b6b27..613ee14846 100644 --- a/hal/lib/athena/FPGAEncoder.h +++ b/hal/lib/athena/FPGAEncoder.h @@ -13,34 +13,35 @@ #include "HAL/Handles.h" extern "C" { -HalFPGAEncoderHandle initializeFPGAEncoder(HalHandle digitalSourceHandleA, - AnalogTriggerType analogTriggerTypeA, - HalHandle digitalSourceHandleB, - AnalogTriggerType analogTriggerTypeB, - bool reverseDirection, - int32_t* index, int32_t* status); -void freeFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status); -void resetFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status); -int32_t getFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status); // Raw value -double getFPGAEncoderPeriod(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status); -void setFPGAEncoderMaxPeriod(HalFPGAEncoderHandle fpga_encoder_handle, - double maxPeriod, int32_t* status); -bool getFPGAEncoderStopped(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status); -bool getFPGAEncoderDirection(HalFPGAEncoderHandle fpga_encoder_handle, - int32_t* status); -void setFPGAEncoderReverseDirection(HalFPGAEncoderHandle fpga_encoder_handle, - bool reverseDirection, int32_t* status); -void setFPGAEncoderSamplesToAverage(HalFPGAEncoderHandle fpga_encoder_handle, - uint32_t samplesToAverage, int32_t* status); -uint32_t getFPGAEncoderSamplesToAverage( - HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status); -void setFPGAEncoderIndexSource(HalFPGAEncoderHandle fpga_encoder_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, - bool activeHigh, bool edgeSensitive, +HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder( + HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA, + HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB, + bool reverseDirection, int32_t* index, int32_t* status); +void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status); +void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status); +int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status); // Raw value +double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status); +void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpga_encoder_handle, + double maxPeriod, int32_t* status); +bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t* status); +bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpga_encoder_handle, + int32_t* status); +void HAL_SetFPGAEncoderReverseDirection( + HAL_FPGAEncoderHandle fpga_encoder_handle, bool reverseDirection, + int32_t* status); +void HAL_SetFPGAEncoderSamplesToAverage( + HAL_FPGAEncoderHandle fpga_encoder_handle, uint32_t samplesToAverage, + int32_t* status); +uint32_t HAL_GetFPGAEncoderSamplesToAverage( + HAL_FPGAEncoderHandle fpga_encoder_handle, int32_t* status); +void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpga_encoder_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + bool activeHigh, bool edgeSensitive, + int32_t* status); } diff --git a/hal/lib/athena/HALAthena.cpp b/hal/lib/athena/HALAthena.cpp index a8c2870110..3225a145df 100644 --- a/hal/lib/athena/HALAthena.cpp +++ b/hal/lib/athena/HALAthena.cpp @@ -27,8 +27,6 @@ #include "handles/HandlesInternal.h" #include "visa/visa.h" -const uint32_t kSystemClockTicksPerMicrosecond = 40; - static tGlobal* global = nullptr; static tSysWatchdog* watchdog = nullptr; @@ -36,22 +34,22 @@ static priority_mutex timeMutex; static priority_mutex msgMutex; static uint32_t timeEpoch = 0; static uint32_t prevFPGATime = 0; -static HalNotifierHandle rolloverNotifier = 0; +static HAL_NotifierHandle rolloverNotifier = 0; using namespace hal; extern "C" { -HalPortHandle getPort(uint8_t pin) { return createPortHandle(pin, 1); } +HAL_PortHandle HAL_GetPort(uint8_t pin) { return createPortHandle(pin, 1); } /** * @deprecated Uses module numbers */ -HalPortHandle getPortWithModule(uint8_t module, uint8_t pin) { +HAL_PortHandle HAL_GetPortWithModule(uint8_t module, uint8_t pin) { return createPortHandle(pin, module); } -const char* getHALErrorMessage(int32_t code) { +const char* HAL_GetErrorMessage(int32_t code) { switch (code) { case 0: return ""; @@ -161,7 +159,7 @@ const char* getHALErrorMessage(int32_t code) { * For now, expect this to be competition year. * @return FPGA Version number. */ -uint16_t getFPGAVersion(int32_t* status) { +uint16_t HAL_GetFPGAVersion(int32_t* status) { if (!global) { *status = NiFpga_Status_ResourceNotInitialized; return 0; @@ -177,7 +175,7 @@ uint16_t getFPGAVersion(int32_t* status) { * The 12 least significant bits are the Build Number. * @return FPGA Revision number. */ -uint32_t getFPGARevision(int32_t* status) { +uint32_t HAL_GetFPGARevision(int32_t* status) { if (!global) { *status = NiFpga_Status_ResourceNotInitialized; return 0; @@ -191,7 +189,7 @@ uint32_t getFPGARevision(int32_t* status) { * @return The current time in microseconds according to the FPGA (since FPGA * reset). */ -uint64_t getFPGATime(int32_t* status) { +uint64_t HAL_GetFPGATime(int32_t* status) { if (!global) { *status = NiFpga_Status_ResourceNotInitialized; return 0; @@ -209,7 +207,7 @@ uint64_t getFPGATime(int32_t* status) { * Get the state of the "USER" button on the roboRIO * @return true if the button is currently pressed down */ -bool getFPGAButton(int32_t* status) { +bool HAL_GetFPGAButton(int32_t* status) { if (!global) { *status = NiFpga_Status_ResourceNotInitialized; return false; @@ -217,13 +215,13 @@ bool getFPGAButton(int32_t* status) { return global->readUserButton(status); } -int HALSetErrorData(const char* errors, int errorsLength, int wait_ms) { +int HAL_SetErrorData(const char* errors, int errorsLength, int wait_ms) { return setErrorData(errors, errorsLength, wait_ms); } -int HALSendError(int isError, int32_t errorCode, int isLVCode, - const char* details, const char* location, - const char* callStack, int printMsg) { +int HAL_SendError(int isError, int32_t errorCode, int isLVCode, + const char* details, const char* location, + const char* callStack, int printMsg) { // Avoid flooding console by keeping track of previous 5 error // messages and only printing again if they're longer than 1 second old. static constexpr int KEEP_MSGS = 5; @@ -232,7 +230,7 @@ int HALSendError(int isError, int32_t errorCode, int isLVCode, static uint64_t prev_msg_time[KEEP_MSGS] = {0, 0, 0}; int32_t status = 0; - uint64_t curTime = getFPGATime(&status); + uint64_t curTime = HAL_GetFPGATime(&status); int i; for (i = 0; i < KEEP_MSGS; ++i) { if (prev_msg[i] == details) break; @@ -267,7 +265,7 @@ int HALSendError(int isError, int32_t errorCode, int isLVCode, return retval; } -bool HALGetSystemActive(int32_t* status) { +bool HAL_GetSystemActive(int32_t* status) { if (!watchdog) { *status = NiFpga_Status_ResourceNotInitialized; return false; @@ -275,7 +273,7 @@ bool HALGetSystemActive(int32_t* status) { return watchdog->readStatus_SystemActive(status); } -bool HALGetBrownedOut(int32_t* status) { +bool HAL_GetBrownedOut(int32_t* status) { if (!watchdog) { *status = NiFpga_Status_ResourceNotInitialized; return false; @@ -291,13 +289,14 @@ static void HALCleanupAtExit() { static void timerRollover(uint64_t currentTime, void*) { // reschedule timer for next rollover int32_t status = 0; - updateNotifierAlarm(rolloverNotifier, currentTime + 0x80000000ULL, &status); + HAL_UpdateNotifierAlarm(rolloverNotifier, currentTime + 0x80000000ULL, + &status); } /** * Call this to start up HAL. This is required for robot programs. */ -int HALInitialize(int mode) { +int HAL_Initialize(int mode) { setlinebuf(stdin); setlinebuf(stdout); @@ -315,11 +314,12 @@ int HALInitialize(int mode) { std::atexit(HALCleanupAtExit); if (!rolloverNotifier) - rolloverNotifier = initializeNotifier(timerRollover, nullptr, &status); + rolloverNotifier = HAL_InitializeNotifier(timerRollover, nullptr, &status); if (status == 0) { - uint64_t curTime = getFPGATime(&status); + uint64_t curTime = HAL_GetFPGATime(&status); if (status == 0) - updateNotifierAlarm(rolloverNotifier, curTime + 0x80000000ULL, &status); + HAL_UpdateNotifierAlarm(rolloverNotifier, curTime + 0x80000000ULL, + &status); } // Kill any previous robot programs @@ -363,8 +363,8 @@ int HALInitialize(int mode) { return 1; } -uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, uint8_t context, - const char* feature) { +uint32_t HAL_Report(uint8_t resource, uint8_t instanceNumber, uint8_t context, + const char* feature) { if (feature == nullptr) { feature = ""; } diff --git a/hal/lib/athena/I2C.cpp b/hal/lib/athena/I2C.cpp index 8a182ce31f..0a81bd3faf 100644 --- a/hal/lib/athena/I2C.cpp +++ b/hal/lib/athena/I2C.cpp @@ -22,8 +22,8 @@ static uint8_t i2CMXPObjCount = 0; static uint8_t i2COnBoardHandle = 0; static uint8_t i2CMXPHandle = 0; -static HalDigitalHandle i2CMXPDigitalHandle1 = HAL_INVALID_HANDLE; -static HalDigitalHandle i2CMXPDigitalHandle2 = HAL_INVALID_HANDLE; +static HAL_DigitalHandle i2CMXPDigitalHandle1 = HAL_kInvalidHandle; +static HAL_DigitalHandle i2CMXPDigitalHandle2 = HAL_kInvalidHandle; extern "C" { /* @@ -31,7 +31,7 @@ extern "C" { * If opening the MXP port, also sets up the pin functions appropriately * @param port The port to open, 0 for the on-board, 1 for the MXP. */ -void i2CInitialize(uint8_t port, int32_t* status) { +void HAL_I2CInitialize(uint8_t port, int32_t* status) { initializeDigital(status); if (*status != 0) return; @@ -51,13 +51,13 @@ void i2CInitialize(uint8_t port, int32_t* status) { } else if (port == 1) { i2CMXPObjCount++; if (i2CMXPHandle > 0) return; - if ((i2CMXPDigitalHandle1 = initializeDIOPort( - getPort(24), false, status)) == HAL_INVALID_HANDLE) { + if ((i2CMXPDigitalHandle1 = HAL_InitializeDIOPort( + HAL_GetPort(24), false, status)) == HAL_kInvalidHandle) { return; } - if ((i2CMXPDigitalHandle2 = initializeDIOPort( - getPort(25), false, status)) == HAL_INVALID_HANDLE) { - freeDIOPort(i2CMXPDigitalHandle1); // free the first port allocated + if ((i2CMXPDigitalHandle2 = HAL_InitializeDIOPort( + HAL_GetPort(25), false, status)) == HAL_kInvalidHandle) { + HAL_FreeDIOPort(i2CMXPDigitalHandle1); // free the first port allocated return; } digitalSystem->writeEnableMXPSpecialFunction( @@ -80,9 +80,9 @@ void i2CInitialize(uint8_t port, int32_t* status) { * @param receiveSize Number of bytes to read from the device. * @return The number of bytes read (>= 0) or -1 on transfer abort. */ -int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, - uint8_t sendSize, uint8_t* dataReceived, - uint8_t receiveSize) { +int32_t HAL_I2CTransaction(uint8_t port, uint8_t deviceAddress, + uint8_t* dataToSend, uint8_t sendSize, + uint8_t* dataReceived, uint8_t receiveSize) { if (port > 1) { // Set port out of range error here return -1; @@ -111,8 +111,8 @@ int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, * @param data The byte to write to the register on the device. * @return The number of bytes written (>= 0) or -1 on transfer abort. */ -int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, - uint8_t sendSize) { +int32_t HAL_I2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, + uint8_t sendSize) { if (port > 1) { // Set port out of range error here return -1; @@ -141,8 +141,8 @@ int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, * device. * @return The number of bytes read (>= 0) or -1 on transfer abort. */ -int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t* buffer, - uint8_t count) { +int32_t HAL_I2CRead(uint8_t port, uint8_t deviceAddress, uint8_t* buffer, + uint8_t count) { if (port > 1) { // Set port out of range error here return -1; @@ -157,7 +157,7 @@ int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t* buffer, } } -void i2CClose(uint8_t port) { +void HAL_I2CClose(uint8_t port) { if (port > 1) { // Set port out of range error here return; @@ -173,8 +173,8 @@ void i2CClose(uint8_t port) { } if (port == 1) { - freeDIOPort(i2CMXPDigitalHandle1); - freeDIOPort(i2CMXPDigitalHandle2); + HAL_FreeDIOPort(i2CMXPDigitalHandle1); + HAL_FreeDIOPort(i2CMXPDigitalHandle2); } return; } diff --git a/hal/lib/athena/Interrupts.cpp b/hal/lib/athena/Interrupts.cpp index de0c148aff..75f95f1a4b 100644 --- a/hal/lib/athena/Interrupts.cpp +++ b/hal/lib/athena/Interrupts.cpp @@ -27,17 +27,17 @@ struct Interrupt // FIXME: why is this internal? }; } -static LimitedHandleResource +static LimitedHandleResource interruptHandles; extern "C" { -HalInterruptHandle initializeInterrupts(bool watcher, int32_t* status) { - HalInterruptHandle handle = interruptHandles.Allocate(); - if (handle == HAL_INVALID_HANDLE) { +HAL_InterruptHandle HAL_InitializeInterrupts(bool watcher, int32_t* status) { + HAL_InterruptHandle handle = interruptHandles.Allocate(); + if (handle == HAL_kInvalidHandle) { *status = NO_AVAILABLE_RESOURCES; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } auto anInterrupt = interruptHandles.Get(handle); uint32_t interruptIndex = static_cast(getHandleIndex(handle)); @@ -49,7 +49,8 @@ HalInterruptHandle initializeInterrupts(bool watcher, int32_t* status) { return handle; } -void cleanInterrupts(HalInterruptHandle interrupt_handle, int32_t* status) { +void HAL_CleanInterrupts(HAL_InterruptHandle interrupt_handle, + int32_t* status) { auto anInterrupt = interruptHandles.Get(interrupt_handle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; @@ -67,8 +68,9 @@ void cleanInterrupts(HalInterruptHandle interrupt_handle, int32_t* status) { * waitForInterrupt was called. * @return The mask of interrupts that fired. */ -uint32_t waitForInterrupt(HalInterruptHandle interrupt_handle, double timeout, - bool ignorePrevious, int32_t* status) { +uint32_t HAL_WaitForInterrupt(HAL_InterruptHandle interrupt_handle, + double timeout, bool ignorePrevious, + int32_t* status) { uint32_t result; auto anInterrupt = interruptHandles.Get(interrupt_handle); if (anInterrupt == nullptr) { @@ -94,7 +96,8 @@ uint32_t waitForInterrupt(HalInterruptHandle interrupt_handle, double timeout, * time to do the setup of the other options before starting to field * interrupts. */ -void enableInterrupts(HalInterruptHandle interrupt_handle, int32_t* status) { +void HAL_EnableInterrupts(HAL_InterruptHandle interrupt_handle, + int32_t* status) { auto anInterrupt = interruptHandles.Get(interrupt_handle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; @@ -106,7 +109,8 @@ void enableInterrupts(HalInterruptHandle interrupt_handle, int32_t* status) { /** * Disable Interrupts without without deallocating structures. */ -void disableInterrupts(HalInterruptHandle interrupt_handle, int32_t* status) { +void HAL_DisableInterrupts(HAL_InterruptHandle interrupt_handle, + int32_t* status) { auto anInterrupt = interruptHandles.Get(interrupt_handle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; @@ -120,8 +124,8 @@ void disableInterrupts(HalInterruptHandle interrupt_handle, int32_t* status) { * This is in the same time domain as GetClock(). * @return Timestamp in seconds since boot. */ -double readRisingTimestamp(HalInterruptHandle interrupt_handle, - int32_t* status) { +double HAL_ReadRisingTimestamp(HAL_InterruptHandle interrupt_handle, + int32_t* status) { auto anInterrupt = interruptHandles.Get(interrupt_handle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; @@ -136,8 +140,8 @@ double readRisingTimestamp(HalInterruptHandle interrupt_handle, * This is in the same time domain as GetClock(). * @return Timestamp in seconds since boot. */ -double readFallingTimestamp(HalInterruptHandle interrupt_handle, - int32_t* status) { +double HAL_ReadFallingTimestamp(HAL_InterruptHandle interrupt_handle, + int32_t* status) { auto anInterrupt = interruptHandles.Get(interrupt_handle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; @@ -147,9 +151,10 @@ double readFallingTimestamp(HalInterruptHandle interrupt_handle, return timestamp * 1e-6; } -void requestInterrupts(HalInterruptHandle interrupt_handle, - HalHandle digitalSourceHandle, - AnalogTriggerType analogTriggerType, int32_t* status) { +void HAL_RequestInterrupts(HAL_InterruptHandle interrupt_handle, + HAL_Handle digitalSourceHandle, + HAL_AnalogTriggerType analogTriggerType, + int32_t* status) { auto anInterrupt = interruptHandles.Get(interrupt_handle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; @@ -172,9 +177,9 @@ void requestInterrupts(HalInterruptHandle interrupt_handle, anInterrupt->anInterrupt->writeConfig_Source_Module(routingModule, status); } -void attachInterruptHandler(HalInterruptHandle interrupt_handle, - InterruptHandlerFunction handler, void* param, - int32_t* status) { +void HAL_AttachInterruptHandler(HAL_InterruptHandle interrupt_handle, + InterruptHandlerFunction handler, void* param, + int32_t* status) { auto anInterrupt = interruptHandles.Get(interrupt_handle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; @@ -183,9 +188,9 @@ void attachInterruptHandler(HalInterruptHandle interrupt_handle, anInterrupt->manager->registerHandler(handler, param, status); } -void setInterruptUpSourceEdge(HalInterruptHandle interrupt_handle, - bool risingEdge, bool fallingEdge, - int32_t* status) { +void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interrupt_handle, + bool risingEdge, bool fallingEdge, + int32_t* status) { auto anInterrupt = interruptHandles.Get(interrupt_handle); if (anInterrupt == nullptr) { *status = HAL_HANDLE_ERROR; diff --git a/hal/lib/athena/Notifier.cpp b/hal/lib/athena/Notifier.cpp index 6d3da8f2af..f9bd8051b3 100644 --- a/hal/lib/athena/Notifier.cpp +++ b/hal/lib/athena/Notifier.cpp @@ -41,8 +41,8 @@ static std::atomic_int notifierRefCount{0}; using namespace hal; -static UnlimitedHandleResource +static UnlimitedHandleResource notifierHandles; // internal version of updateAlarm used during the alarmCallback when we know @@ -85,7 +85,7 @@ static void alarmCallback(uint32_t, void*) { std::shared_ptr notifier = notifiers; while (notifier) { if (notifier->triggerTime != UINT64_MAX) { - if (currentTime == 0) currentTime = getFPGATime(&status); + if (currentTime == 0) currentTime = HAL_GetFPGATime(&status); if (notifier->triggerTime < currentTime) { notifier->triggerTime = UINT64_MAX; auto process = notifier->process; @@ -108,8 +108,8 @@ static void cleanupNotifierAtExit() { extern "C" { -HalNotifierHandle initializeNotifier(void (*process)(uint64_t, void*), - void* param, int32_t* status) { +HAL_NotifierHandle HAL_InitializeNotifier(void (*process)(uint64_t, void*), + void* param, int32_t* status) { if (!process) { *status = NULL_PARAMETER; return 0; @@ -139,7 +139,7 @@ HalNotifierHandle initializeNotifier(void (*process)(uint64_t, void*), return notifierHandles.Allocate(notifier); } -void cleanNotifier(HalNotifierHandle notifier_handle, int32_t* status) { +void HAL_CleanNotifier(HAL_NotifierHandle notifier_handle, int32_t* status) { { std::lock_guard sync(notifierMutex); auto notifier = notifierHandles.Get(notifier_handle); @@ -169,14 +169,15 @@ void cleanNotifier(HalNotifierHandle notifier_handle, int32_t* status) { } } -void* getNotifierParam(HalNotifierHandle notifier_handle, int32_t* status) { +void* HAL_GetNotifierParam(HAL_NotifierHandle notifier_handle, + int32_t* status) { auto notifier = notifierHandles.Get(notifier_handle); if (!notifier) return nullptr; return notifier->param; } -void updateNotifierAlarm(HalNotifierHandle notifier_handle, - uint64_t triggerTime, int32_t* status) { +void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifier_handle, + uint64_t triggerTime, int32_t* status) { std::lock_guard sync(notifierMutex); auto notifier = notifierHandles.Get(notifier_handle); @@ -184,7 +185,8 @@ void updateNotifierAlarm(HalNotifierHandle notifier_handle, updateNotifierAlarmInternal(notifier, triggerTime, status); } -void stopNotifierAlarm(HalNotifierHandle notifier_handle, int32_t* status) { +void HAL_StopNotifierAlarm(HAL_NotifierHandle notifier_handle, + int32_t* status) { std::lock_guard sync(notifierMutex); auto notifier = notifierHandles.Get(notifier_handle); if (!notifier) return; diff --git a/hal/lib/athena/PDP.cpp b/hal/lib/athena/PDP.cpp index 37b8c36b91..32682f3a87 100644 --- a/hal/lib/athena/PDP.cpp +++ b/hal/lib/athena/PDP.cpp @@ -17,13 +17,13 @@ static PDP* pdp[kNumPDPModules] = {nullptr}; extern "C" { -void initializePDP(uint8_t module) { +void HAL_InitializePDP(uint8_t module) { if (!pdp[module]) { pdp[module] = new PDP(module); } } -double getPDPTemperature(uint8_t module, int32_t* status) { +double HAL_GetPDPTemperature(uint8_t module, int32_t* status) { double temperature; *status = pdp[module]->GetTemperature(temperature); @@ -31,7 +31,7 @@ double getPDPTemperature(uint8_t module, int32_t* status) { return temperature; } -double getPDPVoltage(uint8_t module, int32_t* status) { +double HAL_GetPDPVoltage(uint8_t module, int32_t* status) { double voltage; *status = pdp[module]->GetVoltage(voltage); @@ -39,7 +39,8 @@ double getPDPVoltage(uint8_t module, int32_t* status) { return voltage; } -double getPDPChannelCurrent(uint8_t module, uint8_t channel, int32_t* status) { +double HAL_GetPDPChannelCurrent(uint8_t module, uint8_t channel, + int32_t* status) { double current; *status = pdp[module]->GetChannelCurrent(channel, current); @@ -47,7 +48,7 @@ double getPDPChannelCurrent(uint8_t module, uint8_t channel, int32_t* status) { return current; } -double getPDPTotalCurrent(uint8_t module, int32_t* status) { +double HAL_GetPDPTotalCurrent(uint8_t module, int32_t* status) { double current; *status = pdp[module]->GetTotalCurrent(current); @@ -55,7 +56,7 @@ double getPDPTotalCurrent(uint8_t module, int32_t* status) { return current; } -double getPDPTotalPower(uint8_t module, int32_t* status) { +double HAL_GetPDPTotalPower(uint8_t module, int32_t* status) { double power; *status = pdp[module]->GetTotalPower(power); @@ -63,7 +64,7 @@ double getPDPTotalPower(uint8_t module, int32_t* status) { return power; } -double getPDPTotalEnergy(uint8_t module, int32_t* status) { +double HAL_GetPDPTotalEnergy(uint8_t module, int32_t* status) { double energy; *status = pdp[module]->GetTotalEnergy(energy); @@ -71,11 +72,11 @@ double getPDPTotalEnergy(uint8_t module, int32_t* status) { return energy; } -void resetPDPTotalEnergy(uint8_t module, int32_t* status) { +void HAL_ResetPDPTotalEnergy(uint8_t module, int32_t* status) { *status = pdp[module]->ResetEnergy(); } -void clearPDPStickyFaults(uint8_t module, int32_t* status) { +void HAL_ClearPDPStickyFaults(uint8_t module, int32_t* status) { *status = pdp[module]->ClearStickyFaults(); } diff --git a/hal/lib/athena/PWM.cpp b/hal/lib/athena/PWM.cpp index 1ec274f206..ecfa13a583 100644 --- a/hal/lib/athena/PWM.cpp +++ b/hal/lib/athena/PWM.cpp @@ -41,15 +41,16 @@ static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) { extern "C" { -HalDigitalHandle initializePWMPort(HalPortHandle port_handle, int32_t* status) { +HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle, + int32_t* status) { initializeDigital(status); - if (*status != 0) return HAL_INVALID_HANDLE; + if (*status != 0) return HAL_kInvalidHandle; int16_t pin = getPortHandlePin(port_handle); if (pin == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } uint8_t origPin = static_cast(pin); @@ -60,15 +61,15 @@ HalDigitalHandle initializePWMPort(HalPortHandle port_handle, int32_t* status) { pin = remapMXPPWMChannel(pin) + 10; // remap MXP to proper channel } - auto handle = digitalPinHandles.Allocate(pin, HalHandleEnum::PWM, status); + auto handle = digitalPinHandles.Allocate(pin, HAL_HandleEnum::PWM, status); if (*status != 0) - return HAL_INVALID_HANDLE; // failed to allocate. Pass error back. + return HAL_kInvalidHandle; // failed to allocate. Pass error back. - auto port = digitalPinHandles.Get(handle, HalHandleEnum::PWM); + auto port = digitalPinHandles.Get(handle, HAL_HandleEnum::PWM); if (port == nullptr) { // would only occur on thread issue. *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } port->pin = origPin; @@ -80,8 +81,8 @@ HalDigitalHandle initializePWMPort(HalPortHandle port_handle, int32_t* status) { return handle; } -void freePWMPort(HalDigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -95,15 +96,15 @@ void freePWMPort(HalDigitalHandle pwm_port_handle, int32_t* status) { status); } - digitalPinHandles.Free(pwm_port_handle, HalHandleEnum::PWM); + digitalPinHandles.Free(pwm_port_handle, HAL_HandleEnum::PWM); } -bool checkPWMChannel(uint8_t pin) { return pin < kNumPWMPins; } +bool HAL_CheckPWMChannel(uint8_t pin) { return pin < kNumPWMPins; } -void setPWMConfig(HalDigitalHandle pwm_port_handle, double max, - double deadbandMax, double center, double deadbandMin, - double min, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double max, + double deadbandMax, double center, double deadbandMin, + double min, int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -111,7 +112,7 @@ void setPWMConfig(HalDigitalHandle pwm_port_handle, double max, // calculate the loop time in milliseconds double loopTime = - getLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3); + HAL_GetLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3); if (*status != 0) return; int32_t maxPwm = (int32_t)((max - kDefaultPwmCenter) / loopTime + @@ -133,10 +134,11 @@ void setPWMConfig(HalDigitalHandle pwm_port_handle, double max, port->configSet = true; } -void setPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t maxPwm, - int32_t deadbandMaxPwm, int32_t centerPwm, - int32_t deadbandMinPwm, int32_t minPwm, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t maxPwm, + int32_t deadbandMaxPwm, int32_t centerPwm, + int32_t deadbandMinPwm, int32_t minPwm, + int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -149,11 +151,11 @@ void setPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t maxPwm, port->minPwm = minPwm; } -void getPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t* maxPwm, - int32_t* deadbandMaxPwm, int32_t* centerPwm, - int32_t* deadbandMinPwm, int32_t* minPwm, - int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm, + int32_t* deadbandMaxPwm, int32_t* centerPwm, + int32_t* deadbandMinPwm, int32_t* minPwm, + int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -165,9 +167,9 @@ void getPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t* maxPwm, *minPwm = port->minPwm; } -void setPWMEliminateDeadband(HalDigitalHandle pwm_port_handle, - uint8_t eliminateDeadband, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, + uint8_t eliminateDeadband, int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -175,9 +177,9 @@ void setPWMEliminateDeadband(HalDigitalHandle pwm_port_handle, port->eliminateDeadband = eliminateDeadband; } -uint8_t getPWMEliminateDeadband(HalDigitalHandle pwm_port_handle, - int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +uint8_t HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle, + int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return false; @@ -193,9 +195,9 @@ uint8_t getPWMEliminateDeadband(HalDigitalHandle pwm_port_handle, * @param channel The PWM channel to set. * @param value The PWM value to set. */ -void setPWMRaw(HalDigitalHandle pwm_port_handle, uint16_t value, - int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, uint16_t value, + int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -217,9 +219,9 @@ void setPWMRaw(HalDigitalHandle pwm_port_handle, uint16_t value, * @param channel The PWM channel to set. * @param value The scaled PWM value to set. */ -void setPWMSpeed(HalDigitalHandle pwm_port_handle, float speed, - int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, float speed, + int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -256,7 +258,7 @@ void setPWMSpeed(HalDigitalHandle pwm_port_handle, float speed, return; } - setPWMRaw(pwm_port_handle, rawValue, status); + HAL_SetPWMRaw(pwm_port_handle, rawValue, status); } /** @@ -268,9 +270,9 @@ void setPWMSpeed(HalDigitalHandle pwm_port_handle, float speed, * @param channel The PWM channel to set. * @param value The scaled PWM value to set. */ -void setPWMPosition(HalDigitalHandle pwm_port_handle, float pos, - int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, float pos, + int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -297,11 +299,11 @@ void setPWMPosition(HalDigitalHandle pwm_port_handle, float pos, return; } - setPWMRaw(pwm_port_handle, rawValue, status); + HAL_SetPWMRaw(pwm_port_handle, rawValue, status); } -void setPWMDisabled(HalDigitalHandle pwm_port_handle, int32_t* status) { - setPWMRaw(pwm_port_handle, kPwmDisabled, status); +void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status) { + HAL_SetPWMRaw(pwm_port_handle, kPwmDisabled, status); } /** @@ -310,8 +312,8 @@ void setPWMDisabled(HalDigitalHandle pwm_port_handle, int32_t* status) { * @param channel The PWM channel to read from. * @return The raw PWM value. */ -uint16_t getPWMRaw(HalDigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +uint16_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -330,8 +332,8 @@ uint16_t getPWMRaw(HalDigitalHandle pwm_port_handle, int32_t* status) { * @param channel The PWM channel to read from. * @return The scaled PWM value. */ -float getPWMSpeed(HalDigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +float HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -341,7 +343,7 @@ float getPWMSpeed(HalDigitalHandle pwm_port_handle, int32_t* status) { return 0; } - int32_t value = getPWMRaw(pwm_port_handle, status); + int32_t value = HAL_GetPWMRaw(pwm_port_handle, status); if (*status != 0) return 0; DigitalPort* dPort = port.get(); @@ -368,8 +370,8 @@ float getPWMSpeed(HalDigitalHandle pwm_port_handle, int32_t* status) { * @param channel The PWM channel to read from. * @return The scaled PWM value. */ -float getPWMPosition(HalDigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +float HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return 0; @@ -379,7 +381,7 @@ float getPWMPosition(HalDigitalHandle pwm_port_handle, int32_t* status) { return 0; } - int32_t value = getPWMRaw(pwm_port_handle, status); + int32_t value = HAL_GetPWMRaw(pwm_port_handle, status); if (*status != 0) return 0; DigitalPort* dPort = port.get(); @@ -393,8 +395,8 @@ float getPWMPosition(HalDigitalHandle pwm_port_handle, int32_t* status) { } } -void latchPWMZero(HalDigitalHandle pwm_port_handle, int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -410,9 +412,9 @@ void latchPWMZero(HalDigitalHandle pwm_port_handle, int32_t* status) { * @param channel The PWM channel to configure. * @param squelchMask The 2-bit mask of outputs to squelch. */ -void setPWMPeriodScale(HalDigitalHandle pwm_port_handle, uint32_t squelchMask, - int32_t* status) { - auto port = digitalPinHandles.Get(pwm_port_handle, HalHandleEnum::PWM); +void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle, + uint32_t squelchMask, int32_t* status) { + auto port = digitalPinHandles.Get(pwm_port_handle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; @@ -431,7 +433,7 @@ void setPWMPeriodScale(HalDigitalHandle pwm_port_handle, uint32_t squelchMask, * * @return The loop time */ -uint16_t getLoopTiming(int32_t* status) { +uint16_t HAL_GetLoopTiming(int32_t* status) { return pwmSystem->readLoopTiming(status); } } diff --git a/hal/lib/athena/Ports.cpp b/hal/lib/athena/Ports.cpp index d985ad2812..ee1baa8c23 100644 --- a/hal/lib/athena/Ports.cpp +++ b/hal/lib/athena/Ports.cpp @@ -12,23 +12,23 @@ using namespace hal; extern "C" { -int32_t HAL_getNumAccumulators(void) { return kNumAccumulators; } -int32_t HAL_getNumAnalogTriggers(void) { return kNumAnalogTriggers; } -int32_t HAL_getNumAnalogInputs(void) { return kNumAnalogInputs; } -int32_t HAL_getNumAnalogOutputs(void) { return kNumAnalogOutputs; } -int32_t HAL_getNumCounters(void) { return kNumCounters; } -int32_t HAL_getNumDigitalHeaders(void) { return kNumDigitalHeaders; } -int32_t HAL_getNumPWMHeaders(void) { return kNumPWMHeaders; } -int32_t HAL_getNumDigitalPins(void) { return kNumDigitalPins; } -int32_t HAL_getNumPWMPins(void) { return kNumPWMPins; } -int32_t HAL_getNumDigitalPWMOutputs(void) { return kNumDigitalPWMOutputs; } -int32_t HAL_getNumEncoders(void) { return kNumEncoders; } -int32_t HAL_getNumInterrupts(void) { return kNumInterrupts; } -int32_t HAL_getNumRelayPins(void) { return kNumRelayPins; } -int32_t HAL_getNumRelayHeaders(void) { return kNumRelayHeaders; } -int32_t HAL_getNumPCMModules(void) { return kNumPCMModules; } -int32_t HAL_getNumSolenoidPins(void) { return kNumSolenoidPins; } -int32_t HAL_getNumPDPModules(void) { return kNumPDPModules; } -int32_t HAL_getNumPDPChannels(void) { return kNumPDPChannels; } -int32_t HAL_getNumCanTalons(void) { return kNumCanTalons; } +int32_t HAL_GetNumAccumulators(void) { return kNumAccumulators; } +int32_t HAL_GetNumAnalogTriggers(void) { return kNumAnalogTriggers; } +int32_t HAL_GetNumAnalogInputs(void) { return kNumAnalogInputs; } +int32_t HAL_GetNumAnalogOutputs(void) { return kNumAnalogOutputs; } +int32_t HAL_GetNumCounters(void) { return kNumCounters; } +int32_t HAL_GetNumDigitalHeaders(void) { return kNumDigitalHeaders; } +int32_t HAL_GetNumPWMHeaders(void) { return kNumPWMHeaders; } +int32_t HAL_GetNumDigitalPins(void) { return kNumDigitalPins; } +int32_t HAL_GetNumPWMPins(void) { return kNumPWMPins; } +int32_t HAL_GetNumDigitalPWMOutputs(void) { return kNumDigitalPWMOutputs; } +int32_t HAL_GetNumEncoders(void) { return kNumEncoders; } +int32_t HAL_GetNumInterrupts(void) { return kNumInterrupts; } +int32_t HAL_GetNumRelayPins(void) { return kNumRelayPins; } +int32_t HAL_GetNumRelayHeaders(void) { return kNumRelayHeaders; } +int32_t HAL_GetNumPCMModules(void) { return kNumPCMModules; } +int32_t HAL_GetNumSolenoidPins(void) { return kNumSolenoidPins; } +int32_t HAL_GetNumPDPModules(void) { return kNumPDPModules; } +int32_t HAL_GetNumPDPChannels(void) { return kNumPDPChannels; } +int32_t HAL_GetNumCanTalons(void) { return kNumCanTalons; } } diff --git a/hal/lib/athena/Power.cpp b/hal/lib/athena/Power.cpp index 4854cedc52..84b2755bac 100644 --- a/hal/lib/athena/Power.cpp +++ b/hal/lib/athena/Power.cpp @@ -22,7 +22,7 @@ extern "C" { /** * Get the roboRIO input voltage */ -float getVinVoltage(int32_t* status) { +float HAL_GetVinVoltage(int32_t* status) { initializePower(status); return power->readVinVoltage(status) / 4.096f * 0.025733f - 0.029f; } @@ -30,7 +30,7 @@ float getVinVoltage(int32_t* status) { /** * Get the roboRIO input current */ -float getVinCurrent(int32_t* status) { +float HAL_GetVinCurrent(int32_t* status) { initializePower(status); return power->readVinCurrent(status) / 4.096f * 0.017042 - 0.071f; } @@ -38,7 +38,7 @@ float getVinCurrent(int32_t* status) { /** * Get the 6V rail voltage */ -float getUserVoltage6V(int32_t* status) { +float HAL_GetUserVoltage6V(int32_t* status) { initializePower(status); return power->readUserVoltage6V(status) / 4.096f * 0.007019f - 0.014f; } @@ -46,7 +46,7 @@ float getUserVoltage6V(int32_t* status) { /** * Get the 6V rail current */ -float getUserCurrent6V(int32_t* status) { +float HAL_GetUserCurrent6V(int32_t* status) { initializePower(status); return power->readUserCurrent6V(status) / 4.096f * 0.005566f - 0.009f; } @@ -54,7 +54,7 @@ float getUserCurrent6V(int32_t* status) { /** * Get the active state of the 6V rail */ -bool getUserActive6V(int32_t* status) { +bool HAL_GetUserActive6V(int32_t* status) { initializePower(status); return power->readStatus_User6V(status) == 4; } @@ -62,7 +62,7 @@ bool getUserActive6V(int32_t* status) { /** * Get the fault count for the 6V rail */ -int getUserCurrentFaults6V(int32_t* status) { +int HAL_GetUserCurrentFaults6V(int32_t* status) { initializePower(status); return (int)power->readFaultCounts_OverCurrentFaultCount6V(status); } @@ -70,7 +70,7 @@ int getUserCurrentFaults6V(int32_t* status) { /** * Get the 5V rail voltage */ -float getUserVoltage5V(int32_t* status) { +float HAL_GetUserVoltage5V(int32_t* status) { initializePower(status); return power->readUserVoltage5V(status) / 4.096f * 0.005962f - 0.013f; } @@ -78,7 +78,7 @@ float getUserVoltage5V(int32_t* status) { /** * Get the 5V rail current */ -float getUserCurrent5V(int32_t* status) { +float HAL_GetUserCurrent5V(int32_t* status) { initializePower(status); return power->readUserCurrent5V(status) / 4.096f * 0.001996f - 0.002f; } @@ -86,7 +86,7 @@ float getUserCurrent5V(int32_t* status) { /** * Get the active state of the 5V rail */ -bool getUserActive5V(int32_t* status) { +bool HAL_GetUserActive5V(int32_t* status) { initializePower(status); return power->readStatus_User5V(status) == 4; } @@ -94,12 +94,12 @@ bool getUserActive5V(int32_t* status) { /** * Get the fault count for the 5V rail */ -int getUserCurrentFaults5V(int32_t* status) { +int HAL_GetUserCurrentFaults5V(int32_t* status) { initializePower(status); return (int)power->readFaultCounts_OverCurrentFaultCount5V(status); } -unsigned char getUserStatus5V(int32_t* status) { +unsigned char HAL_GetUserStatus5V(int32_t* status) { initializePower(status); return power->readStatus_User5V(status); } @@ -107,7 +107,7 @@ unsigned char getUserStatus5V(int32_t* status) { /** * Get the 3.3V rail voltage */ -float getUserVoltage3V3(int32_t* status) { +float HAL_GetUserVoltage3V3(int32_t* status) { initializePower(status); return power->readUserVoltage3V3(status) / 4.096f * 0.004902f - 0.01f; } @@ -115,7 +115,7 @@ float getUserVoltage3V3(int32_t* status) { /** * Get the 3.3V rail current */ -float getUserCurrent3V3(int32_t* status) { +float HAL_GetUserCurrent3V3(int32_t* status) { initializePower(status); return power->readUserCurrent3V3(status) / 4.096f * 0.002486f - 0.003f; } @@ -123,7 +123,7 @@ float getUserCurrent3V3(int32_t* status) { /** * Get the active state of the 3.3V rail */ -bool getUserActive3V3(int32_t* status) { +bool HAL_GetUserActive3V3(int32_t* status) { initializePower(status); return power->readStatus_User3V3(status) == 4; } @@ -131,7 +131,7 @@ bool getUserActive3V3(int32_t* status) { /** * Get the fault count for the 3.3V rail */ -int getUserCurrentFaults3V3(int32_t* status) { +int HAL_GetUserCurrentFaults3V3(int32_t* status) { initializePower(status); return (int)power->readFaultCounts_OverCurrentFaultCount3V3(status); } diff --git a/hal/lib/athena/Relay.cpp b/hal/lib/athena/Relay.cpp index 3f360e6c4b..b4a2ccbf75 100644 --- a/hal/lib/athena/Relay.cpp +++ b/hal/lib/athena/Relay.cpp @@ -20,24 +20,24 @@ struct Relay { }; } -static IndexedHandleResource +static IndexedHandleResource relayHandles; // Create a mutex to protect changes to the relay values static priority_recursive_mutex digitalRelayMutex; extern "C" { -HalRelayHandle initializeRelayPort(HalPortHandle port_handle, uint8_t fwd, - int32_t* status) { +HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle port_handle, uint8_t fwd, + int32_t* status) { initializeDigital(status); - if (*status != 0) return HAL_INVALID_HANDLE; + if (*status != 0) return HAL_kInvalidHandle; int16_t pin = getPortHandlePin(port_handle); if (pin == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } if (!fwd) pin += kNumRelayHeaders; // add 4 to reverse pins @@ -45,12 +45,12 @@ HalRelayHandle initializeRelayPort(HalPortHandle port_handle, uint8_t fwd, auto handle = relayHandles.Allocate(pin, status); if (*status != 0) - return HAL_INVALID_HANDLE; // failed to allocate. Pass error back. + return HAL_kInvalidHandle; // failed to allocate. Pass error back. auto port = relayHandles.Get(handle); if (port == nullptr) { // would only occur on thread issue. *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } if (!fwd) { @@ -64,12 +64,12 @@ HalRelayHandle initializeRelayPort(HalPortHandle port_handle, uint8_t fwd, return handle; } -void freeRelayPort(HalRelayHandle relay_port_handle) { +void HAL_FreeRelayPort(HAL_RelayHandle relay_port_handle) { // no status, so no need to check for a proper free. relayHandles.Free(relay_port_handle); } -bool checkRelayChannel(uint8_t pin) { +bool HAL_CheckRelayChannel(uint8_t pin) { // roboRIO only has 4 headers, and the FPGA has // seperate functions for forward and reverse, // instead of seperate pin IDs @@ -80,7 +80,7 @@ bool checkRelayChannel(uint8_t pin) { * Set the state of a relay. * Set the state of a relay output. */ -void setRelay(HalRelayHandle relay_port_handle, bool on, int32_t* status) { +void HAL_SetRelay(HAL_RelayHandle relay_port_handle, bool on, int32_t* status) { auto port = relayHandles.Get(relay_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -112,7 +112,7 @@ void setRelay(HalRelayHandle relay_port_handle, bool on, int32_t* status) { /** * Get the current state of the relay channel */ -bool getRelay(HalRelayHandle relay_port_handle, int32_t* status) { +bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status) { auto port = relayHandles.Get(relay_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; diff --git a/hal/lib/athena/SPI.cpp b/hal/lib/athena/SPI.cpp index 21c9ebc233..846170ffce 100644 --- a/hal/lib/athena/SPI.cpp +++ b/hal/lib/athena/SPI.cpp @@ -28,15 +28,15 @@ static priority_recursive_mutex spiOnboardSemaphore; static priority_recursive_mutex spiMXPSemaphore; static tSPI* spiSystem; -static HalDigitalHandle spiMXPDigitalHandle1 = HAL_INVALID_HANDLE; -static HalDigitalHandle spiMXPDigitalHandle2 = HAL_INVALID_HANDLE; -static HalDigitalHandle spiMXPDigitalHandle3 = HAL_INVALID_HANDLE; -static HalDigitalHandle spiMXPDigitalHandle4 = HAL_INVALID_HANDLE; +static HAL_DigitalHandle spiMXPDigitalHandle1 = HAL_kInvalidHandle; +static HAL_DigitalHandle spiMXPDigitalHandle2 = HAL_kInvalidHandle; +static HAL_DigitalHandle spiMXPDigitalHandle3 = HAL_kInvalidHandle; +static HAL_DigitalHandle spiMXPDigitalHandle4 = HAL_kInvalidHandle; extern "C" { struct SPIAccumulator { - std::atomic notifier{0}; + std::atomic notifier{0}; uint64_t triggerTime; uint32_t period; @@ -66,54 +66,56 @@ SPIAccumulator* spiAccumulators[5] = {nullptr, nullptr, nullptr, nullptr, * If opening the MXP port, also sets up the pin functions appropriately * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP */ -void spiInitialize(uint8_t port, int32_t* status) { +void HAL_SpiInitialize(uint8_t port, int32_t* status) { if (spiSystem == nullptr) spiSystem = tSPI::create(status); - if (spiGetHandle(port) != 0) return; + if (HAL_SpiGetHandle(port) != 0) return; switch (port) { case 0: - spiSetHandle(0, spilib_open("/dev/spidev0.0")); + HAL_SpiSetHandle(0, spilib_open("/dev/spidev0.0")); break; case 1: - spiSetHandle(1, spilib_open("/dev/spidev0.1")); + HAL_SpiSetHandle(1, spilib_open("/dev/spidev0.1")); break; case 2: - spiSetHandle(2, spilib_open("/dev/spidev0.2")); + HAL_SpiSetHandle(2, spilib_open("/dev/spidev0.2")); break; case 3: - spiSetHandle(3, spilib_open("/dev/spidev0.3")); + HAL_SpiSetHandle(3, spilib_open("/dev/spidev0.3")); break; case 4: initializeDigital(status); if (*status != 0) return; - if ((spiMXPDigitalHandle1 = initializeDIOPort( - getPort(14), false, status)) == HAL_INVALID_HANDLE) { + if ((spiMXPDigitalHandle1 = HAL_InitializeDIOPort( + HAL_GetPort(14), false, status)) == HAL_kInvalidHandle) { printf("Failed to allocate DIO 14\n"); return; } - if ((spiMXPDigitalHandle2 = initializeDIOPort( - getPort(15), false, status)) == HAL_INVALID_HANDLE) { + if ((spiMXPDigitalHandle2 = HAL_InitializeDIOPort( + HAL_GetPort(15), false, status)) == HAL_kInvalidHandle) { printf("Failed to allocate DIO 15\n"); - freeDIOPort(spiMXPDigitalHandle1); // free the first port allocated + HAL_FreeDIOPort(spiMXPDigitalHandle1); // free the first port allocated return; } - if ((spiMXPDigitalHandle3 = initializeDIOPort( - getPort(16), false, status)) == HAL_INVALID_HANDLE) { + if ((spiMXPDigitalHandle3 = HAL_InitializeDIOPort( + HAL_GetPort(16), false, status)) == HAL_kInvalidHandle) { printf("Failed to allocate DIO 16\n"); - freeDIOPort(spiMXPDigitalHandle1); // free the first port allocated - freeDIOPort(spiMXPDigitalHandle2); // free the second port allocated + HAL_FreeDIOPort(spiMXPDigitalHandle1); // free the first port allocated + HAL_FreeDIOPort( + spiMXPDigitalHandle2); // free the second port allocated return; } - if ((spiMXPDigitalHandle4 = initializeDIOPort( - getPort(17), false, status)) == HAL_INVALID_HANDLE) { + if ((spiMXPDigitalHandle4 = HAL_InitializeDIOPort( + HAL_GetPort(17), false, status)) == HAL_kInvalidHandle) { printf("Failed to allocate DIO 17\n"); - freeDIOPort(spiMXPDigitalHandle1); // free the first port allocated - freeDIOPort(spiMXPDigitalHandle2); // free the second port allocated - freeDIOPort(spiMXPDigitalHandle3); // free the third port allocated + HAL_FreeDIOPort(spiMXPDigitalHandle1); // free the first port allocated + HAL_FreeDIOPort( + spiMXPDigitalHandle2); // free the second port allocated + HAL_FreeDIOPort(spiMXPDigitalHandle3); // free the third port allocated return; } digitalSystem->writeEnableMXPSpecialFunction( digitalSystem->readEnableMXPSpecialFunction(status) | 0x00F0, status); - spiSetHandle(4, spilib_open("/dev/spidev1.0")); + HAL_SpiSetHandle(4, spilib_open("/dev/spidev1.0")); break; default: break; @@ -133,10 +135,10 @@ void spiInitialize(uint8_t port, int32_t* status) { * @param size Number of bytes to transfer. [0..7] * @return Number of bytes transferred, -1 for error */ -int32_t spiTransaction(uint8_t port, uint8_t* dataToSend, uint8_t* dataReceived, - uint8_t size) { +int32_t HAL_SpiTransaction(uint8_t port, uint8_t* dataToSend, + uint8_t* dataReceived, uint8_t size) { std::lock_guard sync(spiGetSemaphore(port)); - return spilib_writeread(spiGetHandle(port), (const char*)dataToSend, + return spilib_writeread(HAL_SpiGetHandle(port), (const char*)dataToSend, (char*)dataReceived, (int32_t)size); } @@ -150,9 +152,9 @@ int32_t spiTransaction(uint8_t port, uint8_t* dataToSend, uint8_t* dataReceived, * @param sendSize The number of bytes to be written * @return The number of bytes written. -1 for an error */ -int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize) { +int32_t HAL_SpiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize) { std::lock_guard sync(spiGetSemaphore(port)); - return spilib_write(spiGetHandle(port), (const char*)dataToSend, + return spilib_write(HAL_SpiGetHandle(port), (const char*)dataToSend, (int32_t)sendSize); } @@ -169,9 +171,9 @@ int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize) { * @param count The number of bytes to read in the transaction. [1..7] * @return Number of bytes read. -1 for error. */ -int32_t spiRead(uint8_t port, uint8_t* buffer, uint8_t count) { +int32_t HAL_SpiRead(uint8_t port, uint8_t* buffer, uint8_t count) { std::lock_guard sync(spiGetSemaphore(port)); - return spilib_read(spiGetHandle(port), (char*)buffer, (int32_t)count); + return spilib_read(HAL_SpiGetHandle(port), (char*)buffer, (int32_t)count); } /** @@ -179,19 +181,19 @@ int32_t spiRead(uint8_t port, uint8_t* buffer, uint8_t count) { * * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP */ -void spiClose(uint8_t port) { +void HAL_SpiClose(uint8_t port) { std::lock_guard sync(spiGetSemaphore(port)); if (spiAccumulators[port]) { int32_t status = 0; - spiFreeAccumulator(port, &status); + HAL_SpiFreeAccumulator(port, &status); } - spilib_close(spiGetHandle(port)); - spiSetHandle(port, 0); + spilib_close(HAL_SpiGetHandle(port)); + HAL_SpiSetHandle(port, 0); if (port == 4) { - freeDIOPort(spiMXPDigitalHandle1); - freeDIOPort(spiMXPDigitalHandle2); - freeDIOPort(spiMXPDigitalHandle3); - freeDIOPort(spiMXPDigitalHandle4); + HAL_FreeDIOPort(spiMXPDigitalHandle1); + HAL_FreeDIOPort(spiMXPDigitalHandle2); + HAL_FreeDIOPort(spiMXPDigitalHandle3); + HAL_FreeDIOPort(spiMXPDigitalHandle4); } return; } @@ -202,9 +204,9 @@ void spiClose(uint8_t port) { * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP * @param speed The speed in Hz (0-1MHz) */ -void spiSetSpeed(uint8_t port, uint32_t speed) { +void HAL_SpiSetSpeed(uint8_t port, uint32_t speed) { std::lock_guard sync(spiGetSemaphore(port)); - spilib_setspeed(spiGetHandle(port), speed); + spilib_setspeed(HAL_SpiGetHandle(port), speed); } /** @@ -217,10 +219,10 @@ void spiSetSpeed(uint8_t port, uint32_t speed) { * @param clk_idle_high True to set the clock to active low, False to set the * clock active high */ -void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, - int clk_idle_high) { +void HAL_SpiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, + int clk_idle_high) { std::lock_guard sync(spiGetSemaphore(port)); - spilib_setopts(spiGetHandle(port), msb_first, sample_on_trailing, + spilib_setopts(HAL_SpiGetHandle(port), msb_first, sample_on_trailing, clk_idle_high); } @@ -229,7 +231,7 @@ void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, * * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP */ -void spiSetChipSelectActiveHigh(uint8_t port, int32_t* status) { +void HAL_SpiSetChipSelectActiveHigh(uint8_t port, int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); if (port < 4) { spiSystem->writeChipSelectActiveHigh_Hdr( @@ -244,7 +246,7 @@ void spiSetChipSelectActiveHigh(uint8_t port, int32_t* status) { * * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP */ -void spiSetChipSelectActiveLow(uint8_t port, int32_t* status) { +void HAL_SpiSetChipSelectActiveLow(uint8_t port, int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); if (port < 4) { spiSystem->writeChipSelectActiveHigh_Hdr( @@ -260,7 +262,7 @@ void spiSetChipSelectActiveLow(uint8_t port, int32_t* status) { * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP * @return The stored handle for the SPI port. 0 represents no stored handle. */ -int32_t spiGetHandle(uint8_t port) { +int32_t HAL_SpiGetHandle(uint8_t port) { std::lock_guard sync(spiGetSemaphore(port)); switch (port) { case 0: @@ -285,7 +287,7 @@ int32_t spiGetHandle(uint8_t port) { * MXP. * @param handle The value of the handle for the port. */ -void spiSetHandle(uint8_t port, int32_t handle) { +void HAL_SpiSetHandle(uint8_t port, int32_t handle) { std::lock_guard sync(spiGetSemaphore(port)); switch (port) { case 0: @@ -327,7 +329,7 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) { // perform SPI transaction uint8_t resp_b[4]; std::lock_guard sync(spiGetSemaphore(accum->port)); - spilib_writeread(spiGetHandle(accum->port), (const char*)accum->cmd, + spilib_writeread(HAL_SpiGetHandle(accum->port), (const char*)accum->cmd, (char*)resp_b, (int32_t)accum->xfer_size); // convert from bytes @@ -369,7 +371,7 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) { if (accum->triggerTime < currentTime) accum->triggerTime = currentTime + accum->period; int32_t status = 0; - updateNotifierAlarm(accum->notifier, accum->triggerTime, &status); + HAL_UpdateNotifierAlarm(accum->notifier, accum->triggerTime, &status); } /** @@ -388,11 +390,11 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) { * @param is_signed Is data field signed? * @param big_endian Is device big endian? */ -void spiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd, - uint8_t xfer_size, uint32_t valid_mask, - uint32_t valid_value, uint8_t data_shift, - uint8_t data_size, bool is_signed, bool big_endian, - int32_t* status) { +void HAL_SpiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd, + uint8_t xfer_size, uint32_t valid_mask, + uint32_t valid_value, uint8_t data_shift, + uint8_t data_size, bool is_signed, bool big_endian, + int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); if (port > 4) return; if (!spiAccumulators[port]) spiAccumulators[port] = new SPIAccumulator(); @@ -421,25 +423,26 @@ void spiInitAccumulator(uint8_t port, uint32_t period, uint32_t cmd, accum->is_signed = is_signed; accum->big_endian = big_endian; if (!accum->notifier) { - accum->notifier = initializeNotifier(spiAccumulatorProcess, accum, status); - accum->triggerTime = getFPGATime(status) + period; + accum->notifier = + HAL_InitializeNotifier(spiAccumulatorProcess, accum, status); + accum->triggerTime = HAL_GetFPGATime(status) + period; if (*status != 0) return; - updateNotifierAlarm(accum->notifier, accum->triggerTime, status); + HAL_UpdateNotifierAlarm(accum->notifier, accum->triggerTime, status); } } /** * Frees a SPI accumulator. */ -void spiFreeAccumulator(uint8_t port, int32_t* status) { +void HAL_SpiFreeAccumulator(uint8_t port, int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); SPIAccumulator* accum = spiAccumulators[port]; if (!accum) { *status = NULL_PARAMETER; return; } - HalNotifierHandle handle = accum->notifier.exchange(0); - cleanNotifier(handle, status); + HAL_NotifierHandle handle = accum->notifier.exchange(0); + HAL_CleanNotifier(handle, status); delete accum; spiAccumulators[port] = nullptr; } @@ -447,7 +450,7 @@ void spiFreeAccumulator(uint8_t port, int32_t* status) { /** * Resets the accumulator to zero. */ -void spiResetAccumulator(uint8_t port, int32_t* status) { +void HAL_SpiResetAccumulator(uint8_t port, int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); SPIAccumulator* accum = spiAccumulators[port]; if (!accum) { @@ -468,7 +471,8 @@ void spiResetAccumulator(uint8_t port, int32_t* status) { * integration work * and to take the device offset into account when integrating. */ -void spiSetAccumulatorCenter(uint8_t port, int32_t center, int32_t* status) { +void HAL_SpiSetAccumulatorCenter(uint8_t port, int32_t center, + int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); SPIAccumulator* accum = spiAccumulators[port]; if (!accum) { @@ -481,8 +485,8 @@ void spiSetAccumulatorCenter(uint8_t port, int32_t center, int32_t* status) { /** * Set the accumulator's deadband. */ -void spiSetAccumulatorDeadband(uint8_t port, int32_t deadband, - int32_t* status) { +void HAL_SpiSetAccumulatorDeadband(uint8_t port, int32_t deadband, + int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); SPIAccumulator* accum = spiAccumulators[port]; if (!accum) { @@ -495,7 +499,7 @@ void spiSetAccumulatorDeadband(uint8_t port, int32_t deadband, /** * Read the last value read by the accumulator engine. */ -int32_t spiGetAccumulatorLastValue(uint8_t port, int32_t* status) { +int32_t HAL_SpiGetAccumulatorLastValue(uint8_t port, int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); SPIAccumulator* accum = spiAccumulators[port]; if (!accum) { @@ -510,7 +514,7 @@ int32_t spiGetAccumulatorLastValue(uint8_t port, int32_t* status) { * * @return The 64-bit value accumulated since the last Reset(). */ -int64_t spiGetAccumulatorValue(uint8_t port, int32_t* status) { +int64_t HAL_SpiGetAccumulatorValue(uint8_t port, int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); SPIAccumulator* accum = spiAccumulators[port]; if (!accum) { @@ -528,7 +532,7 @@ int64_t spiGetAccumulatorValue(uint8_t port, int32_t* status) { * * @return The number of times samples from the channel were accumulated. */ -uint32_t spiGetAccumulatorCount(uint8_t port, int32_t* status) { +uint32_t HAL_SpiGetAccumulatorCount(uint8_t port, int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); SPIAccumulator* accum = spiAccumulators[port]; if (!accum) { @@ -543,10 +547,10 @@ uint32_t spiGetAccumulatorCount(uint8_t port, int32_t* status) { * * @return The accumulated average value (value / count). */ -double spiGetAccumulatorAverage(uint8_t port, int32_t* status) { +double HAL_SpiGetAccumulatorAverage(uint8_t port, int32_t* status) { int64_t value; uint32_t count; - spiGetAccumulatorOutput(port, &value, &count, status); + HAL_SpiGetAccumulatorOutput(port, &value, &count, status); if (count == 0) return 0.0; return ((double)value) / count; } @@ -560,8 +564,8 @@ double spiGetAccumulatorAverage(uint8_t port, int32_t* status) { * @param value Pointer to the 64-bit accumulated output. * @param count Pointer to the number of accumulation cycles. */ -void spiGetAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count, - int32_t* status) { +void HAL_SpiGetAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count, + int32_t* status) { std::lock_guard sync(spiGetSemaphore(port)); SPIAccumulator* accum = spiAccumulators[port]; if (!accum) { diff --git a/hal/lib/athena/Semaphore.cpp b/hal/lib/athena/Semaphore.cpp index 5f7111a3ed..30c3f33ac1 100644 --- a/hal/lib/athena/Semaphore.cpp +++ b/hal/lib/athena/Semaphore.cpp @@ -20,36 +20,38 @@ TLogLevel semaphoreLogLevel = logDEBUG; extern "C" { -MUTEX_ID initializeMutexNormal() { return new priority_mutex; } +MUTEX_ID HAL_InitializeMutexNormal() { return new priority_mutex; } -void deleteMutex(MUTEX_ID sem) { delete sem; } +void HAL_DeleteMutex(MUTEX_ID sem) { delete sem; } /** * Lock the mutex, blocking until it's available. */ -void takeMutex(MUTEX_ID mutex) { mutex->lock(); } +void HAL_TakeMutex(MUTEX_ID mutex) { mutex->lock(); } /** * Attempt to lock the mutex. * @return true if succeeded in locking the mutex, false otherwise. */ -bool tryTakeMutex(MUTEX_ID mutex) { return mutex->try_lock(); } +bool HAL_TryTakeMutex(MUTEX_ID mutex) { return mutex->try_lock(); } /** * Unlock the mutex. * @return 0 for success, -1 for error. If -1, the error will be in errno. */ -void giveMutex(MUTEX_ID mutex) { mutex->unlock(); } +void HAL_GiveMutex(MUTEX_ID mutex) { mutex->unlock(); } -MULTIWAIT_ID initializeMultiWait() { return new priority_condition_variable; } +MULTIWAIT_ID HAL_InitializeMultiWait() { + return new priority_condition_variable; +} -void deleteMultiWait(MULTIWAIT_ID cond) { delete cond; } +void HAL_DeleteMultiWait(MULTIWAIT_ID cond) { delete cond; } -void takeMultiWait(MULTIWAIT_ID cond, MUTEX_ID m) { +void HAL_TakeMultiWait(MULTIWAIT_ID cond, MUTEX_ID m) { std::unique_lock lock(*m); cond->wait(lock); } -void giveMultiWait(MULTIWAIT_ID cond) { cond->notify_all(); } +void HAL_GiveMultiWait(MULTIWAIT_ID cond) { cond->notify_all(); } } // extern "C" diff --git a/hal/lib/athena/SerialPort.cpp b/hal/lib/athena/SerialPort.cpp index 9cb9a5af07..71c825c1b8 100644 --- a/hal/lib/athena/SerialPort.cpp +++ b/hal/lib/athena/SerialPort.cpp @@ -14,7 +14,7 @@ static uint32_t m_portHandle[2]; extern "C" { -void serialInitializePort(uint8_t port, int32_t* status) { +void HAL_SerialInitializePort(uint8_t port, int32_t* status) { char const* portName; if (m_resourceManagerHandle == 0) @@ -32,44 +32,45 @@ void serialInitializePort(uint8_t port, int32_t* status) { if (*status > 0) *status = 0; } -void serialSetBaudRate(uint8_t port, uint32_t baud, int32_t* status) { +void HAL_SerialSetBaudRate(uint8_t port, uint32_t baud, int32_t* status) { *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_BAUD, baud); if (*status > 0) *status = 0; } -void serialSetDataBits(uint8_t port, uint8_t bits, int32_t* status) { +void HAL_SerialSetDataBits(uint8_t port, uint8_t bits, int32_t* status) { *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_DATA_BITS, bits); if (*status > 0) *status = 0; } -void serialSetParity(uint8_t port, uint8_t parity, int32_t* status) { +void HAL_SerialSetParity(uint8_t port, uint8_t parity, int32_t* status) { *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_PARITY, parity); if (*status > 0) *status = 0; } -void serialSetStopBits(uint8_t port, uint8_t stopBits, int32_t* status) { +void HAL_SerialSetStopBits(uint8_t port, uint8_t stopBits, int32_t* status) { *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_STOP_BITS, stopBits); if (*status > 0) *status = 0; } -void serialSetWriteMode(uint8_t port, uint8_t mode, int32_t* status) { +void HAL_SerialSetWriteMode(uint8_t port, uint8_t mode, int32_t* status) { *status = viSetAttribute(m_portHandle[port], VI_ATTR_WR_BUF_OPER_MODE, mode); if (*status > 0) *status = 0; } -void serialSetFlowControl(uint8_t port, uint8_t flow, int32_t* status) { +void HAL_SerialSetFlowControl(uint8_t port, uint8_t flow, int32_t* status) { *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_FLOW_CNTRL, flow); if (*status > 0) *status = 0; } -void serialSetTimeout(uint8_t port, float timeout, int32_t* status) { +void HAL_SerialSetTimeout(uint8_t port, float timeout, int32_t* status) { *status = viSetAttribute(m_portHandle[port], VI_ATTR_TMO_VALUE, (uint32_t)(timeout * 1e3)); if (*status > 0) *status = 0; } -void serialEnableTermination(uint8_t port, char terminator, int32_t* status) { +void HAL_SerialEnableTermination(uint8_t port, char terminator, + int32_t* status) { viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR_EN, VI_TRUE); viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR, terminator); *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_END_IN, @@ -77,24 +78,25 @@ void serialEnableTermination(uint8_t port, char terminator, int32_t* status) { if (*status > 0) *status = 0; } -void serialDisableTermination(uint8_t port, int32_t* status) { +void HAL_SerialDisableTermination(uint8_t port, int32_t* status) { viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR_EN, VI_FALSE); *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_END_IN, VI_ASRL_END_NONE); if (*status > 0) *status = 0; } -void serialSetReadBufferSize(uint8_t port, uint32_t size, int32_t* status) { +void HAL_SerialSetReadBufferSize(uint8_t port, uint32_t size, int32_t* status) { *status = viSetBuf(m_portHandle[port], VI_READ_BUF, size); if (*status > 0) *status = 0; } -void serialSetWriteBufferSize(uint8_t port, uint32_t size, int32_t* status) { +void HAL_SerialSetWriteBufferSize(uint8_t port, uint32_t size, + int32_t* status) { *status = viSetBuf(m_portHandle[port], VI_WRITE_BUF, size); if (*status > 0) *status = 0; } -int32_t serialGetBytesReceived(uint8_t port, int32_t* status) { +int32_t HAL_SerialGetBytesReceived(uint8_t port, int32_t* status) { int32_t bytes = 0; *status = viGetAttribute(m_portHandle[port], VI_ATTR_ASRL_AVAIL_NUM, &bytes); @@ -102,8 +104,8 @@ int32_t serialGetBytesReceived(uint8_t port, int32_t* status) { return bytes; } -uint32_t serialRead(uint8_t port, char* buffer, int32_t count, - int32_t* status) { +uint32_t HAL_SerialRead(uint8_t port, char* buffer, int32_t count, + int32_t* status) { uint32_t retCount = 0; *status = @@ -112,15 +114,15 @@ uint32_t serialRead(uint8_t port, char* buffer, int32_t count, if (*status == VI_ERROR_IO || *status == VI_ERROR_ASRL_OVERRUN || *status == VI_ERROR_ASRL_FRAMING || *status == VI_ERROR_ASRL_PARITY) { int32_t localStatus = 0; - serialClear(port, &localStatus); + HAL_SerialClear(port, &localStatus); } if (*status == VI_ERROR_TMO || *status > 0) *status = 0; return retCount; } -uint32_t serialWrite(uint8_t port, const char* buffer, int32_t count, - int32_t* status) { +uint32_t HAL_SerialWrite(uint8_t port, const char* buffer, int32_t count, + int32_t* status) { uint32_t retCount = 0; *status = @@ -130,17 +132,17 @@ uint32_t serialWrite(uint8_t port, const char* buffer, int32_t count, return retCount; } -void serialFlush(uint8_t port, int32_t* status) { +void HAL_SerialFlush(uint8_t port, int32_t* status) { *status = viFlush(m_portHandle[port], VI_WRITE_BUF); if (*status > 0) *status = 0; } -void serialClear(uint8_t port, int32_t* status) { +void HAL_SerialClear(uint8_t port, int32_t* status) { *status = viClear(m_portHandle[port]); if (*status > 0) *status = 0; } -void serialClose(uint8_t port, int32_t* status) { +void HAL_SerialClose(uint8_t port, int32_t* status) { *status = viClose(m_portHandle[port]); if (*status > 0) *status = 0; } diff --git a/hal/lib/athena/Solenoid.cpp b/hal/lib/athena/Solenoid.cpp index 150d372b9d..7d79eff687 100644 --- a/hal/lib/athena/Solenoid.cpp +++ b/hal/lib/athena/Solenoid.cpp @@ -26,39 +26,39 @@ struct Solenoid { using namespace hal; -static IndexedHandleResource + HAL_HandleEnum::Solenoid> solenoidHandles; extern "C" { -HalSolenoidHandle initializeSolenoidPort(HalPortHandle port_handle, - int32_t* status) { +HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle port_handle, + int32_t* status) { int16_t pin = getPortHandlePin(port_handle); int16_t module = getPortHandleModule(port_handle); if (pin == InvalidHandleIndex) { *status = PARAMETER_OUT_OF_RANGE; // Change to Handle Error - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } if (module >= kNumPCMModules || pin >= kNumSolenoidPins) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } initializePCM(module); auto handle = solenoidHandles.Allocate(module * kNumSolenoidPins + pin, status); - if (handle == HAL_INVALID_HANDLE) { // out of resources + if (handle == HAL_kInvalidHandle) { // out of resources *status = NO_AVAILABLE_RESOURCES; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } auto solenoid_port = solenoidHandles.Get(handle); if (solenoid_port == nullptr) { // would only occur on thread issues *status = HAL_HANDLE_ERROR; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } solenoid_port->module = static_cast(module); solenoid_port->pin = static_cast(pin); @@ -66,13 +66,13 @@ HalSolenoidHandle initializeSolenoidPort(HalPortHandle port_handle, return handle; } -void freeSolenoidPort(HalSolenoidHandle solenoid_port_handle) { +void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoid_port_handle) { solenoidHandles.Free(solenoid_port_handle); } -bool checkSolenoidModule(uint8_t module) { return module < kNumPCMModules; } +bool HAL_CheckSolenoidModule(uint8_t module) { return module < kNumPCMModules; } -bool getSolenoid(HalSolenoidHandle solenoid_port_handle, int32_t* status) { +bool HAL_GetSolenoid(HAL_SolenoidHandle solenoid_port_handle, int32_t* status) { auto port = solenoidHandles.Get(solenoid_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -85,7 +85,7 @@ bool getSolenoid(HalSolenoidHandle solenoid_port_handle, int32_t* status) { return value; } -uint8_t getAllSolenoids(uint8_t module, int32_t* status) { +uint8_t HAL_GetAllSolenoids(uint8_t module, int32_t* status) { if (module >= kNumPCMModules) { *status = PARAMETER_OUT_OF_RANGE; return 0; @@ -97,8 +97,8 @@ uint8_t getAllSolenoids(uint8_t module, int32_t* status) { return value; } -void setSolenoid(HalSolenoidHandle solenoid_port_handle, bool value, - int32_t* status) { +void HAL_SetSolenoid(HAL_SolenoidHandle solenoid_port_handle, bool value, + int32_t* status) { auto port = solenoidHandles.Get(solenoid_port_handle); if (port == nullptr) { *status = HAL_HANDLE_ERROR; @@ -108,7 +108,7 @@ void setSolenoid(HalSolenoidHandle solenoid_port_handle, bool value, *status = PCM_modules[port->module]->SetSolenoid(port->pin, value); } -int getPCMSolenoidBlackList(uint8_t module, int32_t* status) { +int HAL_GetPCMSolenoidBlackList(uint8_t module, int32_t* status) { if (module >= kNumPCMModules) { *status = PARAMETER_OUT_OF_RANGE; return 0; @@ -119,7 +119,7 @@ int getPCMSolenoidBlackList(uint8_t module, int32_t* status) { return value; } -bool getPCMSolenoidVoltageStickyFault(uint8_t module, int32_t* status) { +bool HAL_GetPCMSolenoidVoltageStickyFault(uint8_t module, int32_t* status) { if (module >= kNumPCMModules) { *status = PARAMETER_OUT_OF_RANGE; return false; @@ -130,7 +130,7 @@ bool getPCMSolenoidVoltageStickyFault(uint8_t module, int32_t* status) { return value; } -bool getPCMSolenoidVoltageFault(uint8_t module, int32_t* status) { +bool HAL_GetPCMSolenoidVoltageFault(uint8_t module, int32_t* status) { if (module >= kNumPCMModules) { *status = PARAMETER_OUT_OF_RANGE; return false; @@ -141,7 +141,7 @@ bool getPCMSolenoidVoltageFault(uint8_t module, int32_t* status) { return value; } -void clearAllPCMStickyFaults_sol(uint8_t module, int32_t* status) { +void HAL_ClearAllPCMStickyFaults_sol(uint8_t module, int32_t* status) { if (module >= kNumPCMModules) { *status = PARAMETER_OUT_OF_RANGE; return; diff --git a/hal/lib/athena/Task.cpp b/hal/lib/athena/Task.cpp index 82f34cdb4a..9cd17aa758 100644 --- a/hal/lib/athena/Task.cpp +++ b/hal/lib/athena/Task.cpp @@ -18,7 +18,7 @@ extern "C" { -STATUS verifyTaskID(TASK task) { +STATUS HAL_VerifyTaskID(TASK task) { if (task != nullptr && pthread_kill(*task, 0) == 0) { return OK; } else { @@ -26,11 +26,11 @@ STATUS verifyTaskID(TASK task) { } } -STATUS setTaskPriority(TASK task, int priority) { +STATUS HAL_SetTaskPriority(TASK task, int priority) { int policy = 0; struct sched_param param; - if (verifyTaskID(task) == OK && + if (HAL_VerifyTaskID(task) == OK && pthread_getschedparam(*task, &policy, ¶m) == 0) { param.sched_priority = priority; if (pthread_setschedparam(*task, SCHED_FIFO, ¶m) == 0) { @@ -43,11 +43,11 @@ STATUS setTaskPriority(TASK task, int priority) { } } -STATUS getTaskPriority(TASK task, int* priority) { +STATUS HAL_GetTaskPriority(TASK task, int* priority) { int policy = 0; struct sched_param param; - if (verifyTaskID(task) == OK && + if (HAL_VerifyTaskID(task) == OK && pthread_getschedparam(*task, &policy, ¶m) == 0) { *priority = param.sched_priority; return OK; diff --git a/hal/lib/athena/handles/DigitalHandleResource.h b/hal/lib/athena/handles/DigitalHandleResource.h index a0818592b9..ce6602919f 100644 --- a/hal/lib/athena/handles/DigitalHandleResource.h +++ b/hal/lib/athena/handles/DigitalHandleResource.h @@ -26,7 +26,7 @@ namespace hal { * Because they are allocated by index, each individual index holds its own * mutex, which reduces contention heavily.] * - * @tparam THandle The Handle Type (Must be typedefed from HalHandle) + * @tparam THandle The Handle Type (Must be typedefed from HAL_Handle) * @tparam TStruct The struct type held by this resource * @tparam size The number of resources allowed to be allocated * @@ -40,9 +40,9 @@ class DigitalHandleResource { DigitalHandleResource operator=(const DigitalHandleResource&) = delete; DigitalHandleResource(); ~DigitalHandleResource(); - THandle Allocate(int16_t index, HalHandleEnum enumValue, int32_t* status); - std::shared_ptr Get(THandle handle, HalHandleEnum enumValue); - void Free(THandle handle, HalHandleEnum enumValue); + THandle Allocate(int16_t index, HAL_HandleEnum enumValue, int32_t* status); + std::shared_ptr Get(THandle handle, HAL_HandleEnum enumValue); + void Free(THandle handle, HAL_HandleEnum enumValue); private: // Dynamic array to shrink HAL file size. @@ -64,17 +64,17 @@ DigitalHandleResource::~DigitalHandleResource() { template THandle DigitalHandleResource::Allocate( - int16_t index, HalHandleEnum enumValue, int32_t* status) { + int16_t index, HAL_HandleEnum enumValue, int32_t* status) { // don't aquire the lock if we can fail early. if (index < 0 || index >= size) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } std::lock_guard sync(m_handleMutexes[index]); // check for allocation, otherwise allocate and return a valid handle if (m_structures[index] != nullptr) { *status = RESOURCE_IS_ALLOCATED; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } m_structures[index] = std::make_shared(); return (THandle)hal::createHandle(index, enumValue); @@ -82,7 +82,7 @@ THandle DigitalHandleResource::Allocate( template std::shared_ptr DigitalHandleResource::Get( - THandle handle, HalHandleEnum enumValue) { + THandle handle, HAL_HandleEnum enumValue) { // get handle index, and fail early if index out of range or wrong handle int16_t index = getHandleTypedIndex(handle, enumValue); if (index < 0 || index >= size) { @@ -96,7 +96,7 @@ std::shared_ptr DigitalHandleResource::Get( template void DigitalHandleResource::Free( - THandle handle, HalHandleEnum enumValue) { + THandle handle, HAL_HandleEnum enumValue) { // get handle index, and fail early if index out of range or wrong handle int16_t index = getHandleTypedIndex(handle, enumValue); if (index < 0 || index >= size) return; diff --git a/hal/lib/athena/handles/HandlesInternal.cpp b/hal/lib/athena/handles/HandlesInternal.cpp index c630a9d2fd..8e0d079072 100644 --- a/hal/lib/athena/handles/HandlesInternal.cpp +++ b/hal/lib/athena/handles/HandlesInternal.cpp @@ -11,9 +11,9 @@ #include "UnlimitedHandleResource.h" namespace hal { -HalPortHandle createPortHandle(uint8_t pin, uint8_t module) { +HAL_PortHandle createPortHandle(uint8_t pin, uint8_t module) { // set last 8 bits, then shift to first 8 bits - HalPortHandle handle = static_cast(HalHandleEnum::Port); + HAL_PortHandle handle = static_cast(HAL_HandleEnum::Port); handle = handle << 24; // shift module and add to 3rd set of 8 bits int32_t temp = module; @@ -24,12 +24,12 @@ HalPortHandle createPortHandle(uint8_t pin, uint8_t module) { return handle; } -HalHandle createHandle(int16_t index, HalHandleEnum handleType) { - if (index < 0) return HAL_INVALID_HANDLE; +HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType) { + if (index < 0) return HAL_kInvalidHandle; uint8_t hType = static_cast(handleType); - if (hType == 0 || hType > 127) return HAL_INVALID_HANDLE; + if (hType == 0 || hType > 127) return HAL_kInvalidHandle; // set last 8 bits, then shift to first 8 bits - HalHandle handle = hType; + HAL_Handle handle = hType; handle = handle << 24; // add index to set last 16 bits handle += index; diff --git a/hal/lib/athena/handles/HandlesInternal.h b/hal/lib/athena/handles/HandlesInternal.h index babcb8758c..304140a2d1 100644 --- a/hal/lib/athena/handles/HandlesInternal.h +++ b/hal/lib/athena/handles/HandlesInternal.h @@ -25,7 +25,7 @@ namespace hal { constexpr int16_t InvalidHandleIndex = -1; -enum class HalHandleEnum { +enum class HAL_HandleEnum { Undefined = 0, DIO = 1, Port = 2, @@ -45,19 +45,19 @@ enum class HalHandleEnum { AnalogGyro = 16 }; -static inline int16_t getHandleIndex(HalHandle handle) { +static inline int16_t getHandleIndex(HAL_Handle handle) { // mask and return last 16 bits return (int16_t)(handle & 0xffff); } -static inline HalHandleEnum getHandleType(HalHandle handle) { +static inline HAL_HandleEnum getHandleType(HAL_Handle handle) { // mask first 8 bits and cast to enum - return (HalHandleEnum)((handle >> 24) & 0xff); + return (HAL_HandleEnum)((handle >> 24) & 0xff); } -static inline bool isHandleType(HalHandle handle, HalHandleEnum handleType) { +static inline bool isHandleType(HAL_Handle handle, HAL_HandleEnum handleType) { return handleType == getHandleType(handle); } -static inline int16_t getHandleTypedIndex(HalHandle handle, - HalHandleEnum enumType) { +static inline int16_t getHandleTypedIndex(HAL_Handle handle, + HAL_HandleEnum enumType) { if (!isHandleType(handle, enumType)) return InvalidHandleIndex; return getHandleIndex(handle); } @@ -72,18 +72,18 @@ static inline int16_t getHandleTypedIndex(HalHandle handle, */ // using a 16 bit value so we can store 0-255 and still report error -static inline int16_t getPortHandlePin(HalPortHandle handle) { - if (!isHandleType(handle, HalHandleEnum::Port)) return InvalidHandleIndex; +static inline int16_t getPortHandlePin(HAL_PortHandle handle) { + if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex; return (uint8_t)(handle & 0xff); } // using a 16 bit value so we can store 0-255 and still report error -static inline int16_t getPortHandleModule(HalPortHandle handle) { - if (!isHandleType(handle, HalHandleEnum::Port)) return InvalidHandleIndex; +static inline int16_t getPortHandleModule(HAL_PortHandle handle) { + if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex; return (uint8_t)((handle >> 8) & 0xff); } -HalPortHandle createPortHandle(uint8_t pin, uint8_t module); +HAL_PortHandle createPortHandle(uint8_t pin, uint8_t module); -HalHandle createHandle(int16_t index, HalHandleEnum handleType); +HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType); } diff --git a/hal/lib/athena/handles/IndexedHandleResource.h b/hal/lib/athena/handles/IndexedHandleResource.h index c99a8741a3..d4fc52521c 100644 --- a/hal/lib/athena/handles/IndexedHandleResource.h +++ b/hal/lib/athena/handles/IndexedHandleResource.h @@ -25,14 +25,14 @@ namespace hal { * Because they are allocated by index, each individual index holds its own * mutex, which reduces contention heavily.] * - * @tparam THandle The Handle Type (Must be typedefed from HalHandle) + * @tparam THandle The Handle Type (Must be typedefed from HAL_Handle) * @tparam TStruct The struct type held by this resource * @tparam size The number of resources allowed to be allocated * @tparam enumValue The type value stored in the handle * */ template + HAL_HandleEnum enumValue> class IndexedHandleResource { friend class IndexedHandleResourceTest; @@ -52,7 +52,7 @@ class IndexedHandleResource { }; template + HAL_HandleEnum enumValue> IndexedHandleResource::IndexedHandleResource() { m_structures = new std::shared_ptr[size]; @@ -60,7 +60,7 @@ IndexedHandleResource + HAL_HandleEnum enumValue> IndexedHandleResource::~IndexedHandleResource() { delete[] m_structures; @@ -68,26 +68,26 @@ IndexedHandleResource + HAL_HandleEnum enumValue> THandle IndexedHandleResource::Allocate( int16_t index, int32_t* status) { // don't aquire the lock if we can fail early. if (index < 0 || index >= size) { *status = PARAMETER_OUT_OF_RANGE; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } std::lock_guard sync(m_handleMutexes[index]); // check for allocation, otherwise allocate and return a valid handle if (m_structures[index] != nullptr) { *status = RESOURCE_IS_ALLOCATED; - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } m_structures[index] = std::make_shared(); return (THandle)hal::createHandle(index, enumValue); } template + HAL_HandleEnum enumValue> std::shared_ptr IndexedHandleResource::Get(THandle handle) { // get handle index, and fail early if index out of range or wrong handle @@ -102,7 +102,7 @@ IndexedHandleResource::Get(THandle handle) { } template + HAL_HandleEnum enumValue> void IndexedHandleResource::Free( THandle handle) { // get handle index, and fail early if index out of range or wrong handle diff --git a/hal/lib/athena/handles/LimitedClassedHandleResource.h b/hal/lib/athena/handles/LimitedClassedHandleResource.h index 8648b56ed6..2183878786 100644 --- a/hal/lib/athena/handles/LimitedClassedHandleResource.h +++ b/hal/lib/athena/handles/LimitedClassedHandleResource.h @@ -23,14 +23,14 @@ namespace hal { * version * allows a limited number of handles that are allocated sequentially. * - * @tparam THandle The Handle Type (Must be typedefed from HalHandle) + * @tparam THandle The Handle Type (Must be typedefed from HAL_Handle) * @tparam TStruct The struct type held by this resource * @tparam size The number of resources allowed to be allocated * @tparam enumValue The type value stored in the handle * */ template + HAL_HandleEnum enumValue> class LimitedClassedHandleResource { friend class LimitedClassedHandleResourceTest; @@ -52,7 +52,7 @@ class LimitedClassedHandleResource { }; template + HAL_HandleEnum enumValue> LimitedClassedHandleResource::LimitedClassedHandleResource() { m_structures = new std::shared_ptr[size]; @@ -60,7 +60,7 @@ LimitedClassedHandleResource + HAL_HandleEnum enumValue> LimitedClassedHandleResource::~LimitedClassedHandleResource() { delete[] m_structures; @@ -68,7 +68,7 @@ LimitedClassedHandleResource + HAL_HandleEnum enumValue> THandle LimitedClassedHandleResource::Allocate( std::shared_ptr toSet) { @@ -84,11 +84,11 @@ LimitedClassedHandleResource::Allocate( return (THandle)createHandle(i, enumValue); } } - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } template + HAL_HandleEnum enumValue> std::shared_ptr LimitedClassedHandleResource< THandle, TStruct, size, enumValue>::Get(THandle handle) { // get handle index, and fail early if index out of range or wrong handle @@ -103,7 +103,7 @@ std::shared_ptr LimitedClassedHandleResource< } template + HAL_HandleEnum enumValue> void LimitedClassedHandleResource::Free( THandle handle) { // get handle index, and fail early if index out of range or wrong handle diff --git a/hal/lib/athena/handles/LimitedHandleResource.h b/hal/lib/athena/handles/LimitedHandleResource.h index 8444f79f71..e355b41289 100644 --- a/hal/lib/athena/handles/LimitedHandleResource.h +++ b/hal/lib/athena/handles/LimitedHandleResource.h @@ -22,14 +22,14 @@ namespace hal { * The LimitedHandleResource class is a way to track handles. This version * allows a limited number of handles that are allocated sequentially. * - * @tparam THandle The Handle Type (Must be typedefed from HalHandle) + * @tparam THandle The Handle Type (Must be typedefed from HAL_Handle) * @tparam TStruct The struct type held by this resource * @tparam size The number of resources allowed to be allocated * @tparam enumValue The type value stored in the handle * */ template + HAL_HandleEnum enumValue> class LimitedHandleResource { friend class LimitedHandleResourceTest; @@ -50,7 +50,7 @@ class LimitedHandleResource { }; template + HAL_HandleEnum enumValue> LimitedHandleResource::LimitedHandleResource() { m_structures = new std::shared_ptr[size]; @@ -58,7 +58,7 @@ LimitedHandleResource + HAL_HandleEnum enumValue> LimitedHandleResource::~LimitedHandleResource() { delete[] m_structures; @@ -66,7 +66,7 @@ LimitedHandleResource + HAL_HandleEnum enumValue> THandle LimitedHandleResource::Allocate() { // globally lock to loop through indices std::lock_guard sync(m_allocateMutex); @@ -80,11 +80,11 @@ THandle LimitedHandleResource::Allocate() { return (THandle)createHandle(i, enumValue); } } - return HAL_INVALID_HANDLE; + return HAL_kInvalidHandle; } template + HAL_HandleEnum enumValue> std::shared_ptr LimitedHandleResource::Get(THandle handle) { // get handle index, and fail early if index out of range or wrong handle @@ -99,7 +99,7 @@ LimitedHandleResource::Get(THandle handle) { } template + HAL_HandleEnum enumValue> void LimitedHandleResource::Free( THandle handle) { // get handle index, and fail early if index out of range or wrong handle diff --git a/hal/lib/athena/handles/UnlimitedHandleResource.h b/hal/lib/athena/handles/UnlimitedHandleResource.h index db8723a15c..6137a79d25 100644 --- a/hal/lib/athena/handles/UnlimitedHandleResource.h +++ b/hal/lib/athena/handles/UnlimitedHandleResource.h @@ -27,12 +27,12 @@ namespace hal { * the future. * Because we have to loop through the allocator, we must use a global mutex. - * @tparam THandle The Handle Type (Must be typedefed from HalHandle) + * @tparam THandle The Handle Type (Must be typedefed from HAL_Handle) * @tparam TStruct The struct type held by this resource * @tparam enumValue The type value stored in the handle * */ -template +template class UnlimitedHandleResource { friend class UnlimitedHandleResourceTest; @@ -49,7 +49,7 @@ class UnlimitedHandleResource { priority_mutex m_handleMutex; }; -template +template THandle UnlimitedHandleResource::Allocate( std::shared_ptr structure) { std::lock_guard sync(m_handleMutex); @@ -60,13 +60,13 @@ THandle UnlimitedHandleResource::Allocate( return (THandle)createHandle(i, enumValue); } } - if (i >= INT16_MAX) return HAL_INVALID_HANDLE; + if (i >= INT16_MAX) return HAL_kInvalidHandle; m_structures.push_back(structure); return (THandle)createHandle(static_cast(i), enumValue); } -template +template std::shared_ptr UnlimitedHandleResource::Get(THandle handle) { int16_t index = getHandleTypedIndex(handle, enumValue); @@ -76,7 +76,7 @@ UnlimitedHandleResource::Get(THandle handle) { return m_structures[index]; } -template +template void UnlimitedHandleResource::Free( THandle handle) { int16_t index = getHandleTypedIndex(handle, enumValue); diff --git a/hal/lib/shared/HAL.cpp b/hal/lib/shared/HAL.cpp index 74440e7d14..7ac95ceea6 100644 --- a/hal/lib/shared/HAL.cpp +++ b/hal/lib/shared/HAL.cpp @@ -11,29 +11,31 @@ #include "FRC_NetworkCommunication/FRCComm.h" -struct HALJoystickAxesInt { +struct HAL_JoystickAxesInt { uint16_t count; - int16_t axes[kMaxJoystickAxes]; + int16_t axes[HAL_kMaxJoystickAxes]; }; extern "C" { -int HALGetControlWord(HALControlWord* data) { +int HAL_GetControlWord(HAL_ControlWord* data) { return FRC_NetworkCommunication_getControlWord((ControlWord_t*)data); } -void HALSetNewDataSem(MULTIWAIT_ID sem) { setNewDataSem(sem->native_handle()); } +void HAL_SetNewDataSem(MULTIWAIT_ID sem) { + setNewDataSem(sem->native_handle()); +} -int HALGetAllianceStation(enum HALAllianceStationID* allianceStation) { +int HAL_GetAllianceStation(enum HAL_AllianceStationID* allianceStation) { return FRC_NetworkCommunication_getAllianceStation( (AllianceStationID_t*)allianceStation); } -int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes* axes) { - HALJoystickAxesInt axesInt; +int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes) { + HAL_JoystickAxesInt axesInt; int retVal = FRC_NetworkCommunication_getJoystickAxes( - joystickNum, (JoystickAxes_t*)&axesInt, kMaxJoystickAxes); + joystickNum, (JoystickAxes_t*)&axesInt, HAL_kMaxJoystickAxes); // copy int values to float values axes->count = axesInt.count; @@ -51,12 +53,12 @@ int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes* axes) { return retVal; } -int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs* povs) { +int HAL_GetJoystickPOVs(uint8_t joystickNum, HAL_JoystickPOVs* povs) { return FRC_NetworkCommunication_getJoystickPOVs( - joystickNum, (JoystickPOV_t*)povs, kMaxJoystickPOVs); + joystickNum, (JoystickPOV_t*)povs, HAL_kMaxJoystickPOVs); } -int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons* buttons) { +int HAL_GetJoystickButtons(uint8_t joystickNum, HAL_JoystickButtons* buttons) { return FRC_NetworkCommunication_getJoystickButtons( joystickNum, &buttons->buttons, &buttons->count); } @@ -71,12 +73,13 @@ int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons* buttons) { * @return error code reported from Network Comm back-end. Zero is good, * nonzero is bad. */ -int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor* desc) { +int HAL_GetJoystickDescriptor(uint8_t joystickNum, + HAL_JoystickDescriptor* desc) { desc->isXbox = 0; desc->type = -1; desc->name[0] = '\0'; desc->axisCount = - kMaxJoystickAxes; /* set to the desc->axisTypes's capacity */ + HAL_kMaxJoystickAxes; /* set to the desc->axisTypes's capacity */ desc->buttonCount = 0; desc->povCount = 0; int retval = FRC_NetworkCommunication_getJoystickDesc( @@ -92,27 +95,27 @@ int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor* desc) { return retval; } -int HALGetJoystickIsXbox(uint8_t joystickNum) { - HALJoystickDescriptor joystickDesc; - if (HALGetJoystickDescriptor(joystickNum, &joystickDesc) < 0) { +int HAL_GetJoystickIsXbox(uint8_t joystickNum) { + HAL_JoystickDescriptor joystickDesc; + if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) { return 0; } else { return joystickDesc.isXbox; } } -int HALGetJoystickType(uint8_t joystickNum) { - HALJoystickDescriptor joystickDesc; - if (HALGetJoystickDescriptor(joystickNum, &joystickDesc) < 0) { +int HAL_GetJoystickType(uint8_t joystickNum) { + HAL_JoystickDescriptor joystickDesc; + if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) { return -1; } else { return joystickDesc.type; } } -char* HALGetJoystickName(uint8_t joystickNum) { - HALJoystickDescriptor joystickDesc; - if (HALGetJoystickDescriptor(joystickNum, &joystickDesc) < 0) { +char* HAL_GetJoystickName(uint8_t joystickNum) { + HAL_JoystickDescriptor joystickDesc; + if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) { char* name = (char*)std::malloc(1); name[0] = '\0'; return name; @@ -124,42 +127,42 @@ char* HALGetJoystickName(uint8_t joystickNum) { } } -int HALGetJoystickAxisType(uint8_t joystickNum, uint8_t axis) { - HALJoystickDescriptor joystickDesc; - if (HALGetJoystickDescriptor(joystickNum, &joystickDesc) < 0) { +int HAL_GetJoystickAxisType(uint8_t joystickNum, uint8_t axis) { + HAL_JoystickDescriptor joystickDesc; + if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) { return -1; } else { return joystickDesc.axisTypes[axis]; } } -int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, - uint16_t leftRumble, uint16_t rightRumble) { +int HAL_SetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, + uint16_t leftRumble, uint16_t rightRumble) { return FRC_NetworkCommunication_setJoystickOutputs(joystickNum, outputs, leftRumble, rightRumble); } -int HALGetMatchTime(float* matchTime) { +int HAL_GetMatchTime(float* matchTime) { return FRC_NetworkCommunication_getMatchTime(matchTime); } -void HALNetworkCommunicationObserveUserProgramStarting(void) { +void HAL_NetworkCommunicationObserveUserProgramStarting(void) { FRC_NetworkCommunication_observeUserProgramStarting(); } -void HALNetworkCommunicationObserveUserProgramDisabled(void) { +void HAL_NetworkCommunicationObserveUserProgramDisabled(void) { FRC_NetworkCommunication_observeUserProgramDisabled(); } -void HALNetworkCommunicationObserveUserProgramAutonomous(void) { +void HAL_NetworkCommunicationObserveUserProgramAutonomous(void) { FRC_NetworkCommunication_observeUserProgramAutonomous(); } -void HALNetworkCommunicationObserveUserProgramTeleop(void) { +void HAL_NetworkCommunicationObserveUserProgramTeleop(void) { FRC_NetworkCommunication_observeUserProgramTeleop(); } -void HALNetworkCommunicationObserveUserProgramTest(void) { +void HAL_NetworkCommunicationObserveUserProgramTest(void) { FRC_NetworkCommunication_observeUserProgramTest(); } diff --git a/wpilibc/athena/include/AnalogGyro.h b/wpilibc/athena/include/AnalogGyro.h index 28a2ca624f..e182bf46f7 100644 --- a/wpilibc/athena/include/AnalogGyro.h +++ b/wpilibc/athena/include/AnalogGyro.h @@ -56,5 +56,5 @@ class AnalogGyro : public GyroBase { std::shared_ptr m_analog; private: - HalGyroHandle m_gyroHandle = HAL_INVALID_HANDLE; + HAL_GyroHandle m_gyroHandle = HAL_kInvalidHandle; }; diff --git a/wpilibc/athena/include/AnalogInput.h b/wpilibc/athena/include/AnalogInput.h index 3aedbfdbdd..deb06ccf8a 100644 --- a/wpilibc/athena/include/AnalogInput.h +++ b/wpilibc/athena/include/AnalogInput.h @@ -81,7 +81,7 @@ class AnalogInput : public SensorBase, private: uint32_t m_channel; // TODO: Adjust HAL to avoid use of raw pointers. - HalAnalogInputHandle m_port; + HAL_AnalogInputHandle m_port; int64_t m_accumulatorOffset; std::shared_ptr m_table; diff --git a/wpilibc/athena/include/AnalogOutput.h b/wpilibc/athena/include/AnalogOutput.h index a4707d2660..b86083298f 100644 --- a/wpilibc/athena/include/AnalogOutput.h +++ b/wpilibc/athena/include/AnalogOutput.h @@ -35,7 +35,7 @@ class AnalogOutput : public SensorBase, public LiveWindowSendable { protected: uint32_t m_channel; - HalAnalogOutputHandle m_port; + HAL_AnalogOutputHandle m_port; std::shared_ptr m_table; }; diff --git a/wpilibc/athena/include/AnalogTrigger.h b/wpilibc/athena/include/AnalogTrigger.h index b71e1791fc..8c0076eae8 100644 --- a/wpilibc/athena/include/AnalogTrigger.h +++ b/wpilibc/athena/include/AnalogTrigger.h @@ -33,7 +33,7 @@ class AnalogTrigger : public SensorBase { private: uint8_t m_index; - HalAnalogTriggerHandle m_trigger; + HAL_AnalogTriggerHandle m_trigger; AnalogInput* m_analogInput = nullptr; bool m_ownsAnalog = false; }; diff --git a/wpilibc/athena/include/AnalogTriggerOutput.h b/wpilibc/athena/include/AnalogTriggerOutput.h index 3106b9c5c2..45a8c3973c 100644 --- a/wpilibc/athena/include/AnalogTriggerOutput.h +++ b/wpilibc/athena/include/AnalogTriggerOutput.h @@ -49,7 +49,7 @@ class AnalogTriggerOutput : public DigitalSource { bool Get() const; // DigitalSource interface - virtual HalHandle GetPortHandleForRouting() const override; + virtual HAL_Handle GetPortHandleForRouting() const override; virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const override; virtual bool IsAnalogTrigger() const override; virtual uint32_t GetChannel() const override; diff --git a/wpilibc/athena/include/AnalogTriggerType.h b/wpilibc/athena/include/AnalogTriggerType.h new file mode 100644 index 0000000000..88c58c7556 --- /dev/null +++ b/wpilibc/athena/include/AnalogTriggerType.h @@ -0,0 +1,15 @@ +/*----------------------------------------------------------------------------*/ +/* 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. */ +/*----------------------------------------------------------------------------*/ + +#pragma once + +enum class AnalogTriggerType { + kInWindow = 0, + kState = 1, + kRisingPulse = 2, + kFallingPulse = 3 +}; \ No newline at end of file diff --git a/wpilibc/athena/include/Compressor.h b/wpilibc/athena/include/Compressor.h index 287339fb2f..f69ef63482 100644 --- a/wpilibc/athena/include/Compressor.h +++ b/wpilibc/athena/include/Compressor.h @@ -54,7 +54,7 @@ class Compressor : public SensorBase, std::shared_ptr value, bool isNew) override; protected: - HalCompressorHandle m_compressorHandle; + HAL_CompressorHandle m_compressorHandle; private: void SetCompressor(bool on); diff --git a/wpilibc/athena/include/Counter.h b/wpilibc/athena/include/Counter.h index 1141df30ea..8ac7f67898 100644 --- a/wpilibc/athena/include/Counter.h +++ b/wpilibc/athena/include/Counter.h @@ -31,6 +31,12 @@ class Counter : public SensorBase, public CounterBase, public LiveWindowSendable { public: + enum Mode { + kTwoPulse = 0, + kSemiperiod = 1, + kPulseLength = 2, + kExternalDirection = 3 + }; explicit Counter(Mode mode = kTwoPulse); explicit Counter(int32_t channel); explicit Counter(DigitalSource* source); @@ -98,7 +104,7 @@ class Counter : public SensorBase, // Makes the counter count down. std::shared_ptr m_downSource; // The FPGA counter object - HalCounterHandle m_counter = HAL_INVALID_HANDLE; + HAL_CounterHandle m_counter = HAL_kInvalidHandle; private: int32_t m_index = 0; ///< The index of this counter. diff --git a/wpilibc/athena/include/DigitalInput.h b/wpilibc/athena/include/DigitalInput.h index 430d2fdd72..b1f7a08db7 100644 --- a/wpilibc/athena/include/DigitalInput.h +++ b/wpilibc/athena/include/DigitalInput.h @@ -32,7 +32,7 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable { uint32_t GetChannel() const override; // Digital Source Interface - virtual HalHandle GetPortHandleForRouting() const override; + virtual HAL_Handle GetPortHandleForRouting() const override; virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const override; virtual bool IsAnalogTrigger() const override; @@ -45,7 +45,7 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable { private: uint32_t m_channel; - HalDigitalHandle m_handle; + HAL_DigitalHandle m_handle; std::shared_ptr m_table; friend class DigitalGlitchFilter; diff --git a/wpilibc/athena/include/DigitalOutput.h b/wpilibc/athena/include/DigitalOutput.h index 635b68df3c..8680c2a10e 100644 --- a/wpilibc/athena/include/DigitalOutput.h +++ b/wpilibc/athena/include/DigitalOutput.h @@ -36,7 +36,7 @@ class DigitalOutput : public DigitalSource, void UpdateDutyCycle(float dutyCycle); // Digital Source Interface - virtual HalHandle GetPortHandleForRouting() const override; + virtual HAL_Handle GetPortHandleForRouting() const override; virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const override; virtual bool IsAnalogTrigger() const override; @@ -51,8 +51,8 @@ class DigitalOutput : public DigitalSource, private: uint32_t m_channel; - HalDigitalHandle m_handle; - HalDigitalPWMHandle m_pwmGenerator; + HAL_DigitalHandle m_handle; + HAL_DigitalPWMHandle m_pwmGenerator; std::shared_ptr m_table; }; diff --git a/wpilibc/athena/include/DigitalSource.h b/wpilibc/athena/include/DigitalSource.h index ec74ff9381..f17b3888da 100644 --- a/wpilibc/athena/include/DigitalSource.h +++ b/wpilibc/athena/include/DigitalSource.h @@ -23,7 +23,7 @@ class DigitalSource : public InterruptableSensorBase { public: virtual ~DigitalSource() = default; - virtual HalHandle GetPortHandleForRouting() const = 0; + virtual HAL_Handle GetPortHandleForRouting() const = 0; virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0; virtual bool IsAnalogTrigger() const = 0; virtual uint32_t GetChannel() const = 0; diff --git a/wpilibc/athena/include/DoubleSolenoid.h b/wpilibc/athena/include/DoubleSolenoid.h index 1473ff3eb7..28fcc20dd1 100644 --- a/wpilibc/athena/include/DoubleSolenoid.h +++ b/wpilibc/athena/include/DoubleSolenoid.h @@ -50,8 +50,8 @@ class DoubleSolenoid : public SolenoidBase, uint32_t m_reverseChannel; ///< The reverse channel on the module to control. uint8_t m_forwardMask; ///< The mask for the forward channel. uint8_t m_reverseMask; ///< The mask for the reverse channel. - HalSolenoidHandle m_forwardHandle = HAL_INVALID_HANDLE; - HalSolenoidHandle m_reverseHandle = HAL_INVALID_HANDLE; + HAL_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle; + HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle; std::shared_ptr m_table; }; diff --git a/wpilibc/athena/include/DriverStation.h b/wpilibc/athena/include/DriverStation.h index 67668c8d2a..e1dc5cc783 100644 --- a/wpilibc/athena/include/DriverStation.h +++ b/wpilibc/athena/include/DriverStation.h @@ -100,16 +100,16 @@ class DriverStation : public SensorBase, public RobotStateInterface { void ReportJoystickUnpluggedWarning(std::string message); void Run(); - std::unique_ptr m_joystickAxes; - std::unique_ptr m_joystickPOVs; - std::unique_ptr m_joystickButtons; - std::unique_ptr m_joystickDescriptor; + std::unique_ptr m_joystickAxes; + std::unique_ptr m_joystickPOVs; + std::unique_ptr m_joystickButtons; + std::unique_ptr m_joystickDescriptor; // Cached Data - std::unique_ptr m_joystickAxesCache; - std::unique_ptr m_joystickPOVsCache; - std::unique_ptr m_joystickButtonsCache; - std::unique_ptr m_joystickDescriptorCache; + std::unique_ptr m_joystickAxesCache; + std::unique_ptr m_joystickPOVsCache; + std::unique_ptr m_joystickButtonsCache; + std::unique_ptr m_joystickDescriptorCache; Task m_task; std::atomic m_isRunning{false}; diff --git a/wpilibc/athena/include/Encoder.h b/wpilibc/athena/include/Encoder.h index 3eb71e8f00..07c8673416 100644 --- a/wpilibc/athena/include/Encoder.h +++ b/wpilibc/athena/include/Encoder.h @@ -99,7 +99,7 @@ class Encoder : public SensorBase, std::shared_ptr m_aSource; // the A phase of the quad encoder std::shared_ptr m_bSource; // the B phase of the quad encoder std::unique_ptr m_indexSource = nullptr; - HalEncoderHandle m_encoder = HAL_INVALID_HANDLE; + HAL_EncoderHandle m_encoder = HAL_kInvalidHandle; std::shared_ptr m_table; friend class DigitalGlitchFilter; diff --git a/wpilibc/athena/include/InterruptableSensorBase.h b/wpilibc/athena/include/InterruptableSensorBase.h index 1bb92da9c6..9299dbcc60 100644 --- a/wpilibc/athena/include/InterruptableSensorBase.h +++ b/wpilibc/athena/include/InterruptableSensorBase.h @@ -9,7 +9,7 @@ #include -#include "HAL/AnalogTrigger.h" +#include "AnalogTriggerType.h" #include "HAL/Interrupts.h" #include "SensorBase.h" @@ -24,7 +24,7 @@ class InterruptableSensorBase : public SensorBase { InterruptableSensorBase(); virtual ~InterruptableSensorBase() = default; - virtual HalHandle GetPortHandleForRouting() const = 0; + virtual HAL_Handle GetPortHandleForRouting() const = 0; virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0; virtual void RequestInterrupts( InterruptHandlerFunction handler, @@ -45,6 +45,6 @@ class InterruptableSensorBase : public SensorBase { virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge); protected: - HalInterruptHandle m_interrupt = HAL_INVALID_HANDLE; + HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle; void AllocateInterrupts(bool watcher); }; diff --git a/wpilibc/athena/include/Notifier.h b/wpilibc/athena/include/Notifier.h index 249a4ef9c2..f4b7462c99 100644 --- a/wpilibc/athena/include/Notifier.h +++ b/wpilibc/athena/include/Notifier.h @@ -43,7 +43,7 @@ class Notifier : public ErrorBase { // held while updating process information priority_mutex m_processMutex; // HAL handle, atomic for proper destruction - std::atomic m_notifier{0}; + std::atomic m_notifier{0}; // address of the handler TimerEventHandler m_handler; // the absolute expiration time diff --git a/wpilibc/athena/include/PWM.h b/wpilibc/athena/include/PWM.h index 9da3a05bc9..ca6d53308b 100644 --- a/wpilibc/athena/include/PWM.h +++ b/wpilibc/athena/include/PWM.h @@ -75,5 +75,5 @@ class PWM : public SensorBase, private: uint32_t m_channel; - HalDigitalHandle m_handle; + HAL_DigitalHandle m_handle; }; diff --git a/wpilibc/athena/include/Relay.h b/wpilibc/athena/include/Relay.h index 8bb1d74f47..69647f82f3 100644 --- a/wpilibc/athena/include/Relay.h +++ b/wpilibc/athena/include/Relay.h @@ -67,8 +67,8 @@ class Relay : public MotorSafety, uint32_t m_channel; Direction m_direction; - HalRelayHandle m_forwardHandle = HAL_INVALID_HANDLE; - HalRelayHandle m_reverseHandle = HAL_INVALID_HANDLE; + HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle; + HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle; std::unique_ptr m_safetyHelper; }; diff --git a/wpilibc/athena/include/RobotBase.h b/wpilibc/athena/include/RobotBase.h index a929774fe0..b478999696 100644 --- a/wpilibc/athena/include/RobotBase.h +++ b/wpilibc/athena/include/RobotBase.h @@ -17,12 +17,12 @@ class DriverStation; #define START_ROBOT_CLASS(_ClassName_) \ int main() { \ - if (!HALInitialize()) { \ + if (!HAL_Initialize()) { \ std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl; \ return -1; \ } \ - HALReport(HALUsageReporting::kResourceType_Language, \ - HALUsageReporting::kLanguage_CPlusPlus); \ + HAL_Report(HALUsageReporting::kResourceType_Language, \ + HALUsageReporting::kLanguage_CPlusPlus); \ static _ClassName_ robot; \ std::printf("\n********** Robot program starting **********\n"); \ robot.StartCompetition(); \ diff --git a/wpilibc/athena/include/Solenoid.h b/wpilibc/athena/include/Solenoid.h index 559013caca..553fc170f8 100644 --- a/wpilibc/athena/include/Solenoid.h +++ b/wpilibc/athena/include/Solenoid.h @@ -41,7 +41,7 @@ class Solenoid : public SolenoidBase, std::shared_ptr GetTable() const; private: - HalSolenoidHandle m_solenoidHandle = HAL_INVALID_HANDLE; + HAL_SolenoidHandle m_solenoidHandle = HAL_kInvalidHandle; uint32_t m_channel; ///< The channel on the module to control. std::shared_ptr m_table; }; diff --git a/wpilibc/athena/src/ADXL345_I2C.cpp b/wpilibc/athena/src/ADXL345_I2C.cpp index 67efa55ad9..fcbeec3062 100644 --- a/wpilibc/athena/src/ADXL345_I2C.cpp +++ b/wpilibc/athena/src/ADXL345_I2C.cpp @@ -30,8 +30,8 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress) // Specify the data format to read SetRange(range); - HALReport(HALUsageReporting::kResourceType_ADXL345, - HALUsageReporting::kADXL345_I2C, 0); + HAL_Report(HALUsageReporting::kResourceType_ADXL345, + HALUsageReporting::kADXL345_I2C, 0); LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this); } diff --git a/wpilibc/athena/src/ADXL345_SPI.cpp b/wpilibc/athena/src/ADXL345_SPI.cpp index e77586ab13..24fe60eef7 100644 --- a/wpilibc/athena/src/ADXL345_SPI.cpp +++ b/wpilibc/athena/src/ADXL345_SPI.cpp @@ -38,8 +38,8 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range) SetRange(range); - HALReport(HALUsageReporting::kResourceType_ADXL345, - HALUsageReporting::kADXL345_SPI); + HAL_Report(HALUsageReporting::kResourceType_ADXL345, + HALUsageReporting::kADXL345_SPI); LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this); } diff --git a/wpilibc/athena/src/ADXL362.cpp b/wpilibc/athena/src/ADXL362.cpp index b675a4564d..dd73c96a65 100644 --- a/wpilibc/athena/src/ADXL362.cpp +++ b/wpilibc/athena/src/ADXL362.cpp @@ -69,7 +69,7 @@ ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) { commands[2] = kPowerCtl_Measure | kPowerCtl_UltraLowNoise; m_spi.Write(commands, 3); - HALReport(HALUsageReporting::kResourceType_ADXL362, port); + HAL_Report(HALUsageReporting::kResourceType_ADXL362, port); LiveWindow::GetInstance()->AddSensor("ADXL362", port, this); } diff --git a/wpilibc/athena/src/ADXRS450_Gyro.cpp b/wpilibc/athena/src/ADXRS450_Gyro.cpp index b481f75b13..27be0d89aa 100644 --- a/wpilibc/athena/src/ADXRS450_Gyro.cpp +++ b/wpilibc/athena/src/ADXRS450_Gyro.cpp @@ -75,7 +75,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) { Calibrate(); - HALReport(HALUsageReporting::kResourceType_ADXRS450, port); + HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port); LiveWindow::GetInstance()->AddSensor("ADXRS450_Gyro", port, this); } diff --git a/wpilibc/athena/src/AnalogAccelerometer.cpp b/wpilibc/athena/src/AnalogAccelerometer.cpp index a6ccc5debf..e6c076f97f 100644 --- a/wpilibc/athena/src/AnalogAccelerometer.cpp +++ b/wpilibc/athena/src/AnalogAccelerometer.cpp @@ -14,8 +14,8 @@ * Common function for initializing the accelerometer. */ void AnalogAccelerometer::InitAccelerometer() { - HALReport(HALUsageReporting::kResourceType_Accelerometer, - m_analogInput->GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_Accelerometer, + m_analogInput->GetChannel()); LiveWindow::GetInstance()->AddSensor("Accelerometer", m_analogInput->GetChannel(), this); } diff --git a/wpilibc/athena/src/AnalogGyro.cpp b/wpilibc/athena/src/AnalogGyro.cpp index 7e68a88347..e0f6a51801 100644 --- a/wpilibc/athena/src/AnalogGyro.cpp +++ b/wpilibc/athena/src/AnalogGyro.cpp @@ -80,11 +80,11 @@ AnalogGyro::AnalogGyro(int32_t channel, uint32_t center, float offset) { m_analog = std::make_shared(channel); InitGyro(); int32_t status = 0; - setAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond, offset, - center, &status); + HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond, + offset, center, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_gyroHandle = HAL_INVALID_HANDLE; + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_gyroHandle = HAL_kInvalidHandle; return; } Reset(); @@ -109,11 +109,11 @@ AnalogGyro::AnalogGyro(std::shared_ptr channel, uint32_t center, } else { InitGyro(); int32_t status = 0; - setAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond, - offset, center, &status); + HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond, + offset, center, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_gyroHandle = HAL_INVALID_HANDLE; + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_gyroHandle = HAL_kInvalidHandle; return; } Reset(); @@ -124,7 +124,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr channel, uint32_t center, * AnalogGyro Destructor * */ -AnalogGyro::~AnalogGyro() { freeAnalogGyro(m_gyroHandle); } +AnalogGyro::~AnalogGyro() { HAL_FreeAnalogGyro(m_gyroHandle); } /** * Reset the gyro. @@ -136,8 +136,8 @@ AnalogGyro::~AnalogGyro() { freeAnalogGyro(m_gyroHandle); } void AnalogGyro::Reset() { if (StatusIsFatal()) return; int32_t status = 0; - resetAnalogGyro(m_gyroHandle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_ResetAnalogGyro(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -145,34 +145,34 @@ void AnalogGyro::Reset() { */ void AnalogGyro::InitGyro() { if (StatusIsFatal()) return; - if (m_gyroHandle == HAL_INVALID_HANDLE) { + if (m_gyroHandle == HAL_kInvalidHandle) { int32_t status = 0; - m_gyroHandle = initializeAnalogGyro(m_analog->m_port, &status); + m_gyroHandle = HAL_InitializeAnalogGyro(m_analog->m_port, &status); if (status == PARAMETER_OUT_OF_RANGE) { wpi_setWPIErrorWithContext(ParameterOutOfRange, " channel (must be accumulator channel)"); m_analog = nullptr; - m_gyroHandle = HAL_INVALID_HANDLE; + m_gyroHandle = HAL_kInvalidHandle; return; } if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); m_analog = nullptr; - m_gyroHandle = HAL_INVALID_HANDLE; + m_gyroHandle = HAL_kInvalidHandle; return; } } int32_t status = 0; - setupAnalogGyro(m_gyroHandle, &status); + HAL_SetupAnalogGyro(m_gyroHandle, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); m_analog = nullptr; - m_gyroHandle = HAL_INVALID_HANDLE; + m_gyroHandle = HAL_kInvalidHandle; return; } - HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel()); LiveWindow::GetInstance()->AddSensor("AnalogGyro", m_analog->GetChannel(), this); } @@ -180,8 +180,8 @@ void AnalogGyro::InitGyro() { void AnalogGyro::Calibrate() { if (StatusIsFatal()) return; int32_t status = 0; - calibrateAnalogGyro(m_gyroHandle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_CalibrateAnalogGyro(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -199,8 +199,8 @@ void AnalogGyro::Calibrate() { float AnalogGyro::GetAngle() const { if (StatusIsFatal()) return 0.f; int32_t status = 0; - float value = getAnalogGyroAngle(m_gyroHandle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + float value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -214,8 +214,8 @@ float AnalogGyro::GetAngle() const { double AnalogGyro::GetRate() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; - double value = getAnalogGyroRate(m_gyroHandle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -228,8 +228,8 @@ double AnalogGyro::GetRate() const { float AnalogGyro::GetOffset() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; - float value = getAnalogGyroOffset(m_gyroHandle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + float value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -242,8 +242,8 @@ float AnalogGyro::GetOffset() const { uint32_t AnalogGyro::GetCenter() const { if (StatusIsFatal()) return 0; int32_t status = 0; - uint32_t value = getAnalogGyroCenter(m_gyroHandle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + uint32_t value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -258,9 +258,9 @@ uint32_t AnalogGyro::GetCenter() const { */ void AnalogGyro::SetSensitivity(float voltsPerDegreePerSecond) { int32_t status = 0; - setAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle, voltsPerDegreePerSecond, - &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle, + voltsPerDegreePerSecond, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -275,6 +275,6 @@ void AnalogGyro::SetSensitivity(float voltsPerDegreePerSecond) { void AnalogGyro::SetDeadband(float volts) { if (StatusIsFatal()) return; int32_t status = 0; - setAnalogGyroDeadband(m_gyroHandle, volts, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } diff --git a/wpilibc/athena/src/AnalogInput.cpp b/wpilibc/athena/src/AnalogInput.cpp index 5ac773d0f5..fd52b8458c 100644 --- a/wpilibc/athena/src/AnalogInput.cpp +++ b/wpilibc/athena/src/AnalogInput.cpp @@ -27,33 +27,33 @@ AnalogInput::AnalogInput(uint32_t channel) { std::stringstream buf; buf << "Analog Input " << channel; - if (!checkAnalogInputChannel(channel)) { + if (!HAL_CheckAnalogInputChannel(channel)) { wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str()); return; } m_channel = channel; - HalPortHandle port = getPort(channel); + HAL_PortHandle port = HAL_GetPort(channel); int32_t status = 0; - m_port = initializeAnalogInputPort(port, &status); + m_port = HAL_InitializeAnalogInputPort(port, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); m_channel = std::numeric_limits::max(); - m_port = HAL_INVALID_HANDLE; + m_port = HAL_kInvalidHandle; return; } LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this); - HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel); + HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel); } /** * Channel destructor. */ AnalogInput::~AnalogInput() { - freeAnalogInputPort(m_port); - m_port = HAL_INVALID_HANDLE; + HAL_FreeAnalogInputPort(m_port); + m_port = HAL_kInvalidHandle; } /** @@ -68,8 +68,8 @@ AnalogInput::~AnalogInput() { int16_t AnalogInput::GetValue() const { if (StatusIsFatal()) return 0; int32_t status = 0; - int16_t value = getAnalogValue(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int16_t value = HAL_GetAnalogValue(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -90,8 +90,8 @@ int16_t AnalogInput::GetValue() const { int32_t AnalogInput::GetAverageValue() const { if (StatusIsFatal()) return 0; int32_t status = 0; - int32_t value = getAnalogAverageValue(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t value = HAL_GetAnalogAverageValue(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -106,8 +106,8 @@ int32_t AnalogInput::GetAverageValue() const { float AnalogInput::GetVoltage() const { if (StatusIsFatal()) return 0.0f; int32_t status = 0; - float voltage = getAnalogVoltage(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + float voltage = HAL_GetAnalogVoltage(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return voltage; } @@ -128,8 +128,8 @@ float AnalogInput::GetVoltage() const { float AnalogInput::GetAverageVoltage() const { if (StatusIsFatal()) return 0.0f; int32_t status = 0; - float voltage = getAnalogAverageVoltage(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + float voltage = HAL_GetAnalogAverageVoltage(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return voltage; } @@ -143,8 +143,8 @@ float AnalogInput::GetAverageVoltage() const { uint32_t AnalogInput::GetLSBWeight() const { if (StatusIsFatal()) return 0; int32_t status = 0; - int32_t lsbWeight = getAnalogLSBWeight(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return lsbWeight; } @@ -158,8 +158,8 @@ uint32_t AnalogInput::GetLSBWeight() const { int32_t AnalogInput::GetOffset() const { if (StatusIsFatal()) return 0; int32_t status = 0; - int32_t offset = getAnalogOffset(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t offset = HAL_GetAnalogOffset(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return offset; } @@ -187,8 +187,8 @@ uint32_t AnalogInput::GetChannel() const { void AnalogInput::SetAverageBits(uint32_t bits) { if (StatusIsFatal()) return; int32_t status = 0; - setAnalogAverageBits(m_port, bits, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAnalogAverageBits(m_port, bits, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -201,8 +201,8 @@ void AnalogInput::SetAverageBits(uint32_t bits) { */ uint32_t AnalogInput::GetAverageBits() const { int32_t status = 0; - int32_t averageBits = getAnalogAverageBits(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t averageBits = HAL_GetAnalogAverageBits(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return averageBits; } @@ -219,8 +219,8 @@ uint32_t AnalogInput::GetAverageBits() const { void AnalogInput::SetOversampleBits(uint32_t bits) { if (StatusIsFatal()) return; int32_t status = 0; - setAnalogOversampleBits(m_port, bits, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAnalogOversampleBits(m_port, bits, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -235,8 +235,8 @@ void AnalogInput::SetOversampleBits(uint32_t bits) { uint32_t AnalogInput::GetOversampleBits() const { if (StatusIsFatal()) return 0; int32_t status = 0; - int32_t oversampleBits = getAnalogOversampleBits(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t oversampleBits = HAL_GetAnalogOversampleBits(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return oversampleBits; } @@ -248,8 +248,8 @@ uint32_t AnalogInput::GetOversampleBits() const { bool AnalogInput::IsAccumulatorChannel() const { if (StatusIsFatal()) return false; int32_t status = 0; - bool isAccum = isAccumulatorChannel(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool isAccum = HAL_IsAccumulatorChannel(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return isAccum; } @@ -260,8 +260,8 @@ void AnalogInput::InitAccumulator() { if (StatusIsFatal()) return; m_accumulatorOffset = 0; int32_t status = 0; - initAccumulator(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_InitAccumulator(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -283,8 +283,8 @@ void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) { void AnalogInput::ResetAccumulator() { if (StatusIsFatal()) return; int32_t status = 0; - resetAccumulator(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_ResetAccumulator(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); if (!StatusIsFatal()) { // Wait until the next sample, so the next call to GetAccumulator*() @@ -310,8 +310,8 @@ void AnalogInput::ResetAccumulator() { void AnalogInput::SetAccumulatorCenter(int32_t center) { if (StatusIsFatal()) return; int32_t status = 0; - setAccumulatorCenter(m_port, center, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAccumulatorCenter(m_port, center, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -320,8 +320,8 @@ void AnalogInput::SetAccumulatorCenter(int32_t center) { void AnalogInput::SetAccumulatorDeadband(int32_t deadband) { if (StatusIsFatal()) return; int32_t status = 0; - setAccumulatorDeadband(m_port, deadband, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAccumulatorDeadband(m_port, deadband, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -335,8 +335,8 @@ void AnalogInput::SetAccumulatorDeadband(int32_t deadband) { int64_t AnalogInput::GetAccumulatorValue() const { if (StatusIsFatal()) return 0; int32_t status = 0; - int64_t value = getAccumulatorValue(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int64_t value = HAL_GetAccumulatorValue(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value + m_accumulatorOffset; } @@ -351,8 +351,8 @@ int64_t AnalogInput::GetAccumulatorValue() const { uint32_t AnalogInput::GetAccumulatorCount() const { if (StatusIsFatal()) return 0; int32_t status = 0; - uint32_t count = getAccumulatorCount(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + uint32_t count = HAL_GetAccumulatorCount(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return count; } @@ -368,8 +368,8 @@ uint32_t AnalogInput::GetAccumulatorCount() const { void AnalogInput::GetAccumulatorOutput(int64_t& value, uint32_t& count) const { if (StatusIsFatal()) return; int32_t status = 0; - getAccumulatorOutput(m_port, &value, &count, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_GetAccumulatorOutput(m_port, &value, &count, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); value += m_accumulatorOffset; } @@ -383,8 +383,8 @@ void AnalogInput::GetAccumulatorOutput(int64_t& value, uint32_t& count) const { */ void AnalogInput::SetSampleRate(float samplesPerSecond) { int32_t status = 0; - setAnalogSampleRate(samplesPerSecond, &status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAnalogSampleRate(samplesPerSecond, &status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -394,8 +394,8 @@ void AnalogInput::SetSampleRate(float samplesPerSecond) { */ float AnalogInput::GetSampleRate() { int32_t status = 0; - float sampleRate = getAnalogSampleRate(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + float sampleRate = HAL_GetAnalogSampleRate(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return sampleRate; } diff --git a/wpilibc/athena/src/AnalogOutput.cpp b/wpilibc/athena/src/AnalogOutput.cpp index 006ef4e5aa..8f5273f8f9 100644 --- a/wpilibc/athena/src/AnalogOutput.cpp +++ b/wpilibc/athena/src/AnalogOutput.cpp @@ -24,27 +24,27 @@ AnalogOutput::AnalogOutput(uint32_t channel) { std::stringstream buf; buf << "analog input " << channel; - if (!checkAnalogOutputChannel(channel)) { + if (!HAL_CheckAnalogOutputChannel(channel)) { wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str()); m_channel = std::numeric_limits::max(); - m_port = HAL_INVALID_HANDLE; + m_port = HAL_kInvalidHandle; return; } m_channel = channel; - HalPortHandle port = getPort(m_channel); + HAL_PortHandle port = HAL_GetPort(m_channel); int32_t status = 0; - m_port = initializeAnalogOutputPort(port, &status); + m_port = HAL_InitializeAnalogOutputPort(port, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); m_channel = std::numeric_limits::max(); - m_port = HAL_INVALID_HANDLE; + m_port = HAL_kInvalidHandle; return; } LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this); - HALReport(HALUsageReporting::kResourceType_AnalogOutput, m_channel); + HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel); } /** @@ -52,7 +52,7 @@ AnalogOutput::AnalogOutput(uint32_t channel) { * * Frees analog output resource. */ -AnalogOutput::~AnalogOutput() { freeAnalogOutputPort(m_port); } +AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); } /** * Set the value of the analog output. @@ -61,9 +61,9 @@ AnalogOutput::~AnalogOutput() { freeAnalogOutputPort(m_port); } */ void AnalogOutput::SetVoltage(float voltage) { int32_t status = 0; - setAnalogOutput(m_port, voltage, &status); + HAL_SetAnalogOutput(m_port, voltage, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -73,9 +73,9 @@ void AnalogOutput::SetVoltage(float voltage) { */ float AnalogOutput::GetVoltage() const { int32_t status = 0; - float voltage = getAnalogOutput(m_port, &status); + float voltage = HAL_GetAnalogOutput(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return voltage; } diff --git a/wpilibc/athena/src/AnalogTrigger.cpp b/wpilibc/athena/src/AnalogTrigger.cpp index e9a48d2cf7..b8cac1cfe8 100644 --- a/wpilibc/athena/src/AnalogTrigger.cpp +++ b/wpilibc/athena/src/AnalogTrigger.cpp @@ -36,21 +36,21 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) { m_analogInput = input; int32_t status = 0; uint32_t index = 0; - m_trigger = initializeAnalogTrigger(input->m_port, &index, &status); + m_trigger = HAL_InitializeAnalogTrigger(input->m_port, &index, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); m_index = std::numeric_limits::max(); - m_trigger = HAL_INVALID_HANDLE; + m_trigger = HAL_kInvalidHandle; return; } m_index = index; - HALReport(HALUsageReporting::kResourceType_AnalogTrigger, input->m_channel); + HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, input->m_channel); } AnalogTrigger::~AnalogTrigger() { int32_t status = 0; - cleanAnalogTrigger(m_trigger, &status); + HAL_CleanAnalogTrigger(m_trigger, &status); if (m_ownsAnalog && m_analogInput != nullptr) { delete m_analogInput; @@ -69,8 +69,8 @@ AnalogTrigger::~AnalogTrigger() { void AnalogTrigger::SetLimitsRaw(int32_t lower, int32_t upper) { if (StatusIsFatal()) return; int32_t status = 0; - setAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -84,8 +84,8 @@ void AnalogTrigger::SetLimitsRaw(int32_t lower, int32_t upper) { void AnalogTrigger::SetLimitsVoltage(float lower, float upper) { if (StatusIsFatal()) return; int32_t status = 0; - setAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -100,8 +100,8 @@ void AnalogTrigger::SetLimitsVoltage(float lower, float upper) { void AnalogTrigger::SetAveraged(bool useAveragedValue) { if (StatusIsFatal()) return; int32_t status = 0; - setAnalogTriggerAveraged(m_trigger, useAveragedValue, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -117,8 +117,8 @@ void AnalogTrigger::SetAveraged(bool useAveragedValue) { void AnalogTrigger::SetFiltered(bool useFilteredValue) { if (StatusIsFatal()) return; int32_t status = 0; - setAnalogTriggerFiltered(m_trigger, useFilteredValue, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -143,8 +143,8 @@ uint32_t AnalogTrigger::GetIndex() const { bool AnalogTrigger::GetInWindow() { if (StatusIsFatal()) return false; int32_t status = 0; - bool result = getAnalogTriggerInWindow(m_trigger, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return result; } @@ -161,8 +161,8 @@ bool AnalogTrigger::GetInWindow() { bool AnalogTrigger::GetTriggerState() { if (StatusIsFatal()) return false; int32_t status = 0; - bool result = getAnalogTriggerTriggerState(m_trigger, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return result; } diff --git a/wpilibc/athena/src/AnalogTriggerOutput.cpp b/wpilibc/athena/src/AnalogTriggerOutput.cpp index 4742a1d24f..5dd8dc5c83 100644 --- a/wpilibc/athena/src/AnalogTriggerOutput.cpp +++ b/wpilibc/athena/src/AnalogTriggerOutput.cpp @@ -24,16 +24,16 @@ AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger, AnalogTriggerType outputType) : m_trigger(trigger), m_outputType(outputType) { - HALReport(HALUsageReporting::kResourceType_AnalogTriggerOutput, - trigger.GetIndex(), outputType); + HAL_Report(HALUsageReporting::kResourceType_AnalogTriggerOutput, + trigger.GetIndex(), (uint8_t)outputType); } AnalogTriggerOutput::~AnalogTriggerOutput() { - if (m_interrupt != HAL_INVALID_HANDLE) { + if (m_interrupt != HAL_kInvalidHandle) { int32_t status = 0; - cleanInterrupts(m_interrupt, &status); + HAL_CleanInterrupts(m_interrupt, &status); // ignore status, as an invalid handle just needs to be ignored. - m_interrupt = HAL_INVALID_HANDLE; + m_interrupt = HAL_kInvalidHandle; } } @@ -44,16 +44,16 @@ AnalogTriggerOutput::~AnalogTriggerOutput() { */ bool AnalogTriggerOutput::Get() const { int32_t status = 0; - bool result = - getAnalogTriggerOutput(m_trigger.m_trigger, m_outputType, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool result = HAL_GetAnalogTriggerOutput( + m_trigger.m_trigger, (HAL_AnalogTriggerType)m_outputType, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return result; } /** * @return The HAL Handle to the specified source. */ -HalHandle AnalogTriggerOutput::GetPortHandleForRouting() const { +HAL_Handle AnalogTriggerOutput::GetPortHandleForRouting() const { return m_trigger.m_trigger; } diff --git a/wpilibc/athena/src/BuiltInAccelerometer.cpp b/wpilibc/athena/src/BuiltInAccelerometer.cpp index 78df987edc..ce8486eb7a 100644 --- a/wpilibc/athena/src/BuiltInAccelerometer.cpp +++ b/wpilibc/athena/src/BuiltInAccelerometer.cpp @@ -18,8 +18,8 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) { SetRange(range); - HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, - "Built-in accelerometer"); + HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0, + "Built-in accelerometer"); LiveWindow::GetInstance()->AddSensor((std::string) "BuiltInAccel", 0, this); } @@ -29,25 +29,25 @@ void BuiltInAccelerometer::SetRange(Range range) { ParameterOutOfRange, "16G range not supported (use k2G, k4G, or k8G)"); } - setAccelerometerActive(false); - setAccelerometerRange((AccelerometerRange)range); - setAccelerometerActive(true); + HAL_SetAccelerometerActive(false); + HAL_SetAccelerometerRange((HAL_AccelerometerRange)range); + HAL_SetAccelerometerActive(true); } /** * @return The acceleration of the roboRIO along the X axis in g-forces */ -double BuiltInAccelerometer::GetX() { return getAccelerometerX(); } +double BuiltInAccelerometer::GetX() { return HAL_GetAccelerometerX(); } /** * @return The acceleration of the roboRIO along the Y axis in g-forces */ -double BuiltInAccelerometer::GetY() { return getAccelerometerY(); } +double BuiltInAccelerometer::GetY() { return HAL_GetAccelerometerY(); } /** * @return The acceleration of the roboRIO along the Z axis in g-forces */ -double BuiltInAccelerometer::GetZ() { return getAccelerometerZ(); } +double BuiltInAccelerometer::GetZ() { return HAL_GetAccelerometerZ(); } std::string BuiltInAccelerometer::GetSmartDashboardType() const { return "3AxisAccelerometer"; diff --git a/wpilibc/athena/src/CANJaguar.cpp b/wpilibc/athena/src/CANJaguar.cpp index 1ffc393676..eacddc0f3c 100644 --- a/wpilibc/athena/src/CANJaguar.cpp +++ b/wpilibc/athena/src/CANJaguar.cpp @@ -148,8 +148,8 @@ void CANJaguar::InitCANJaguar() { default: break; } - HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, - m_controlMode); + HAL_Report(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, + m_controlMode); LiveWindow::GetInstance()->AddActuator("CANJaguar", m_deviceNumber, this); } @@ -1566,8 +1566,8 @@ void CANJaguar::SetControlMode(ControlMode controlMode) { m_controlMode = controlMode; m_controlModeVerified = false; - HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, - m_controlMode); + HAL_Report(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, + m_controlMode); } /** diff --git a/wpilibc/athena/src/CANTalon.cpp b/wpilibc/athena/src/CANTalon.cpp index c745afa10d..9c3b9fc969 100644 --- a/wpilibc/athena/src/CANTalon.cpp +++ b/wpilibc/athena/src/CANTalon.cpp @@ -186,13 +186,13 @@ void CANTalon::Set(float value) { break; } if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } status = m_impl->SetModeSelect(m_sendMode); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } } @@ -250,7 +250,7 @@ bool CANTalon::IsEnabled() const { return IsControlEnabled(); } void CANTalon::SetP(double p) { CTR_Code status = m_impl->SetPgain(m_profile, p); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -263,7 +263,7 @@ void CANTalon::SetP(double p) { void CANTalon::SetI(double i) { CTR_Code status = m_impl->SetIgain(m_profile, i); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -276,7 +276,7 @@ void CANTalon::SetI(double i) { void CANTalon::SetD(double d) { CTR_Code status = m_impl->SetDgain(m_profile, d); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -289,7 +289,7 @@ void CANTalon::SetD(double d) { void CANTalon::SetF(double f) { CTR_Code status = m_impl->SetFgain(m_profile, f); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -302,7 +302,7 @@ void CANTalon::SetF(double f) { void CANTalon::SetIzone(unsigned iz) { CTR_Code status = m_impl->SetIzone(m_profile, iz); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -314,7 +314,7 @@ void CANTalon::SelectProfileSlot(int slotIdx) { m_profile = (slotIdx == 0) ? 0 : 1; /* only get two slots for now */ CTR_Code status = m_impl->SetProfileSlotSelect(m_profile); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -360,7 +360,7 @@ void CANTalon::SetFeedbackDevice(FeedbackDevice feedbackDevice) { /* pass feedback to actual CAN frame */ CTR_Code status = m_impl->SetFeedbackDeviceSelect((int)feedbackDevice); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -370,7 +370,7 @@ void CANTalon::SetFeedbackDevice(FeedbackDevice feedbackDevice) { void CANTalon::SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs) { CTR_Code status = m_impl->SetStatusFrameRate((int)stateFrame, periodMs); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -386,7 +386,7 @@ double CANTalon::GetP() const { // Update the info in m_impl. CTR_Code status = m_impl->RequestParam(param); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } // small yield for getting response std::this_thread::sleep_for( @@ -394,7 +394,7 @@ double CANTalon::GetP() const { double p; status = m_impl->GetPgain(m_profile, p); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return p; } @@ -409,7 +409,7 @@ double CANTalon::GetI() const { // Update the info in m_impl. CTR_Code status = m_impl->RequestParam(param); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } // small yield for getting response std::this_thread::sleep_for( @@ -418,7 +418,7 @@ double CANTalon::GetI() const { double i; status = m_impl->GetIgain(m_profile, i); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return i; } @@ -433,7 +433,7 @@ double CANTalon::GetD() const { // Update the info in m_impl. CTR_Code status = m_impl->RequestParam(param); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } // small yield for getting response std::this_thread::sleep_for( @@ -441,7 +441,7 @@ double CANTalon::GetD() const { double d; status = m_impl->GetDgain(m_profile, d); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return d; } @@ -456,7 +456,7 @@ double CANTalon::GetF() const { // Update the info in m_impl. CTR_Code status = m_impl->RequestParam(param); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } // small yield for getting response @@ -465,7 +465,7 @@ double CANTalon::GetF() const { double f; status = m_impl->GetFgain(m_profile, f); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return f; } @@ -480,7 +480,7 @@ int CANTalon::GetIzone() const { // Update the info in m_impl. CTR_Code status = m_impl->RequestParam(param); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } std::this_thread::sleep_for( std::chrono::microseconds(kDelayForSolicitedSignalsUs)); @@ -488,7 +488,7 @@ int CANTalon::GetIzone() const { int iz; status = m_impl->GetIzone(m_profile, iz); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return iz; } @@ -507,7 +507,7 @@ float CANTalon::GetBusVoltage() const { double voltage; CTR_Code status = m_impl->GetBatteryV(voltage); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return voltage; } @@ -520,7 +520,7 @@ float CANTalon::GetOutputVoltage() const { CTR_Code status = m_impl->GetAppliedThrottle(throttle11); float voltage = GetBusVoltage() * (float(throttle11) / 1023.0); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return voltage; } @@ -533,7 +533,7 @@ float CANTalon::GetOutputCurrent() const { CTR_Code status = m_impl->GetCurrent(current); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return current; @@ -547,7 +547,7 @@ float CANTalon::GetTemperature() const { CTR_Code status = m_impl->GetTemp(temp); if (temp != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return temp; } @@ -563,7 +563,7 @@ void CANTalon::SetPosition(double pos) { int32_t nativePos = ScaleRotationsToNativeUnits(m_feedbackDevice, pos); CTR_Code status = m_impl->SetSensorPosition(nativePos); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -581,7 +581,7 @@ double CANTalon::GetPosition() const { int32_t position; CTR_Code status = m_impl->GetSensorPosition(position); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return ScaleNativeUnitsToRotations(m_feedbackDevice, position); } @@ -594,7 +594,7 @@ double CANTalon::GetPosition() const { void CANTalon::SetSensorDirection(bool reverseSensor) { CTR_Code status = m_impl->SetRevFeedbackSensor(reverseSensor ? 1 : 0); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -612,7 +612,7 @@ void CANTalon::SetSensorDirection(bool reverseSensor) { void CANTalon::SetClosedLoopOutputDirection(bool reverseOutput) { CTR_Code status = m_impl->SetRevMotDuringCloseLoopEn(reverseOutput ? 1 : 0); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -626,7 +626,7 @@ int CANTalon::GetClosedLoopError() const { /* retrieve the closed loop error in native units */ CTR_Code status = m_impl->GetCloseLoopErr(error); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return error; } @@ -670,7 +670,7 @@ double CANTalon::GetSpeed() const { int32_t speed; CTR_Code status = m_impl->GetSensorVelocity(speed); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return ScaleNativeUnitsToRpm(m_feedbackDevice, speed); } @@ -687,7 +687,7 @@ int CANTalon::GetAnalogIn() const { int position; CTR_Code status = m_impl->GetAnalogInWithOv(position); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return position; } @@ -695,7 +695,7 @@ int CANTalon::GetAnalogIn() const { void CANTalon::SetAnalogPosition(int newPosition) { CTR_Code status = m_impl->SetParam(CanTalonSRX::eAinPosition, newPosition); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -717,7 +717,7 @@ int CANTalon::GetAnalogInVel() const { int vel; CTR_Code status = m_impl->GetAnalogInVel(vel); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return vel; } @@ -732,14 +732,14 @@ int CANTalon::GetEncPosition() const { int position; CTR_Code status = m_impl->GetEncPosition(position); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return position; } void CANTalon::SetEncPosition(int newPosition) { CTR_Code status = m_impl->SetParam(CanTalonSRX::eEncPosition, newPosition); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -753,7 +753,7 @@ int CANTalon::GetEncVel() const { int vel; CTR_Code status = m_impl->GetEncVel(vel); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return vel; } @@ -761,34 +761,34 @@ int CANTalon::GetPulseWidthPosition() const { int param; CTR_Code status = m_impl->GetPulseWidthPosition(param); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return param; } void CANTalon::SetPulseWidthPosition(int newPosition) { CTR_Code status = m_impl->SetParam(CanTalonSRX::ePwdPosition, newPosition); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } int CANTalon::GetPulseWidthVelocity() const { int param; CTR_Code status = m_impl->GetPulseWidthVelocity(param); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return param; } int CANTalon::GetPulseWidthRiseToFallUs() const { int param; CTR_Code status = m_impl->GetPulseWidthRiseToFallUs(param); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return param; } int CANTalon::GetPulseWidthRiseToRiseUs() const { int param; CTR_Code status = m_impl->GetPulseWidthRiseToRiseUs(param); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return param; } @@ -840,7 +840,7 @@ int CANTalon::GetPinStateQuadA() const { int retval; CTR_Code status = m_impl->GetQuadApin(retval); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return retval; } @@ -852,7 +852,7 @@ int CANTalon::GetPinStateQuadB() const { int retval; CTR_Code status = m_impl->GetQuadBpin(retval); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return retval; } @@ -864,7 +864,7 @@ int CANTalon::GetPinStateQuadIdx() const { int retval; CTR_Code status = m_impl->GetQuadIdxpin(retval); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return retval; } @@ -878,7 +878,7 @@ int CANTalon::IsFwdLimitSwitchClosed() const { CTR_Code status = m_impl->GetLimitSwitchClosedFor( retval); /* rename this func, '1' => open, '0' => closed */ if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return retval ? 0 : 1; } @@ -892,7 +892,7 @@ int CANTalon::IsRevLimitSwitchClosed() const { CTR_Code status = m_impl->GetLimitSwitchClosedRev( retval); /* rename this func, '1' => open, '0' => closed */ if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return retval ? 0 : 1; } @@ -906,7 +906,7 @@ int CANTalon::GetNumberOfQuadIdxRises() const { CTR_Code status = m_impl->GetEncIndexRiseEvents( rises); /* rename this func, '1' => open, '0' => closed */ if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return rises; } @@ -920,7 +920,7 @@ void CANTalon::SetNumberOfQuadIdxRises(int rises) { CanTalonSRX::eEncIndexRiseEvents, rises); /* rename this func, '1' => open, '0' => closed */ if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -933,11 +933,11 @@ bool CANTalon::GetForwardLimitOK() const { CTR_Code status = CTR_OKAY; status = m_impl->GetFault_ForSoftLim(softLim); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } status = m_impl->GetFault_ForLim(limSwit); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /* If either fault is asserted, signal caller we are disabled (with false?) */ return (softLim | limSwit) ? false : true; @@ -952,11 +952,11 @@ bool CANTalon::GetReverseLimitOK() const { CTR_Code status = CTR_OKAY; status = m_impl->GetFault_RevSoftLim(softLim); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } status = m_impl->GetFault_RevLim(limSwit); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /* If either fault is asserted, signal caller we are disabled (with false?) */ return (softLim | limSwit) ? false : true; @@ -974,42 +974,42 @@ uint16_t CANTalon::GetFaults() const { val = 0; status = m_impl->GetFault_OverTemp(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kTemperatureFault : 0; /* voltage */ val = 0; status = m_impl->GetFault_UnderVoltage(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kBusVoltageFault : 0; /* fwd-limit-switch */ val = 0; status = m_impl->GetFault_ForLim(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kFwdLimitSwitch : 0; /* rev-limit-switch */ val = 0; status = m_impl->GetFault_RevLim(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kRevLimitSwitch : 0; /* fwd-soft-limit */ val = 0; status = m_impl->GetFault_ForSoftLim(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kFwdSoftLimit : 0; /* rev-soft-limit */ val = 0; status = m_impl->GetFault_RevSoftLim(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kRevSoftLimit : 0; return retval; @@ -1024,42 +1024,42 @@ uint16_t CANTalon::GetStickyFaults() const { val = 0; status = m_impl->GetStckyFault_OverTemp(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kTemperatureFault : 0; /* voltage */ val = 0; status = m_impl->GetStckyFault_UnderVoltage(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kBusVoltageFault : 0; /* fwd-limit-switch */ val = 0; status = m_impl->GetStckyFault_ForLim(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kFwdLimitSwitch : 0; /* rev-limit-switch */ val = 0; status = m_impl->GetStckyFault_RevLim(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kRevLimitSwitch : 0; /* fwd-soft-limit */ val = 0; status = m_impl->GetStckyFault_ForSoftLim(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kFwdSoftLimit : 0; /* rev-soft-limit */ val = 0; status = m_impl->GetStckyFault_RevSoftLim(val); if (status != CTR_OKAY) - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval |= (val) ? CANSpeedController::kRevSoftLimit : 0; return retval; @@ -1067,7 +1067,7 @@ uint16_t CANTalon::GetStickyFaults() const { void CANTalon::ClearStickyFaults() { CTR_Code status = m_impl->ClearStickyFaults(); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -1088,7 +1088,7 @@ void CANTalon::SetVoltageRampRate(double rampRate) { double rampRatedThrotPer10ms = (rampRate * 1023.0 / 12.0) / 100; CTR_Code status = m_impl->SetRampThrottle((int)rampRatedThrotPer10ms); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1098,7 +1098,7 @@ void CANTalon::SetVoltageCompensationRampRate(double rampRate) { CTR_Code status = CTR_OKAY; status = m_impl->SetVoltageCompensationRate(rampRate / 1000); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1114,7 +1114,7 @@ void CANTalon::SetCloseLoopRampRate(double rampRate) { CTR_Code status = m_impl->SetCloseLoopRampRate( m_profile, rampRate * 1023.0 / 12.0 / 1000.0); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1125,20 +1125,20 @@ uint32_t CANTalon::GetFirmwareVersion() const { int firmwareVersion; CTR_Code status = m_impl->RequestParam(CanTalonSRX::eFirmVers); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } std::this_thread::sleep_for( std::chrono::microseconds(kDelayForSolicitedSignalsUs)); status = m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers, firmwareVersion); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /* only sent once on boot */ // CTR_Code status = m_impl->GetFirmVers(firmwareVersion); // if (status != CTR_OKAY) { - // wpi_setErrorWithContext(status, getHALErrorMessage(status)); + // wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); //} return firmwareVersion; @@ -1150,7 +1150,7 @@ uint32_t CANTalon::GetFirmwareVersion() const { int CANTalon::GetIaccum() const { CTR_Code status = m_impl->RequestParam(CanTalonSRX::ePidIaccum); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } // small yield for getting response std::this_thread::sleep_for( @@ -1158,7 +1158,7 @@ int CANTalon::GetIaccum() const { int iaccum; status = m_impl->GetParamResponseInt32(CanTalonSRX::ePidIaccum, iaccum); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return iaccum; } @@ -1169,7 +1169,7 @@ int CANTalon::GetIaccum() const { void CANTalon::ClearIaccum() { CTR_Code status = m_impl->SetParam(CanTalonSRX::ePidIaccum, 0); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1195,7 +1195,7 @@ void CANTalon::ConfigNeutralMode(NeutralMode mode) { break; } if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1207,7 +1207,7 @@ int CANTalon::GetBrakeEnableDuringNeutral() const { int brakeEn = 0; CTR_Code status = m_impl->GetBrakeIsEnabled(brakeEn); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } return brakeEn; } @@ -1299,7 +1299,7 @@ void CANTalon::ConfigLimitSwitchOverrides(bool bForwardLimitSwitchEn, /* update signal and error check code */ status = m_impl->SetOverrideLimitSwitchEn(fwdRevEnable); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1315,17 +1315,17 @@ void CANTalon::ConfigLimitMode(LimitMode mode) { * limit switch.*/ status = m_impl->SetForwardSoftEnable(false); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } status = m_impl->SetReverseSoftEnable(false); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /* override enable the limit switches, this circumvents the webdash */ status = m_impl->SetOverrideLimitSwitchEn( CanTalonSRX::kLimitSwitchOverride_EnableFwd_EnableRev); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } break; case kLimitMode_SoftPositionLimits: /** Use both switches and soft limits */ @@ -1333,17 +1333,17 @@ void CANTalon::ConfigLimitMode(LimitMode mode) { * limit switch.*/ status = m_impl->SetForwardSoftEnable(true); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } status = m_impl->SetReverseSoftEnable(true); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /* override enable the limit switches, this circumvents the webdash */ status = m_impl->SetOverrideLimitSwitchEn( CanTalonSRX::kLimitSwitchOverride_EnableFwd_EnableRev); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } break; @@ -1353,17 +1353,17 @@ void CANTalon::ConfigLimitMode(LimitMode mode) { * limit switch.*/ status = m_impl->SetForwardSoftEnable(false); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } status = m_impl->SetReverseSoftEnable(false); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /* override enable the limit switches, this circumvents the webdash */ status = m_impl->SetOverrideLimitSwitchEn( CanTalonSRX::kLimitSwitchOverride_DisableFwd_DisableRev); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } break; } @@ -1378,7 +1378,7 @@ void CANTalon::ConfigForwardLimit(double forwardLimitPosition) { ScaleRotationsToNativeUnits(m_feedbackDevice, forwardLimitPosition); status = m_impl->SetForwardSoftLimit(nativeLimitPos); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1393,7 +1393,7 @@ void CANTalon::ConfigForwardSoftLimitEnable(bool bForwardSoftLimitEn) { CTR_Code status = CTR_OKAY; status = m_impl->SetForwardSoftEnable(bForwardSoftLimitEn); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1408,7 +1408,7 @@ void CANTalon::ConfigReverseSoftLimitEnable(bool bReverseSoftLimitEn) { CTR_Code status = CTR_OKAY; status = m_impl->SetReverseSoftEnable(bReverseSoftLimitEn); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1427,7 +1427,7 @@ void CANTalon::ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen) { m_impl->SetParam(CanTalonSRX::eOnBoot_LimitSwitch_Forward_NormallyClosed, normallyOpen ? 0 : 1); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1446,7 +1446,7 @@ void CANTalon::ConfigRevLimitSwitchNormallyOpen(bool normallyOpen) { m_impl->SetParam(CanTalonSRX::eOnBoot_LimitSwitch_Reverse_NormallyClosed, normallyOpen ? 0 : 1); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1459,7 +1459,7 @@ void CANTalon::ConfigReverseLimit(double reverseLimitPosition) { ScaleRotationsToNativeUnits(m_feedbackDevice, reverseLimitPosition); status = m_impl->SetReverseSoftLimit(nativeLimitPos); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1515,7 +1515,7 @@ void CANTalon::ConfigSetParameter(uint32_t paramEnum, double value) { /* config peak throttle when in closed-loop mode in the positive direction. */ status = m_impl->SetParam((CanTalonSRX::param_t)paramEnum, value); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1528,7 +1528,7 @@ bool CANTalon::GetParameter(uint32_t paramEnum, double& dvalue) const { /* send the request frame */ CTR_Code status = m_impl->RequestParam((CanTalonSRX::param_t)paramEnum); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval = false; } /* small yield for getting response */ @@ -1537,7 +1537,7 @@ bool CANTalon::GetParameter(uint32_t paramEnum, double& dvalue) const { /* get the last received update */ status = m_impl->GetParamResponse((CanTalonSRX::param_t)paramEnum, dvalue); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); retval = false; } return retval; @@ -1560,8 +1560,8 @@ void CANTalon::ConfigFaultTime(float faultTime) { */ void CANTalon::ApplyControlMode(CANSpeedController::ControlMode mode) { m_controlMode = mode; - HALReport(HALUsageReporting::kResourceType_CANTalonSRX, m_deviceNumber + 1, - mode); + HAL_Report(HALUsageReporting::kResourceType_CANTalonSRX, m_deviceNumber + 1, + mode); switch (mode) { case kPercentVbus: m_sendMode = kThrottle; @@ -1588,7 +1588,7 @@ void CANTalon::ApplyControlMode(CANSpeedController::ControlMode mode) { // Keep the talon disabled until Set() is called. CTR_Code status = m_impl->SetModeSelect((int)kDisabled); if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -1723,7 +1723,7 @@ double CANTalon::GetNativeUnitsPerRotationScalar( } /* handle any detected errors */ if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /* if scaling information is not possible, signal caller * by returning zero @@ -1979,7 +1979,7 @@ void CANTalon::GetMotionProfileStatus( 0; /* this signal is only used sending pts to Talon */ if (status != CTR_OKAY) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } diff --git a/wpilibc/athena/src/Compressor.cpp b/wpilibc/athena/src/Compressor.cpp index 0c11e7103f..73f04d6b12 100644 --- a/wpilibc/athena/src/Compressor.cpp +++ b/wpilibc/athena/src/Compressor.cpp @@ -14,9 +14,9 @@ */ Compressor::Compressor(uint8_t pcmID) { int32_t status = 0; - m_compressorHandle = initializeCompressor(pcmID, &status); + m_compressorHandle = HAL_InitializeCompressor(pcmID, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return; } SetClosedLoopControl(true); @@ -50,7 +50,7 @@ bool Compressor::Enabled() const { int32_t status = 0; bool value; - value = getCompressor(m_compressorHandle, &status); + value = HAL_GetCompressor(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -69,7 +69,7 @@ bool Compressor::GetPressureSwitchValue() const { int32_t status = 0; bool value; - value = getPressureSwitch(m_compressorHandle, &status); + value = HAL_GetPressureSwitch(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -88,7 +88,7 @@ float Compressor::GetCompressorCurrent() const { int32_t status = 0; float value; - value = getCompressorCurrent(m_compressorHandle, &status); + value = HAL_GetCompressorCurrent(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -108,7 +108,7 @@ void Compressor::SetClosedLoopControl(bool on) { if (StatusIsFatal()) return; int32_t status = 0; - setClosedLoopControl(m_compressorHandle, on, &status); + HAL_SetClosedLoopControl(m_compressorHandle, on, &status); if (status) { wpi_setWPIError(Timeout); @@ -127,7 +127,7 @@ bool Compressor::GetClosedLoopControl() const { int32_t status = 0; bool value; - value = getClosedLoopControl(m_compressorHandle, &status); + value = HAL_GetClosedLoopControl(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -147,7 +147,7 @@ bool Compressor::GetCompressorCurrentTooHighFault() const { int32_t status = 0; bool value; - value = getCompressorCurrentTooHighFault(m_compressorHandle, &status); + value = HAL_GetCompressorCurrentTooHighFault(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -171,7 +171,8 @@ bool Compressor::GetCompressorCurrentTooHighStickyFault() const { int32_t status = 0; bool value; - value = getCompressorCurrentTooHighStickyFault(m_compressorHandle, &status); + value = + HAL_GetCompressorCurrentTooHighStickyFault(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -195,7 +196,7 @@ bool Compressor::GetCompressorShortedStickyFault() const { int32_t status = 0; bool value; - value = getCompressorShortedStickyFault(m_compressorHandle, &status); + value = HAL_GetCompressorShortedStickyFault(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -215,7 +216,7 @@ bool Compressor::GetCompressorShortedFault() const { int32_t status = 0; bool value; - value = getCompressorShortedFault(m_compressorHandle, &status); + value = HAL_GetCompressorShortedFault(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -238,7 +239,7 @@ bool Compressor::GetCompressorNotConnectedStickyFault() const { int32_t status = 0; bool value; - value = getCompressorNotConnectedStickyFault(m_compressorHandle, &status); + value = HAL_GetCompressorNotConnectedStickyFault(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -258,7 +259,7 @@ bool Compressor::GetCompressorNotConnectedFault() const { int32_t status = 0; bool value; - value = getCompressorNotConnectedFault(m_compressorHandle, &status); + value = HAL_GetCompressorNotConnectedFault(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); @@ -281,7 +282,7 @@ void Compressor::ClearAllPCMStickyFaults() { if (StatusIsFatal()) return; int32_t status = 0; - clearAllPCMStickyFaults(m_compressorHandle, &status); + HAL_ClearAllPCMStickyFaults(m_compressorHandle, &status); if (status) { wpi_setWPIError(Timeout); diff --git a/wpilibc/athena/src/ControllerPower.cpp b/wpilibc/athena/src/ControllerPower.cpp index ed1ac1a207..aac8d54acb 100644 --- a/wpilibc/athena/src/ControllerPower.cpp +++ b/wpilibc/athena/src/ControllerPower.cpp @@ -20,8 +20,8 @@ */ double ControllerPower::GetInputVoltage() { int32_t status = 0; - double retVal = getVinVoltage(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + double retVal = HAL_GetVinVoltage(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -32,8 +32,8 @@ double ControllerPower::GetInputVoltage() { */ double ControllerPower::GetInputCurrent() { int32_t status = 0; - double retVal = getVinCurrent(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + double retVal = HAL_GetVinCurrent(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -44,8 +44,8 @@ double ControllerPower::GetInputCurrent() { */ double ControllerPower::GetVoltage6V() { int32_t status = 0; - double retVal = getUserVoltage6V(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + double retVal = HAL_GetUserVoltage6V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -56,8 +56,8 @@ double ControllerPower::GetVoltage6V() { */ double ControllerPower::GetCurrent6V() { int32_t status = 0; - double retVal = getUserCurrent6V(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + double retVal = HAL_GetUserCurrent6V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -69,8 +69,8 @@ double ControllerPower::GetCurrent6V() { */ bool ControllerPower::GetEnabled6V() { int32_t status = 0; - bool retVal = getUserActive6V(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + bool retVal = HAL_GetUserActive6V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -82,8 +82,8 @@ bool ControllerPower::GetEnabled6V() { */ int ControllerPower::GetFaultCount6V() { int32_t status = 0; - int retVal = getUserCurrentFaults6V(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + int retVal = HAL_GetUserCurrentFaults6V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -94,8 +94,8 @@ int ControllerPower::GetFaultCount6V() { */ double ControllerPower::GetVoltage5V() { int32_t status = 0; - double retVal = getUserVoltage5V(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + double retVal = HAL_GetUserVoltage5V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -106,8 +106,8 @@ double ControllerPower::GetVoltage5V() { */ double ControllerPower::GetCurrent5V() { int32_t status = 0; - double retVal = getUserCurrent5V(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + double retVal = HAL_GetUserCurrent5V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -119,8 +119,8 @@ double ControllerPower::GetCurrent5V() { */ bool ControllerPower::GetEnabled5V() { int32_t status = 0; - bool retVal = getUserActive5V(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + bool retVal = HAL_GetUserActive5V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -132,8 +132,8 @@ bool ControllerPower::GetEnabled5V() { */ int ControllerPower::GetFaultCount5V() { int32_t status = 0; - int retVal = getUserCurrentFaults5V(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + int retVal = HAL_GetUserCurrentFaults5V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -144,8 +144,8 @@ int ControllerPower::GetFaultCount5V() { */ double ControllerPower::GetVoltage3V3() { int32_t status = 0; - double retVal = getUserVoltage3V3(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + double retVal = HAL_GetUserVoltage3V3(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -156,8 +156,8 @@ double ControllerPower::GetVoltage3V3() { */ double ControllerPower::GetCurrent3V3() { int32_t status = 0; - double retVal = getUserCurrent3V3(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + double retVal = HAL_GetUserCurrent3V3(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -169,8 +169,8 @@ double ControllerPower::GetCurrent3V3() { */ bool ControllerPower::GetEnabled3V3() { int32_t status = 0; - bool retVal = getUserActive3V3(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + bool retVal = HAL_GetUserActive3V3(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -182,7 +182,7 @@ bool ControllerPower::GetEnabled3V3() { */ int ControllerPower::GetFaultCount3V3() { int32_t status = 0; - int retVal = getUserCurrentFaults3V3(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + int retVal = HAL_GetUserCurrentFaults3V3(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } diff --git a/wpilibc/athena/src/Counter.cpp b/wpilibc/athena/src/Counter.cpp index 9c805a26a6..f72c74b4e9 100644 --- a/wpilibc/athena/src/Counter.cpp +++ b/wpilibc/athena/src/Counter.cpp @@ -27,12 +27,12 @@ */ Counter::Counter(Mode mode) { int32_t status = 0; - m_counter = initializeCounter(mode, &m_index, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + m_counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, &m_index, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); SetMaxPeriod(.5); - HALReport(HALUsageReporting::kResourceType_Counter, m_index, mode); + HAL_Report(HALUsageReporting::kResourceType_Counter, m_index, mode); } /** @@ -97,7 +97,7 @@ Counter::Counter(int32_t channel) : Counter(kTwoPulse) { */ DEPRECATED("Use pass-by-reference instead.") Counter::Counter(AnalogTrigger* trigger) : Counter(kTwoPulse) { - SetUpSource(trigger->CreateOutput(kState)); + SetUpSource(trigger->CreateOutput(AnalogTriggerType::kState)); ClearDownSource(); } @@ -112,7 +112,7 @@ Counter::Counter(AnalogTrigger* trigger) : Counter(kTwoPulse) { * @param trigger The reference to the existing AnalogTrigger object. */ Counter::Counter(const AnalogTrigger& trigger) : Counter(kTwoPulse) { - SetUpSource(trigger.CreateOutput(kState)); + SetUpSource(trigger.CreateOutput(AnalogTriggerType::kState)); ClearDownSource(); } @@ -162,13 +162,13 @@ Counter::Counter(EncodingType encodingType, if (encodingType == k1X) { SetUpSourceEdge(true, false); - setCounterAverageSize(m_counter, 1, &status); + HAL_SetCounterAverageSize(m_counter, 1, &status); } else { SetUpSourceEdge(true, true); - setCounterAverageSize(m_counter, 2, &status); + HAL_SetCounterAverageSize(m_counter, 2, &status); } - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); SetDownSourceEdge(inverted, true); } @@ -179,9 +179,9 @@ Counter::~Counter() { SetUpdateWhenEmpty(true); int32_t status = 0; - freeCounter(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_counter = HAL_INVALID_HANDLE; + HAL_FreeCounter(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_counter = HAL_kInvalidHandle; } /** @@ -234,9 +234,11 @@ void Counter::SetUpSource(std::shared_ptr source) { CloneError(*m_upSource); } else { int32_t status = 0; - setCounterUpSource(m_counter, source->GetPortHandleForRouting(), - source->GetAnalogTriggerTypeForRouting(), &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterUpSource( + m_counter, source->GetPortHandleForRouting(), + (HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(), + &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -273,8 +275,8 @@ void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) { "Must set non-nullptr UpSource before setting UpSourceEdge"); } int32_t status = 0; - setCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -284,8 +286,8 @@ void Counter::ClearUpSource() { if (StatusIsFatal()) return; m_upSource.reset(); int32_t status = 0; - clearCounterUpSource(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_ClearCounterUpSource(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -340,9 +342,11 @@ void Counter::SetDownSource(std::shared_ptr source) { CloneError(*m_downSource); } else { int32_t status = 0; - setCounterDownSource(m_counter, source->GetPortHandleForRouting(), - source->GetAnalogTriggerTypeForRouting(), &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterDownSource( + m_counter, source->GetPortHandleForRouting(), + (HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(), + &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } @@ -379,8 +383,8 @@ void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) { "Must set non-nullptr DownSource before setting DownSourceEdge"); } int32_t status = 0; - setCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -390,8 +394,8 @@ void Counter::ClearDownSource() { if (StatusIsFatal()) return; m_downSource.reset(); int32_t status = 0; - clearCounterDownSource(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_ClearCounterDownSource(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -402,8 +406,8 @@ void Counter::ClearDownSource() { void Counter::SetUpDownCounterMode() { if (StatusIsFatal()) return; int32_t status = 0; - setCounterUpDownMode(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterUpDownMode(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -415,8 +419,8 @@ void Counter::SetUpDownCounterMode() { void Counter::SetExternalDirectionMode() { if (StatusIsFatal()) return; int32_t status = 0; - setCounterExternalDirectionMode(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterExternalDirectionMode(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -427,8 +431,8 @@ void Counter::SetExternalDirectionMode() { void Counter::SetSemiPeriodMode(bool highSemiPeriod) { if (StatusIsFatal()) return; int32_t status = 0; - setCounterSemiPeriodMode(m_counter, highSemiPeriod, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterSemiPeriodMode(m_counter, highSemiPeriod, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -443,8 +447,8 @@ void Counter::SetSemiPeriodMode(bool highSemiPeriod) { void Counter::SetPulseLengthMode(float threshold) { if (StatusIsFatal()) return; int32_t status = 0; - setCounterPulseLengthMode(m_counter, threshold, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterPulseLengthMode(m_counter, threshold, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -458,8 +462,8 @@ void Counter::SetPulseLengthMode(float threshold) { */ int Counter::GetSamplesToAverage() const { int32_t status = 0; - int32_t samples = getCounterSamplesToAverage(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t samples = HAL_GetCounterSamplesToAverage(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return samples; } @@ -477,8 +481,8 @@ void Counter::SetSamplesToAverage(int samplesToAverage) { "Average counter values must be between 1 and 127"); } int32_t status = 0; - setCounterSamplesToAverage(m_counter, samplesToAverage, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterSamplesToAverage(m_counter, samplesToAverage, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -490,8 +494,8 @@ void Counter::SetSamplesToAverage(int samplesToAverage) { int32_t Counter::Get() const { if (StatusIsFatal()) return 0; int32_t status = 0; - int32_t value = getCounter(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t value = HAL_GetCounter(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -504,8 +508,8 @@ int32_t Counter::Get() const { void Counter::Reset() { if (StatusIsFatal()) return; int32_t status = 0; - resetCounter(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_ResetCounter(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -519,8 +523,8 @@ void Counter::Reset() { double Counter::GetPeriod() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; - double value = getCounterPeriod(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double value = HAL_GetCounterPeriod(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -537,8 +541,8 @@ double Counter::GetPeriod() const { void Counter::SetMaxPeriod(double maxPeriod) { if (StatusIsFatal()) return; int32_t status = 0; - setCounterMaxPeriod(m_counter, maxPeriod, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterMaxPeriod(m_counter, maxPeriod, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -561,8 +565,8 @@ void Counter::SetMaxPeriod(double maxPeriod) { void Counter::SetUpdateWhenEmpty(bool enabled) { if (StatusIsFatal()) return; int32_t status = 0; - setCounterUpdateWhenEmpty(m_counter, enabled, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterUpdateWhenEmpty(m_counter, enabled, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -578,8 +582,8 @@ void Counter::SetUpdateWhenEmpty(bool enabled) { bool Counter::GetStopped() const { if (StatusIsFatal()) return false; int32_t status = 0; - bool value = getCounterStopped(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool value = HAL_GetCounterStopped(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -591,8 +595,8 @@ bool Counter::GetStopped() const { bool Counter::GetDirection() const { if (StatusIsFatal()) return false; int32_t status = 0; - bool value = getCounterDirection(m_counter, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool value = HAL_GetCounterDirection(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -607,8 +611,8 @@ bool Counter::GetDirection() const { void Counter::SetReverseDirection(bool reverseDirection) { if (StatusIsFatal()) return; int32_t status = 0; - setCounterReverseDirection(m_counter, reverseDirection, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } void Counter::UpdateTable() { diff --git a/wpilibc/athena/src/DigitalGlitchFilter.cpp b/wpilibc/athena/src/DigitalGlitchFilter.cpp index 004ca972f7..ba6465b081 100644 --- a/wpilibc/athena/src/DigitalGlitchFilter.cpp +++ b/wpilibc/athena/src/DigitalGlitchFilter.cpp @@ -29,7 +29,7 @@ DigitalGlitchFilter::DigitalGlitchFilter() { m_channelIndex = std::distance(m_filterAllocated.begin(), index); *index = true; - HALReport(HALUsageReporting::kResourceType_DigitalFilter, m_channelIndex); + HAL_Report(HALUsageReporting::kResourceType_DigitalFilter, m_channelIndex); } DigitalGlitchFilter::~DigitalGlitchFilter() { @@ -59,16 +59,17 @@ void DigitalGlitchFilter::DoAdd(DigitalSource* input, int requested_index) { return; } int32_t status = 0; - setFilterSelect(input->GetPortHandleForRouting(), requested_index, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetFilterSelect(input->GetPortHandleForRouting(), requested_index, + &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); // Validate that we set it correctly. int actual_index = - getFilterSelect(input->GetPortHandleForRouting(), &status); + HAL_GetFilterSelect(input->GetPortHandleForRouting(), &status); wpi_assertEqual(actual_index, requested_index); - HALReport(HALUsageReporting::kResourceType_DigitalInput, - input->GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_DigitalInput, + input->GetChannel()); } } @@ -147,8 +148,8 @@ void DigitalGlitchFilter::Remove(Counter* input) { */ void DigitalGlitchFilter::SetPeriodCycles(uint32_t fpga_cycles) { int32_t status = 0; - setFilterPeriod(m_channelIndex, fpga_cycles, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetFilterPeriod(m_channelIndex, fpga_cycles, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -159,10 +160,10 @@ void DigitalGlitchFilter::SetPeriodCycles(uint32_t fpga_cycles) { void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) { int32_t status = 0; uint32_t fpga_cycles = - nanoseconds * HAL_getSystemClockTicksPerMicrosecond() / 4 / 1000; - setFilterPeriod(m_channelIndex, fpga_cycles, &status); + nanoseconds * HAL_GetSystemClockTicksPerMicrosecond() / 4 / 1000; + HAL_SetFilterPeriod(m_channelIndex, fpga_cycles, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -172,9 +173,9 @@ void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) { */ uint32_t DigitalGlitchFilter::GetPeriodCycles() { int32_t status = 0; - uint32_t fpga_cycles = getFilterPeriod(m_channelIndex, &status); + uint32_t fpga_cycles = HAL_GetFilterPeriod(m_channelIndex, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return fpga_cycles; } @@ -186,10 +187,10 @@ uint32_t DigitalGlitchFilter::GetPeriodCycles() { */ uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() { int32_t status = 0; - uint32_t fpga_cycles = getFilterPeriod(m_channelIndex, &status); + uint32_t fpga_cycles = HAL_GetFilterPeriod(m_channelIndex, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return static_cast(fpga_cycles) * 1000L / - static_cast(HAL_getSystemClockTicksPerMicrosecond() / 4); + static_cast(HAL_GetSystemClockTicksPerMicrosecond() / 4); } diff --git a/wpilibc/athena/src/DigitalInput.cpp b/wpilibc/athena/src/DigitalInput.cpp index 963c5eec9a..129ca41c43 100644 --- a/wpilibc/athena/src/DigitalInput.cpp +++ b/wpilibc/athena/src/DigitalInput.cpp @@ -33,16 +33,16 @@ DigitalInput::DigitalInput(uint32_t channel) { m_channel = channel; int32_t status = 0; - m_handle = initializeDIOPort(getPort(channel), true, &status); + m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_handle = HAL_INVALID_HANDLE; + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_handle = HAL_kInvalidHandle; m_channel = std::numeric_limits::max(); return; } LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this); - HALReport(HALUsageReporting::kResourceType_DigitalInput, channel); + HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel); } /** @@ -50,14 +50,14 @@ DigitalInput::DigitalInput(uint32_t channel) { */ DigitalInput::~DigitalInput() { if (StatusIsFatal()) return; - if (m_interrupt != HAL_INVALID_HANDLE) { + if (m_interrupt != HAL_kInvalidHandle) { int32_t status = 0; - cleanInterrupts(m_interrupt, &status); + HAL_CleanInterrupts(m_interrupt, &status); // ignore status, as an invalid handle just needs to be ignored. - m_interrupt = HAL_INVALID_HANDLE; + m_interrupt = HAL_kInvalidHandle; } - freeDIOPort(m_handle); + HAL_FreeDIOPort(m_handle); } /** @@ -68,8 +68,8 @@ DigitalInput::~DigitalInput() { bool DigitalInput::Get() const { if (StatusIsFatal()) return false; int32_t status = 0; - bool value = getDIO(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool value = HAL_GetDIO(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -81,7 +81,7 @@ uint32_t DigitalInput::GetChannel() const { return m_channel; } /** * @return The HAL Handle to the specified source. */ -HalHandle DigitalInput::GetPortHandleForRouting() const { return m_handle; } +HAL_Handle DigitalInput::GetPortHandleForRouting() const { return m_handle; } /** * Is source an AnalogTrigger diff --git a/wpilibc/athena/src/DigitalOutput.cpp b/wpilibc/athena/src/DigitalOutput.cpp index 445f2235f5..89b3d0d74c 100644 --- a/wpilibc/athena/src/DigitalOutput.cpp +++ b/wpilibc/athena/src/DigitalOutput.cpp @@ -24,7 +24,7 @@ DigitalOutput::DigitalOutput(uint32_t channel) { std::stringstream buf; - m_pwmGenerator = HAL_INVALID_HANDLE; + m_pwmGenerator = HAL_kInvalidHandle; if (!CheckDigitalChannel(channel)) { buf << "Digital Channel " << channel; wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str()); @@ -34,15 +34,15 @@ DigitalOutput::DigitalOutput(uint32_t channel) { m_channel = channel; int32_t status = 0; - m_handle = initializeDIOPort(getPort(channel), false, &status); + m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), false, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); m_channel = std::numeric_limits::max(); - m_handle = HAL_INVALID_HANDLE; + m_handle = HAL_kInvalidHandle; return; } - HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel); + HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel); } /** @@ -54,7 +54,7 @@ DigitalOutput::~DigitalOutput() { // Disable the PWM in case it was running. DisablePWM(); - freeDIOPort(m_handle); + HAL_FreeDIOPort(m_handle); } /** @@ -68,8 +68,8 @@ void DigitalOutput::Set(uint32_t value) { if (StatusIsFatal()) return; int32_t status = 0; - setDIO(m_handle, value, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetDIO(m_handle, value, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -89,8 +89,8 @@ void DigitalOutput::Pulse(float length) { if (StatusIsFatal()) return; int32_t status = 0; - pulse(m_handle, length, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_Pulse(m_handle, length, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -102,8 +102,8 @@ bool DigitalOutput::IsPulsing() const { if (StatusIsFatal()) return false; int32_t status = 0; - bool value = isPulsing(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool value = HAL_IsPulsing(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -121,8 +121,8 @@ void DigitalOutput::SetPWMRate(float rate) { if (StatusIsFatal()) return; int32_t status = 0; - setDigitalPWMRate(rate, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetDigitalPWMRate(rate, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -139,21 +139,21 @@ void DigitalOutput::SetPWMRate(float rate) { * @param initialDutyCycle The duty-cycle to start generating. [0..1] */ void DigitalOutput::EnablePWM(float initialDutyCycle) { - if (m_pwmGenerator != HAL_INVALID_HANDLE) return; + if (m_pwmGenerator != HAL_kInvalidHandle) return; int32_t status = 0; if (StatusIsFatal()) return; - m_pwmGenerator = allocateDigitalPWM(&status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + m_pwmGenerator = HAL_AllocateDigitalPWM(&status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); if (StatusIsFatal()) return; - setDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); if (StatusIsFatal()) return; - setDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -163,18 +163,18 @@ void DigitalOutput::EnablePWM(float initialDutyCycle) { */ void DigitalOutput::DisablePWM() { if (StatusIsFatal()) return; - if (m_pwmGenerator == HAL_INVALID_HANDLE) return; + if (m_pwmGenerator == HAL_kInvalidHandle) return; int32_t status = 0; // Disable the output by routing to a dead bit. - setDigitalPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - freeDigitalPWM(m_pwmGenerator, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_FreeDigitalPWM(m_pwmGenerator, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - m_pwmGenerator = HAL_INVALID_HANDLE; + m_pwmGenerator = HAL_kInvalidHandle; } /** @@ -189,14 +189,14 @@ void DigitalOutput::UpdateDutyCycle(float dutyCycle) { if (StatusIsFatal()) return; int32_t status = 0; - setDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** * @return The HAL Handle to the specified source. */ -HalHandle DigitalOutput::GetPortHandleForRouting() const { return m_handle; } +HAL_Handle DigitalOutput::GetPortHandleForRouting() const { return m_handle; } /** * Is source an AnalogTrigger diff --git a/wpilibc/athena/src/DoubleSolenoid.cpp b/wpilibc/athena/src/DoubleSolenoid.cpp index 819cc8dd3c..2e7d8bfa99 100644 --- a/wpilibc/athena/src/DoubleSolenoid.cpp +++ b/wpilibc/athena/src/DoubleSolenoid.cpp @@ -53,33 +53,33 @@ DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, return; } int32_t status = 0; - m_forwardHandle = initializeSolenoidPort( - getPortWithModule(moduleNumber, m_forwardChannel), &status); + m_forwardHandle = HAL_InitializeSolenoidPort( + HAL_GetPortWithModule(moduleNumber, m_forwardChannel), &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_forwardHandle = HAL_INVALID_HANDLE; - m_reverseHandle = HAL_INVALID_HANDLE; + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_forwardHandle = HAL_kInvalidHandle; + m_reverseHandle = HAL_kInvalidHandle; return; } - m_reverseHandle = initializeSolenoidPort( - getPortWithModule(moduleNumber, m_reverseChannel), &status); + m_reverseHandle = HAL_InitializeSolenoidPort( + HAL_GetPortWithModule(moduleNumber, m_reverseChannel), &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); // free forward solenoid - freeSolenoidPort(m_forwardHandle); - m_forwardHandle = HAL_INVALID_HANDLE; - m_reverseHandle = HAL_INVALID_HANDLE; + HAL_FreeSolenoidPort(m_forwardHandle); + m_forwardHandle = HAL_kInvalidHandle; + m_reverseHandle = HAL_kInvalidHandle; return; } m_forwardMask = 1 << m_forwardChannel; m_reverseMask = 1 << m_reverseChannel; - HALReport(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel, - m_moduleNumber); - HALReport(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel, - m_moduleNumber); + HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel, + m_moduleNumber); + HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel, + m_moduleNumber); LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this); } @@ -88,8 +88,8 @@ DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, * Destructor. */ DoubleSolenoid::~DoubleSolenoid() { - freeSolenoidPort(m_forwardHandle); - freeSolenoidPort(m_reverseHandle); + HAL_FreeSolenoidPort(m_forwardHandle); + HAL_FreeSolenoidPort(m_reverseHandle); if (m_table != nullptr) m_table->RemoveTableListener(this); } @@ -118,12 +118,12 @@ void DoubleSolenoid::Set(Value value) { break; } int32_t fstatus = 0; - setSolenoid(m_forwardHandle, forward, &fstatus); + HAL_SetSolenoid(m_forwardHandle, forward, &fstatus); int32_t rstatus = 0; - setSolenoid(m_reverseHandle, reverse, &rstatus); + HAL_SetSolenoid(m_reverseHandle, reverse, &rstatus); - wpi_setErrorWithContext(fstatus, getHALErrorMessage(fstatus)); - wpi_setErrorWithContext(rstatus, getHALErrorMessage(rstatus)); + wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus)); + wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus)); } /** @@ -135,11 +135,11 @@ DoubleSolenoid::Value DoubleSolenoid::Get() const { if (StatusIsFatal()) return kOff; int32_t fstatus = 0; int32_t rstatus = 0; - bool valueForward = getSolenoid(m_forwardHandle, &fstatus); - bool valueReverse = getSolenoid(m_reverseHandle, &rstatus); + bool valueForward = HAL_GetSolenoid(m_forwardHandle, &fstatus); + bool valueReverse = HAL_GetSolenoid(m_reverseHandle, &rstatus); - wpi_setErrorWithContext(fstatus, getHALErrorMessage(fstatus)); - wpi_setErrorWithContext(rstatus, getHALErrorMessage(rstatus)); + wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus)); + wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus)); if (valueForward) return kForward; if (valueReverse) return kReverse; diff --git a/wpilibc/athena/src/DriverStation.cpp b/wpilibc/athena/src/DriverStation.cpp index 7fd36e2b10..60415a3b3b 100644 --- a/wpilibc/athena/src/DriverStation.cpp +++ b/wpilibc/athena/src/DriverStation.cpp @@ -25,17 +25,17 @@ const uint32_t DriverStation::kJoystickPorts; * This is only called once the first time GetInstance() is called */ DriverStation::DriverStation() { - m_joystickAxes = std::make_unique(kJoystickPorts); - m_joystickPOVs = std::make_unique(kJoystickPorts); - m_joystickButtons = std::make_unique(kJoystickPorts); + m_joystickAxes = std::make_unique(kJoystickPorts); + m_joystickPOVs = std::make_unique(kJoystickPorts); + m_joystickButtons = std::make_unique(kJoystickPorts); m_joystickDescriptor = - std::make_unique(kJoystickPorts); - m_joystickAxesCache = std::make_unique(kJoystickPorts); - m_joystickPOVsCache = std::make_unique(kJoystickPorts); + std::make_unique(kJoystickPorts); + m_joystickAxesCache = std::make_unique(kJoystickPorts); + m_joystickPOVsCache = std::make_unique(kJoystickPorts); m_joystickButtonsCache = - std::make_unique(kJoystickPorts); + std::make_unique(kJoystickPorts); m_joystickDescriptorCache = - std::make_unique(kJoystickPorts); + std::make_unique(kJoystickPorts); // All joysticks should default to having zero axes, povs and buttons, so // uninitialized memory doesn't get sent to speed controllers. @@ -56,7 +56,7 @@ DriverStation::DriverStation() { } // Register that semaphore with the network communications task. // It will signal when new packet data is available. - HALSetNewDataSem(&m_packetDataAvailableCond); + HAL_SetNewDataSem(&m_packetDataAvailableCond); m_task = Task("DriverStation", &DriverStation::Run, this); } @@ -66,7 +66,7 @@ DriverStation::~DriverStation() { m_task.join(); // Unregister our semaphore. - HALSetNewDataSem(nullptr); + HAL_SetNewDataSem(nullptr); } void DriverStation::Run() { @@ -88,11 +88,11 @@ void DriverStation::Run() { MotorSafetyHelper::CheckMotors(); period = 0; } - if (m_userInDisabled) HALNetworkCommunicationObserveUserProgramDisabled(); + if (m_userInDisabled) HAL_NetworkCommunicationObserveUserProgramDisabled(); if (m_userInAutonomous) - HALNetworkCommunicationObserveUserProgramAutonomous(); - if (m_userInTeleop) HALNetworkCommunicationObserveUserProgramTeleop(); - if (m_userInTest) HALNetworkCommunicationObserveUserProgramTest(); + HAL_NetworkCommunicationObserveUserProgramAutonomous(); + if (m_userInTeleop) HAL_NetworkCommunicationObserveUserProgramTeleop(); + if (m_userInTest) HAL_NetworkCommunicationObserveUserProgramTest(); } } @@ -115,10 +115,10 @@ DriverStation& DriverStation::GetInstance() { void DriverStation::GetData() { // Get the status of all of the joysticks, and save to the cache for (uint8_t stick = 0; stick < kJoystickPorts; stick++) { - HALGetJoystickAxes(stick, &m_joystickAxesCache[stick]); - HALGetJoystickPOVs(stick, &m_joystickPOVsCache[stick]); - HALGetJoystickButtons(stick, &m_joystickButtonsCache[stick]); - HALGetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]); + HAL_GetJoystickAxes(stick, &m_joystickAxesCache[stick]); + HAL_GetJoystickPOVs(stick, &m_joystickPOVsCache[stick]); + HAL_GetJoystickButtons(stick, &m_joystickButtonsCache[stick]); + HAL_GetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]); } // Obtain a write lock on the data, swap the cached data into the // main data arrays @@ -138,7 +138,7 @@ void DriverStation::GetData() { */ float DriverStation::GetBatteryVoltage() const { int32_t status = 0; - float voltage = getVinVoltage(&status); + float voltage = HAL_GetVinVoltage(&status); wpi_setErrorWithContext(status, "getVinVoltage"); return voltage; @@ -293,7 +293,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis) { // Unlock early so error printing isn't locked. m_joystickDataMutex.unlock(); lock.release(); - if (axis >= kMaxJoystickAxes) + if (axis >= HAL_kMaxJoystickAxes) wpi_setWPIError(BadJoystickAxis); else ReportJoystickUnpluggedWarning( @@ -318,7 +318,7 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) { if (pov >= m_joystickPOVs[stick].count) { // Unlock early so error printing isn't locked. lock.unlock(); - if (pov >= kMaxJoystickPOVs) + if (pov >= HAL_kMaxJoystickPOVs) wpi_setWPIError(BadJoystickAxis); else ReportJoystickUnpluggedWarning( @@ -380,9 +380,9 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button) { * @return True if the robot is enabled and the DS is connected */ bool DriverStation::IsEnabled() const { - HALControlWord controlWord; + HAL_ControlWord controlWord; std::memset(&controlWord, 0, sizeof(controlWord)); - HALGetControlWord(&controlWord); + HAL_GetControlWord(&controlWord); return controlWord.enabled && controlWord.dsAttached; } @@ -392,9 +392,9 @@ bool DriverStation::IsEnabled() const { * @return True if the robot is explicitly disabled or the DS is not connected */ bool DriverStation::IsDisabled() const { - HALControlWord controlWord; + HAL_ControlWord controlWord; std::memset(&controlWord, 0, sizeof(controlWord)); - HALGetControlWord(&controlWord); + HAL_GetControlWord(&controlWord); return !(controlWord.enabled && controlWord.dsAttached); } @@ -404,9 +404,9 @@ bool DriverStation::IsDisabled() const { * @return True if the robot is being commanded to be in autonomous mode */ bool DriverStation::IsAutonomous() const { - HALControlWord controlWord; + HAL_ControlWord controlWord; std::memset(&controlWord, 0, sizeof(controlWord)); - HALGetControlWord(&controlWord); + HAL_GetControlWord(&controlWord); return controlWord.autonomous; } @@ -416,9 +416,9 @@ bool DriverStation::IsAutonomous() const { * @return True if the robot is being commanded to be in teleop mode */ bool DriverStation::IsOperatorControl() const { - HALControlWord controlWord; + HAL_ControlWord controlWord; std::memset(&controlWord, 0, sizeof(controlWord)); - HALGetControlWord(&controlWord); + HAL_GetControlWord(&controlWord); return !(controlWord.autonomous || controlWord.test); } @@ -428,8 +428,8 @@ bool DriverStation::IsOperatorControl() const { * @return True if the robot is being commanded to be in test mode */ bool DriverStation::IsTest() const { - HALControlWord controlWord; - HALGetControlWord(&controlWord); + HAL_ControlWord controlWord; + HAL_GetControlWord(&controlWord); return controlWord.test; } @@ -439,9 +439,9 @@ bool DriverStation::IsTest() const { * @return True if the DS is connected to the robot */ bool DriverStation::IsDSAttached() const { - HALControlWord controlWord; + HAL_ControlWord controlWord; std::memset(&controlWord, 0, sizeof(controlWord)); - HALGetControlWord(&controlWord); + HAL_GetControlWord(&controlWord); return controlWord.dsAttached; } @@ -455,8 +455,8 @@ bool DriverStation::IsDSAttached() const { */ bool DriverStation::IsSysActive() const { int32_t status = 0; - bool retVal = HALGetSystemActive(&status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool retVal = HAL_GetSystemActive(&status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -467,8 +467,8 @@ bool DriverStation::IsSysActive() const { */ bool DriverStation::IsBrownedOut() const { int32_t status = 0; - bool retVal = HALGetBrownedOut(&status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool retVal = HAL_GetBrownedOut(&status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -492,8 +492,8 @@ bool DriverStation::IsNewControlData() const { * Management System */ bool DriverStation::IsFMSAttached() const { - HALControlWord controlWord; - HALGetControlWord(&controlWord); + HAL_ControlWord controlWord; + HAL_GetControlWord(&controlWord); return controlWord.fmsAttached; } @@ -505,16 +505,16 @@ bool DriverStation::IsFMSAttached() const { * @return The Alliance enum (kRed, kBlue or kInvalid) */ DriverStation::Alliance DriverStation::GetAlliance() const { - HALAllianceStationID allianceStationID; - HALGetAllianceStation(&allianceStationID); + HAL_AllianceStationID allianceStationID; + HAL_GetAllianceStation(&allianceStationID); switch (allianceStationID) { - case kHALAllianceStationID_red1: - case kHALAllianceStationID_red2: - case kHALAllianceStationID_red3: + case HAL_AllianceStationID_kRed1: + case HAL_AllianceStationID_kRed2: + case HAL_AllianceStationID_kRed3: return kRed; - case kHALAllianceStationID_blue1: - case kHALAllianceStationID_blue2: - case kHALAllianceStationID_blue3: + case HAL_AllianceStationID_kBlue1: + case HAL_AllianceStationID_kBlue2: + case HAL_AllianceStationID_kBlue3: return kBlue; default: return kInvalid; @@ -529,17 +529,17 @@ DriverStation::Alliance DriverStation::GetAlliance() const { * @return The location of the driver station (1-3, 0 for invalid) */ uint32_t DriverStation::GetLocation() const { - HALAllianceStationID allianceStationID; - HALGetAllianceStation(&allianceStationID); + HAL_AllianceStationID allianceStationID; + HAL_GetAllianceStation(&allianceStationID); switch (allianceStationID) { - case kHALAllianceStationID_red1: - case kHALAllianceStationID_blue1: + case HAL_AllianceStationID_kRed1: + case HAL_AllianceStationID_kBlue1: return 1; - case kHALAllianceStationID_red2: - case kHALAllianceStationID_blue2: + case HAL_AllianceStationID_kRed2: + case HAL_AllianceStationID_kBlue2: return 2; - case kHALAllianceStationID_red3: - case kHALAllianceStationID_blue3: + case HAL_AllianceStationID_kRed3: + case HAL_AllianceStationID_kBlue3: return 3; default: return 0; @@ -579,7 +579,7 @@ void DriverStation::WaitForData() { */ double DriverStation::GetMatchTime() const { float matchTime; - HALGetMatchTime(&matchTime); + HAL_GetMatchTime(&matchTime); return (double)matchTime; } @@ -589,7 +589,7 @@ double DriverStation::GetMatchTime() const { * The error is also printed to the program console. */ void DriverStation::ReportError(std::string error) { - HALSendError(1, 1, 0, error.c_str(), "", "", 1); + HAL_SendError(1, 1, 0, error.c_str(), "", "", 1); } /** @@ -598,7 +598,7 @@ void DriverStation::ReportError(std::string error) { * The warning is also printed to the program console. */ void DriverStation::ReportWarning(std::string error) { - HALSendError(0, 1, 0, error.c_str(), "", "", 1); + HAL_SendError(0, 1, 0, error.c_str(), "", "", 1); } /** @@ -610,6 +610,6 @@ void DriverStation::ReportError(bool is_error, int32_t code, const std::string& error, const std::string& location, const std::string& stack) { - HALSendError(is_error, code, 0, error.c_str(), location.c_str(), - stack.c_str(), 1); + HAL_SendError(is_error, code, 0, error.c_str(), location.c_str(), + stack.c_str(), 1); } diff --git a/wpilibc/athena/src/Encoder.cpp b/wpilibc/athena/src/Encoder.cpp index 916acd3fc5..301473a4aa 100644 --- a/wpilibc/athena/src/Encoder.cpp +++ b/wpilibc/athena/src/Encoder.cpp @@ -31,16 +31,16 @@ */ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) { int32_t status = 0; - m_encoder = initializeEncoder(m_aSource->GetPortHandleForRouting(), - m_aSource->GetAnalogTriggerTypeForRouting(), - m_bSource->GetPortHandleForRouting(), - m_bSource->GetAnalogTriggerTypeForRouting(), - reverseDirection, - (EncoderEncodingType)encodingType, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + m_encoder = HAL_InitializeEncoder( + m_aSource->GetPortHandleForRouting(), + (HAL_AnalogTriggerType)m_aSource->GetAnalogTriggerTypeForRouting(), + m_bSource->GetPortHandleForRouting(), + (HAL_AnalogTriggerType)m_bSource->GetAnalogTriggerTypeForRouting(), + reverseDirection, (HAL_EncoderEncodingType)encodingType, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - HALReport(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(), - encodingType); + HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(), + encodingType); LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannel(), this); } @@ -155,8 +155,8 @@ Encoder::Encoder(DigitalSource& aSource, DigitalSource& bSource, */ Encoder::~Encoder() { int32_t status = 0; - freeEncoder(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_FreeEncoder(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -166,8 +166,8 @@ Encoder::~Encoder() { */ int32_t Encoder::GetEncodingScale() const { int32_t status = 0; - int32_t val = getEncoderEncodingScale(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t val = HAL_GetEncoderEncodingScale(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return val; } @@ -182,8 +182,8 @@ int32_t Encoder::GetEncodingScale() const { int32_t Encoder::GetRaw() const { if (StatusIsFatal()) return 0; int32_t status = 0; - int32_t value = getEncoderRaw(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t value = HAL_GetEncoderRaw(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -199,8 +199,8 @@ int32_t Encoder::GetRaw() const { int32_t Encoder::Get() const { if (StatusIsFatal()) return 0; int32_t status = 0; - int32_t value = getEncoder(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t value = HAL_GetEncoder(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -212,8 +212,8 @@ int32_t Encoder::Get() const { void Encoder::Reset() { if (StatusIsFatal()) return; int32_t status = 0; - resetEncoder(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_ResetEncoder(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); ; } @@ -232,8 +232,8 @@ void Encoder::Reset() { double Encoder::GetPeriod() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; - double value = getEncoderPeriod(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double value = HAL_GetEncoderPeriod(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -256,8 +256,8 @@ double Encoder::GetPeriod() const { void Encoder::SetMaxPeriod(double maxPeriod) { if (StatusIsFatal()) return; int32_t status = 0; - setEncoderMaxPeriod(m_encoder, maxPeriod, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -272,8 +272,8 @@ void Encoder::SetMaxPeriod(double maxPeriod) { bool Encoder::GetStopped() const { if (StatusIsFatal()) return true; int32_t status = 0; - bool value = getEncoderStopped(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool value = HAL_GetEncoderStopped(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -285,8 +285,8 @@ bool Encoder::GetStopped() const { bool Encoder::GetDirection() const { if (StatusIsFatal()) return false; int32_t status = 0; - bool value = getEncoderDirection(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool value = HAL_GetEncoderDirection(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -297,8 +297,8 @@ bool Encoder::GetDirection() const { double Encoder::DecodingScaleFactor() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; - double val = getEncoderDecodingScaleFactor(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return val; } @@ -311,8 +311,8 @@ double Encoder::DecodingScaleFactor() const { double Encoder::GetDistance() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; - double value = getEncoderDistance(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double value = HAL_GetEncoderDistance(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -327,8 +327,8 @@ double Encoder::GetDistance() const { double Encoder::GetRate() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; - double value = getEncoderRate(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double value = HAL_GetEncoderRate(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -341,8 +341,8 @@ double Encoder::GetRate() const { void Encoder::SetMinRate(double minRate) { if (StatusIsFatal()) return; int32_t status = 0; - setEncoderMinRate(m_encoder, minRate, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetEncoderMinRate(m_encoder, minRate, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -365,8 +365,8 @@ void Encoder::SetMinRate(double minRate) { void Encoder::SetDistancePerPulse(double distancePerPulse) { if (StatusIsFatal()) return; int32_t status = 0; - setEncoderDistancePerPulse(m_encoder, distancePerPulse, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetEncoderDistancePerPulse(m_encoder, distancePerPulse, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -380,8 +380,8 @@ void Encoder::SetDistancePerPulse(double distancePerPulse) { void Encoder::SetReverseDirection(bool reverseDirection) { if (StatusIsFatal()) return; int32_t status = 0; - setEncoderReverseDirection(m_encoder, reverseDirection, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetEncoderReverseDirection(m_encoder, reverseDirection, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -401,8 +401,8 @@ void Encoder::SetSamplesToAverage(int samplesToAverage) { return; } int32_t status = 0; - setEncoderSamplesToAverage(m_encoder, samplesToAverage, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetEncoderSamplesToAverage(m_encoder, samplesToAverage, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -416,8 +416,8 @@ void Encoder::SetSamplesToAverage(int samplesToAverage) { */ int Encoder::GetSamplesToAverage() const { int32_t status = 0; - int result = getEncoderSamplesToAverage(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return result; } @@ -477,16 +477,17 @@ void Encoder::SetIndexSource(DigitalSource* source, void Encoder::SetIndexSource(const DigitalSource& source, Encoder::IndexingType type) { int32_t status = 0; - setEncoderIndexSource(m_encoder, source.GetPortHandleForRouting(), - source.GetAnalogTriggerTypeForRouting(), - (EncoderIndexingType)type, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetEncoderIndexSource( + m_encoder, source.GetPortHandleForRouting(), + (HAL_AnalogTriggerType)source.GetAnalogTriggerTypeForRouting(), + (HAL_EncoderIndexingType)type, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } int32_t Encoder::GetFPGAIndex() const { int32_t status = 0; - int32_t val = getEncoderFPGAIndex(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t val = HAL_GetEncoderFPGAIndex(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return val; } @@ -495,8 +496,9 @@ void Encoder::UpdateTable() { m_table->PutNumber("Speed", GetRate()); m_table->PutNumber("Distance", GetDistance()); int32_t status = 0; - double distancePerPulse = getEncoderDistancePerPulse(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double distancePerPulse = + HAL_GetEncoderDistancePerPulse(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); m_table->PutNumber("Distance per Tick", distancePerPulse); } } @@ -507,9 +509,9 @@ void Encoder::StopLiveWindowMode() {} std::string Encoder::GetSmartDashboardType() const { int32_t status = 0; - EncoderEncodingType type = getEncoderEncodingType(m_encoder, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - if (type == EncoderEncodingType::HAL_Encoder_k4X) + HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X) return "Quadrature Encoder"; else return "Encoder"; diff --git a/wpilibc/athena/src/I2C.cpp b/wpilibc/athena/src/I2C.cpp index 7faa1d2cbe..817e01dee1 100644 --- a/wpilibc/athena/src/I2C.cpp +++ b/wpilibc/athena/src/I2C.cpp @@ -18,16 +18,16 @@ I2C::I2C(Port port, uint8_t deviceAddress) : m_port(port), m_deviceAddress(deviceAddress) { int32_t status = 0; - i2CInitialize(m_port, &status); - // wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_I2CInitialize(m_port, &status); + // wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - HALReport(HALUsageReporting::kResourceType_I2C, deviceAddress); + HAL_Report(HALUsageReporting::kResourceType_I2C, deviceAddress); } /** * Destructor. */ -I2C::~I2C() { i2CClose(m_port); } +I2C::~I2C() { HAL_I2CClose(m_port); } /** * Generic transaction. @@ -44,9 +44,9 @@ I2C::~I2C() { i2CClose(m_port); } bool I2C::Transaction(uint8_t* dataToSend, uint8_t sendSize, uint8_t* dataReceived, uint8_t receiveSize) { int32_t status = 0; - status = i2CTransaction(m_port, m_deviceAddress, dataToSend, sendSize, - dataReceived, receiveSize); - // wpi_setErrorWithContext(status, getHALErrorMessage(status)); + status = HAL_I2CTransaction(m_port, m_deviceAddress, dataToSend, sendSize, + dataReceived, receiveSize); + // wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return status < receiveSize; } @@ -76,7 +76,7 @@ bool I2C::Write(uint8_t registerAddress, uint8_t data) { buffer[0] = registerAddress; buffer[1] = data; int32_t status = 0; - status = i2CWrite(m_port, m_deviceAddress, buffer, sizeof(buffer)); + status = HAL_I2CWrite(m_port, m_deviceAddress, buffer, sizeof(buffer)); return status < static_cast(sizeof(buffer)); } @@ -92,7 +92,7 @@ bool I2C::Write(uint8_t registerAddress, uint8_t data) { */ bool I2C::WriteBulk(uint8_t* data, uint8_t count) { int32_t status = 0; - status = i2CWrite(m_port, m_deviceAddress, data, count); + status = HAL_I2CWrite(m_port, m_deviceAddress, data, count); return status < count; } @@ -142,7 +142,7 @@ bool I2C::ReadOnly(uint8_t count, uint8_t* buffer) { return true; } int32_t status = 0; - status = i2CRead(m_port, m_deviceAddress, buffer, count); + status = HAL_I2CRead(m_port, m_deviceAddress, buffer, count); return status < count; } diff --git a/wpilibc/athena/src/Internal/HardwareHLReporting.cpp b/wpilibc/athena/src/Internal/HardwareHLReporting.cpp index 5c7820ec7d..9c9be27ff6 100644 --- a/wpilibc/athena/src/Internal/HardwareHLReporting.cpp +++ b/wpilibc/athena/src/Internal/HardwareHLReporting.cpp @@ -9,10 +9,10 @@ #include "HAL/HAL.h" void HardwareHLReporting::ReportScheduler() { - HALReport(HALUsageReporting::kResourceType_Command, - HALUsageReporting::kCommand_Scheduler); + HAL_Report(HALUsageReporting::kResourceType_Command, + HALUsageReporting::kCommand_Scheduler); } void HardwareHLReporting::ReportSmartDashboard() { - HALReport(HALUsageReporting::kResourceType_SmartDashboard, 0); + HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0); } diff --git a/wpilibc/athena/src/InterruptableSensorBase.cpp b/wpilibc/athena/src/InterruptableSensorBase.cpp index c9e2ef3b23..4e48b58b8c 100644 --- a/wpilibc/athena/src/InterruptableSensorBase.cpp +++ b/wpilibc/athena/src/InterruptableSensorBase.cpp @@ -25,16 +25,17 @@ void InterruptableSensorBase::RequestInterrupts( InterruptHandlerFunction handler, void* param) { if (StatusIsFatal()) return; - wpi_assert(m_interrupt == HAL_INVALID_HANDLE); + wpi_assert(m_interrupt == HAL_kInvalidHandle); AllocateInterrupts(false); if (StatusIsFatal()) return; // if allocate failed, out of interrupts int32_t status = 0; - requestInterrupts(m_interrupt, GetPortHandleForRouting(), - GetAnalogTriggerTypeForRouting(), &status); + HAL_RequestInterrupts(m_interrupt, GetPortHandleForRouting(), + (HAL_AnalogTriggerType)GetAnalogTriggerTypeForRouting(), + &status); SetUpSourceEdge(true, false); - attachInterruptHandler(m_interrupt, handler, param, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_AttachInterruptHandler(m_interrupt, handler, param, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -47,23 +48,24 @@ void InterruptableSensorBase::RequestInterrupts( void InterruptableSensorBase::RequestInterrupts() { if (StatusIsFatal()) return; - wpi_assert(m_interrupt == HAL_INVALID_HANDLE); + wpi_assert(m_interrupt == HAL_kInvalidHandle); AllocateInterrupts(true); if (StatusIsFatal()) return; // if allocate failed, out of interrupts int32_t status = 0; - requestInterrupts(m_interrupt, GetPortHandleForRouting(), - GetAnalogTriggerTypeForRouting(), &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_RequestInterrupts(m_interrupt, GetPortHandleForRouting(), + (HAL_AnalogTriggerType)GetAnalogTriggerTypeForRouting(), + &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); SetUpSourceEdge(true, false); } void InterruptableSensorBase::AllocateInterrupts(bool watcher) { - wpi_assert(m_interrupt == HAL_INVALID_HANDLE); + wpi_assert(m_interrupt == HAL_kInvalidHandle); // Expects the calling leaf class to allocate an interrupt index. int32_t status = 0; - m_interrupt = initializeInterrupts(watcher, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + m_interrupt = HAL_InitializeInterrupts(watcher, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -73,11 +75,11 @@ void InterruptableSensorBase::AllocateInterrupts(bool watcher) { */ void InterruptableSensorBase::CancelInterrupts() { if (StatusIsFatal()) return; - wpi_assert(m_interrupt != HAL_INVALID_HANDLE); + wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; - cleanInterrupts(m_interrupt, &status); + HAL_CleanInterrupts(m_interrupt, &status); // ignore status, as an invalid handle just needs to be ignored. - m_interrupt = HAL_INVALID_HANDLE; + m_interrupt = HAL_kInvalidHandle; } /** @@ -95,12 +97,12 @@ void InterruptableSensorBase::CancelInterrupts() { InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt( float timeout, bool ignorePrevious) { if (StatusIsFatal()) return InterruptableSensorBase::kTimeout; - wpi_assert(m_interrupt != HAL_INVALID_HANDLE); + wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; uint32_t result; - result = waitForInterrupt(m_interrupt, timeout, ignorePrevious, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + result = HAL_WaitForInterrupt(m_interrupt, timeout, ignorePrevious, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return static_cast(result); } @@ -114,10 +116,10 @@ InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt( */ void InterruptableSensorBase::EnableInterrupts() { if (StatusIsFatal()) return; - wpi_assert(m_interrupt != HAL_INVALID_HANDLE); + wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; - enableInterrupts(m_interrupt, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_EnableInterrupts(m_interrupt, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -125,10 +127,10 @@ void InterruptableSensorBase::EnableInterrupts() { */ void InterruptableSensorBase::DisableInterrupts() { if (StatusIsFatal()) return; - wpi_assert(m_interrupt != HAL_INVALID_HANDLE); + wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; - disableInterrupts(m_interrupt, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_DisableInterrupts(m_interrupt, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -142,10 +144,10 @@ void InterruptableSensorBase::DisableInterrupts() { */ double InterruptableSensorBase::ReadRisingTimestamp() { if (StatusIsFatal()) return 0.0; - wpi_assert(m_interrupt != HAL_INVALID_HANDLE); + wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; - double timestamp = readRisingTimestamp(m_interrupt, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double timestamp = HAL_ReadRisingTimestamp(m_interrupt, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return timestamp; } @@ -160,10 +162,10 @@ double InterruptableSensorBase::ReadRisingTimestamp() { */ double InterruptableSensorBase::ReadFallingTimestamp() { if (StatusIsFatal()) return 0.0; - wpi_assert(m_interrupt != HAL_INVALID_HANDLE); + wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; - double timestamp = readFallingTimestamp(m_interrupt, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double timestamp = HAL_ReadFallingTimestamp(m_interrupt, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return timestamp; } @@ -176,15 +178,15 @@ double InterruptableSensorBase::ReadFallingTimestamp() { void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge, bool fallingEdge) { if (StatusIsFatal()) return; - if (m_interrupt == HAL_INVALID_HANDLE) { + if (m_interrupt == HAL_kInvalidHandle) { wpi_setWPIErrorWithContext( NullParameter, "You must call RequestInterrupts before SetUpSourceEdge"); return; } - if (m_interrupt != HAL_INVALID_HANDLE) { + if (m_interrupt != HAL_kInvalidHandle) { int32_t status = 0; - setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } diff --git a/wpilibc/athena/src/IterativeRobot.cpp b/wpilibc/athena/src/IterativeRobot.cpp index f3d2464bbd..1f551501a0 100644 --- a/wpilibc/athena/src/IterativeRobot.cpp +++ b/wpilibc/athena/src/IterativeRobot.cpp @@ -22,8 +22,8 @@ constexpr double IterativeRobot::kDefaultPeriod; * the DS packets */ void IterativeRobot::StartCompetition() { - HALReport(HALUsageReporting::kResourceType_Framework, - HALUsageReporting::kFramework_Iterative); + HAL_Report(HALUsageReporting::kResourceType_Framework, + HALUsageReporting::kFramework_Iterative); LiveWindow* lw = LiveWindow::GetInstance(); // first and one-time initialization @@ -34,7 +34,7 @@ void IterativeRobot::StartCompetition() { RobotInit(); // Tell the DS that the robot is ready to be enabled - HALNetworkCommunicationObserveUserProgramStarting(); + HAL_NetworkCommunicationObserveUserProgramStarting(); // loop forever, calling the appropriate mode-dependent function lw->SetEnabled(false); @@ -52,7 +52,7 @@ void IterativeRobot::StartCompetition() { m_teleopInitialized = false; m_testInitialized = false; } - HALNetworkCommunicationObserveUserProgramDisabled(); + HAL_NetworkCommunicationObserveUserProgramDisabled(); DisabledPeriodic(); } else if (IsAutonomous()) { // call AutonomousInit() if we are now just entering autonomous mode from @@ -66,7 +66,7 @@ void IterativeRobot::StartCompetition() { m_teleopInitialized = false; m_testInitialized = false; } - HALNetworkCommunicationObserveUserProgramAutonomous(); + HAL_NetworkCommunicationObserveUserProgramAutonomous(); AutonomousPeriodic(); } else if (IsTest()) { // call TestInit() if we are now just entering test mode from @@ -80,7 +80,7 @@ void IterativeRobot::StartCompetition() { m_autonomousInitialized = false; m_teleopInitialized = false; } - HALNetworkCommunicationObserveUserProgramTest(); + HAL_NetworkCommunicationObserveUserProgramTest(); TestPeriodic(); } else { // call TeleopInit() if we are now just entering teleop mode from @@ -95,7 +95,7 @@ void IterativeRobot::StartCompetition() { m_testInitialized = false; Scheduler::GetInstance()->SetEnabled(true); } - HALNetworkCommunicationObserveUserProgramTeleop(); + HAL_NetworkCommunicationObserveUserProgramTeleop(); TeleopPeriodic(); } // wait for driver station data so the loop doesn't hog the CPU diff --git a/wpilibc/athena/src/Jaguar.cpp b/wpilibc/athena/src/Jaguar.cpp index 1452395836..c75cdfc569 100644 --- a/wpilibc/athena/src/Jaguar.cpp +++ b/wpilibc/athena/src/Jaguar.cpp @@ -30,6 +30,6 @@ Jaguar::Jaguar(uint32_t channel) : PWMSpeedController(channel) { SetSpeed(0.0); SetZeroLatch(); - HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel()); LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this); } diff --git a/wpilibc/athena/src/Joystick.cpp b/wpilibc/athena/src/Joystick.cpp index 10392cabc1..4d186827d9 100644 --- a/wpilibc/athena/src/Joystick.cpp +++ b/wpilibc/athena/src/Joystick.cpp @@ -40,7 +40,7 @@ Joystick::Joystick(uint32_t port) m_buttons[kTriggerButton] = kDefaultTriggerButton; m_buttons[kTopButton] = kDefaultTopButton; - HALReport(HALUsageReporting::kResourceType_Joystick, port); + HAL_Report(HALUsageReporting::kResourceType_Joystick, port); } /** @@ -371,7 +371,7 @@ void Joystick::SetRumble(RumbleType type, float value) { m_leftRumble = value * 65535; else m_rightRumble = value * 65535; - HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); + HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); } /** @@ -385,7 +385,7 @@ void Joystick::SetOutput(uint8_t outputNumber, bool value) { m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1)); - HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); + HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); } /** @@ -395,5 +395,5 @@ void Joystick::SetOutput(uint8_t outputNumber, bool value) { */ void Joystick::SetOutputs(uint32_t value) { m_outputs = value; - HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); + HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); } diff --git a/wpilibc/athena/src/Notifier.cpp b/wpilibc/athena/src/Notifier.cpp index 9611cccc33..b7e62aa008 100644 --- a/wpilibc/athena/src/Notifier.cpp +++ b/wpilibc/athena/src/Notifier.cpp @@ -22,8 +22,8 @@ Notifier::Notifier(TimerEventHandler handler) { wpi_setWPIErrorWithContext(NullParameter, "handler must not be nullptr"); m_handler = handler; int32_t status = 0; - m_notifier = initializeNotifier(&Notifier::Notify, this, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + m_notifier = HAL_InitializeNotifier(&Notifier::Notify, this, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -32,9 +32,9 @@ Notifier::Notifier(TimerEventHandler handler) { Notifier::~Notifier() { int32_t status = 0; // atomically set handle to 0, then clean - HalNotifierHandle handle = m_notifier.exchange(0); - cleanNotifier(handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_NotifierHandle handle = m_notifier.exchange(0); + HAL_CleanNotifier(handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); /* Acquire the mutex; this makes certain that the handler is not being * executed by the interrupt manager. @@ -47,8 +47,9 @@ Notifier::~Notifier() { */ void Notifier::UpdateAlarm() { int32_t status = 0; - updateNotifierAlarm(m_notifier, (uint64_t)(m_expirationTime * 1e6), &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_UpdateNotifierAlarm(m_notifier, (uint64_t)(m_expirationTime * 1e6), + &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -117,8 +118,8 @@ void Notifier::StartPeriodic(double period) { */ void Notifier::Stop() { int32_t status = 0; - stopNotifierAlarm(m_notifier, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_StopNotifierAlarm(m_notifier, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); // Wait for a currently executing handler to complete before returning from // Stop() diff --git a/wpilibc/athena/src/PIDController.cpp b/wpilibc/athena/src/PIDController.cpp index 317f4cce8f..0cc3f7cc19 100644 --- a/wpilibc/athena/src/PIDController.cpp +++ b/wpilibc/athena/src/PIDController.cpp @@ -74,7 +74,7 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf, static int32_t instances = 0; instances++; - HALReport(HALUsageReporting::kResourceType_PIDController, instances); + HAL_Report(HALUsageReporting::kResourceType_PIDController, instances); } PIDController::~PIDController() { diff --git a/wpilibc/athena/src/PWM.cpp b/wpilibc/athena/src/PWM.cpp index bf782ae791..56e5e6e7df 100644 --- a/wpilibc/athena/src/PWM.cpp +++ b/wpilibc/athena/src/PWM.cpp @@ -33,23 +33,23 @@ PWM::PWM(uint32_t channel) { } int32_t status = 0; - m_handle = initializePWMPort(getPort(channel), &status); + m_handle = HAL_InitializePWMPort(HAL_GetPort(channel), &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); m_channel = std::numeric_limits::max(); - m_handle = HAL_INVALID_HANDLE; + m_handle = HAL_kInvalidHandle; return; } m_channel = channel; - setPWMDisabled(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMDisabled(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); status = 0; - setPWMEliminateDeadband(m_handle, false, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMEliminateDeadband(m_handle, false, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - HALReport(HALUsageReporting::kResourceType_PWM, channel); + HAL_Report(HALUsageReporting::kResourceType_PWM, channel); } /** @@ -60,11 +60,11 @@ PWM::PWM(uint32_t channel) { PWM::~PWM() { int32_t status = 0; - setPWMDisabled(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMDisabled(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - freePWMPort(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_FreePWMPort(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); if (m_table != nullptr) m_table->RemoveTableListener(this); } @@ -80,8 +80,8 @@ PWM::~PWM() { void PWM::EnableDeadbandElimination(bool eliminateDeadband) { if (StatusIsFatal()) return; int32_t status = 0; - setPWMEliminateDeadband(m_handle, eliminateDeadband, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -101,8 +101,9 @@ void PWM::SetBounds(double max, double deadbandMax, double center, double deadbandMin, double min) { if (StatusIsFatal()) return; int32_t status = 0; - setPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min, + &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -122,9 +123,9 @@ void PWM::SetRawBounds(int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min) { if (StatusIsFatal()) return; int32_t status = 0; - setPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min, - &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min, + &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -143,9 +144,9 @@ void PWM::SetRawBounds(int32_t max, int32_t deadbandMax, int32_t center, void PWM::GetRawBounds(int32_t* max, int32_t* deadbandMax, int32_t* center, int32_t* deadbandMin, int32_t* min) { int32_t status = 0; - getPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min, - &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min, + &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -161,8 +162,8 @@ void PWM::GetRawBounds(int32_t* max, int32_t* deadbandMax, int32_t* center, void PWM::SetPosition(float pos) { if (StatusIsFatal()) return; int32_t status = 0; - setPWMPosition(m_handle, pos, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMPosition(m_handle, pos, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -178,8 +179,8 @@ void PWM::SetPosition(float pos) { float PWM::GetPosition() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; - float position = getPWMPosition(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + float position = HAL_GetPWMPosition(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return position; } @@ -199,8 +200,8 @@ float PWM::GetPosition() const { void PWM::SetSpeed(float speed) { if (StatusIsFatal()) return; int32_t status = 0; - setPWMSpeed(m_handle, speed, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMSpeed(m_handle, speed, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -218,8 +219,8 @@ void PWM::SetSpeed(float speed) { float PWM::GetSpeed() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; - float speed = getPWMSpeed(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + float speed = HAL_GetPWMSpeed(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return speed; } @@ -234,8 +235,8 @@ void PWM::SetRaw(unsigned short value) { if (StatusIsFatal()) return; int32_t status = 0; - setPWMRaw(m_handle, value, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMRaw(m_handle, value, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -249,8 +250,8 @@ unsigned short PWM::GetRaw() const { if (StatusIsFatal()) return 0; int32_t status = 0; - unsigned short value = getPWMRaw(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + unsigned short value = HAL_GetPWMRaw(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -267,19 +268,21 @@ void PWM::SetPeriodMultiplier(PeriodMultiplier mult) { switch (mult) { case kPeriodMultiplier_4X: - setPWMPeriodScale(m_handle, 3, &status); // Squelch 3 out of 4 outputs + HAL_SetPWMPeriodScale(m_handle, 3, + &status); // Squelch 3 out of 4 outputs break; case kPeriodMultiplier_2X: - setPWMPeriodScale(m_handle, 1, &status); // Squelch 1 out of 2 outputs + HAL_SetPWMPeriodScale(m_handle, 1, + &status); // Squelch 1 out of 2 outputs break; case kPeriodMultiplier_1X: - setPWMPeriodScale(m_handle, 0, &status); // Don't squelch any outputs + HAL_SetPWMPeriodScale(m_handle, 0, &status); // Don't squelch any outputs break; default: wpi_assert(false); } - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -291,8 +294,8 @@ void PWM::SetDisabled() { int32_t status = 0; - setPWMDisabled(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetPWMDisabled(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } void PWM::SetZeroLatch() { @@ -300,8 +303,8 @@ void PWM::SetZeroLatch() { int32_t status = 0; - latchPWMZero(m_handle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_LatchPWMZero(m_handle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } void PWM::ValueChanged(ITable* source, llvm::StringRef key, diff --git a/wpilibc/athena/src/PowerDistributionPanel.cpp b/wpilibc/athena/src/PowerDistributionPanel.cpp index 0a728a1934..65a2790872 100644 --- a/wpilibc/athena/src/PowerDistributionPanel.cpp +++ b/wpilibc/athena/src/PowerDistributionPanel.cpp @@ -19,7 +19,7 @@ PowerDistributionPanel::PowerDistributionPanel() : PowerDistributionPanel(0) {} */ PowerDistributionPanel::PowerDistributionPanel(uint8_t module) : m_module(module) { - initializePDP(m_module); + HAL_InitializePDP(m_module); } /** @@ -30,7 +30,7 @@ PowerDistributionPanel::PowerDistributionPanel(uint8_t module) double PowerDistributionPanel::GetVoltage() const { int32_t status = 0; - double voltage = getPDPVoltage(m_module, &status); + double voltage = HAL_GetPDPVoltage(m_module, &status); if (status) { wpi_setWPIErrorWithContext(Timeout, ""); @@ -47,7 +47,7 @@ double PowerDistributionPanel::GetVoltage() const { double PowerDistributionPanel::GetTemperature() const { int32_t status = 0; - double temperature = getPDPTemperature(m_module, &status); + double temperature = HAL_GetPDPTemperature(m_module, &status); if (status) { wpi_setWPIErrorWithContext(Timeout, ""); @@ -70,7 +70,7 @@ double PowerDistributionPanel::GetCurrent(uint8_t channel) const { wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str()); } - double current = getPDPChannelCurrent(m_module, channel, &status); + double current = HAL_GetPDPChannelCurrent(m_module, channel, &status); if (status) { wpi_setWPIErrorWithContext(Timeout, ""); @@ -87,7 +87,7 @@ double PowerDistributionPanel::GetCurrent(uint8_t channel) const { double PowerDistributionPanel::GetTotalCurrent() const { int32_t status = 0; - double current = getPDPTotalCurrent(m_module, &status); + double current = HAL_GetPDPTotalCurrent(m_module, &status); if (status) { wpi_setWPIErrorWithContext(Timeout, ""); @@ -104,7 +104,7 @@ double PowerDistributionPanel::GetTotalCurrent() const { double PowerDistributionPanel::GetTotalPower() const { int32_t status = 0; - double power = getPDPTotalPower(m_module, &status); + double power = HAL_GetPDPTotalPower(m_module, &status); if (status) { wpi_setWPIErrorWithContext(Timeout, ""); @@ -121,7 +121,7 @@ double PowerDistributionPanel::GetTotalPower() const { double PowerDistributionPanel::GetTotalEnergy() const { int32_t status = 0; - double energy = getPDPTotalEnergy(m_module, &status); + double energy = HAL_GetPDPTotalEnergy(m_module, &status); if (status) { wpi_setWPIErrorWithContext(Timeout, ""); @@ -138,7 +138,7 @@ double PowerDistributionPanel::GetTotalEnergy() const { void PowerDistributionPanel::ResetTotalEnergy() { int32_t status = 0; - resetPDPTotalEnergy(m_module, &status); + HAL_ResetPDPTotalEnergy(m_module, &status); if (status) { wpi_setWPIErrorWithContext(Timeout, ""); @@ -151,7 +151,7 @@ void PowerDistributionPanel::ResetTotalEnergy() { void PowerDistributionPanel::ClearStickyFaults() { int32_t status = 0; - clearPDPStickyFaults(m_module, &status); + HAL_ClearPDPStickyFaults(m_module, &status); if (status) { wpi_setWPIErrorWithContext(Timeout, ""); diff --git a/wpilibc/athena/src/Preferences.cpp b/wpilibc/athena/src/Preferences.cpp index 6bf7c6480d..8b0881d536 100644 --- a/wpilibc/athena/src/Preferences.cpp +++ b/wpilibc/athena/src/Preferences.cpp @@ -26,7 +26,7 @@ void Preferences::Listener::ValueChangedEx(ITable* source, llvm::StringRef key, Preferences::Preferences() : m_table(NetworkTable::GetTable(kTableName)) { m_table->AddTableListenerEx(&m_listener, NT_NOTIFY_NEW | NT_NOTIFY_IMMEDIATE); - HALReport(HALUsageReporting::kResourceType_Preferences, 0); + HAL_Report(HALUsageReporting::kResourceType_Preferences, 0); } /** diff --git a/wpilibc/athena/src/Relay.cpp b/wpilibc/athena/src/Relay.cpp index 293fef2ccf..98a73fefc3 100644 --- a/wpilibc/athena/src/Relay.cpp +++ b/wpilibc/athena/src/Relay.cpp @@ -32,48 +32,48 @@ Relay::Relay(uint32_t channel, Relay::Direction direction) return; } - HalPortHandle portHandle = getPort(channel); + HAL_PortHandle portHandle = HAL_GetPort(channel); if (m_direction == kBothDirections || m_direction == kForwardOnly) { int32_t status = 0; - m_forwardHandle = initializeRelayPort(portHandle, true, &status); + m_forwardHandle = HAL_InitializeRelayPort(portHandle, true, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_forwardHandle = HAL_INVALID_HANDLE; - m_reverseHandle = HAL_INVALID_HANDLE; + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_forwardHandle = HAL_kInvalidHandle; + m_reverseHandle = HAL_kInvalidHandle; return; } - HALReport(HALUsageReporting::kResourceType_Relay, m_channel); + HAL_Report(HALUsageReporting::kResourceType_Relay, m_channel); } if (m_direction == kBothDirections || m_direction == kReverseOnly) { int32_t status = 0; - m_reverseHandle = initializeRelayPort(portHandle, false, &status); + m_reverseHandle = HAL_InitializeRelayPort(portHandle, false, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_forwardHandle = HAL_INVALID_HANDLE; - m_reverseHandle = HAL_INVALID_HANDLE; + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_forwardHandle = HAL_kInvalidHandle; + m_reverseHandle = HAL_kInvalidHandle; return; } - HALReport(HALUsageReporting::kResourceType_Relay, m_channel + 128); + HAL_Report(HALUsageReporting::kResourceType_Relay, m_channel + 128); } int32_t status = 0; - if (m_forwardHandle != HAL_INVALID_HANDLE) { - setRelay(m_forwardHandle, false, &status); + if (m_forwardHandle != HAL_kInvalidHandle) { + HAL_SetRelay(m_forwardHandle, false, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_forwardHandle = HAL_INVALID_HANDLE; - m_reverseHandle = HAL_INVALID_HANDLE; + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_forwardHandle = HAL_kInvalidHandle; + m_reverseHandle = HAL_kInvalidHandle; return; } } - if (m_reverseHandle != HAL_INVALID_HANDLE) { - setRelay(m_reverseHandle, false, &status); + if (m_reverseHandle != HAL_kInvalidHandle) { + HAL_SetRelay(m_reverseHandle, false, &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_forwardHandle = HAL_INVALID_HANDLE; - m_reverseHandle = HAL_INVALID_HANDLE; + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_forwardHandle = HAL_kInvalidHandle; + m_reverseHandle = HAL_kInvalidHandle; return; } } @@ -91,11 +91,11 @@ Relay::Relay(uint32_t channel, Relay::Direction direction) */ Relay::~Relay() { int32_t status = 0; - setRelay(m_forwardHandle, false, &status); - setRelay(m_reverseHandle, false, &status); + HAL_SetRelay(m_forwardHandle, false, &status); + HAL_SetRelay(m_reverseHandle, false, &status); // ignore errors, as we want to make sure a free happens. - if (m_forwardHandle != HAL_INVALID_HANDLE) freeRelayPort(m_forwardHandle); - if (m_reverseHandle != HAL_INVALID_HANDLE) freeRelayPort(m_reverseHandle); + if (m_forwardHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_forwardHandle); + if (m_reverseHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_reverseHandle); if (m_table != nullptr) m_table->RemoveTableListener(this); } @@ -123,18 +123,18 @@ void Relay::Set(Relay::Value value) { switch (value) { case kOff: if (m_direction == kBothDirections || m_direction == kForwardOnly) { - setRelay(m_forwardHandle, false, &status); + HAL_SetRelay(m_forwardHandle, false, &status); } if (m_direction == kBothDirections || m_direction == kReverseOnly) { - setRelay(m_reverseHandle, false, &status); + HAL_SetRelay(m_reverseHandle, false, &status); } break; case kOn: if (m_direction == kBothDirections || m_direction == kForwardOnly) { - setRelay(m_forwardHandle, true, &status); + HAL_SetRelay(m_forwardHandle, true, &status); } if (m_direction == kBothDirections || m_direction == kReverseOnly) { - setRelay(m_reverseHandle, true, &status); + HAL_SetRelay(m_reverseHandle, true, &status); } break; case kForward: @@ -143,10 +143,10 @@ void Relay::Set(Relay::Value value) { break; } if (m_direction == kBothDirections || m_direction == kForwardOnly) { - setRelay(m_forwardHandle, true, &status); + HAL_SetRelay(m_forwardHandle, true, &status); } if (m_direction == kBothDirections) { - setRelay(m_reverseHandle, false, &status); + HAL_SetRelay(m_reverseHandle, false, &status); } break; case kReverse: @@ -155,15 +155,15 @@ void Relay::Set(Relay::Value value) { break; } if (m_direction == kBothDirections) { - setRelay(m_forwardHandle, false, &status); + HAL_SetRelay(m_forwardHandle, false, &status); } if (m_direction == kBothDirections || m_direction == kReverseOnly) { - setRelay(m_reverseHandle, true, &status); + HAL_SetRelay(m_reverseHandle, true, &status); } break; } - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -179,8 +179,8 @@ void Relay::Set(Relay::Value value) { Relay::Value Relay::Get() const { int32_t status; - if (getRelay(m_forwardHandle, &status)) { - if (getRelay(m_reverseHandle, &status)) { + if (HAL_GetRelay(m_forwardHandle, &status)) { + if (HAL_GetRelay(m_reverseHandle, &status)) { return kOn; } else { if (m_direction == kForwardOnly) { @@ -190,7 +190,7 @@ Relay::Value Relay::Get() const { } } } else { - if (getRelay(m_reverseHandle, &status)) { + if (HAL_GetRelay(m_reverseHandle, &status)) { if (m_direction == kReverseOnly) { return kOn; } else { @@ -201,7 +201,7 @@ Relay::Value Relay::Get() const { } } - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } uint32_t Relay::GetChannel() const { return m_channel; } diff --git a/wpilibc/athena/src/RobotDrive.cpp b/wpilibc/athena/src/RobotDrive.cpp index e1fce4ff53..85a6029570 100644 --- a/wpilibc/athena/src/RobotDrive.cpp +++ b/wpilibc/athena/src/RobotDrive.cpp @@ -217,8 +217,8 @@ void RobotDrive::Drive(float outputMagnitude, float curve) { float leftOutput, rightOutput; static bool reported = false; if (!reported) { - HALReport(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), - HALUsageReporting::kRobotDrive_ArcadeRatioCurve); + HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), + HALUsageReporting::kRobotDrive_ArcadeRatioCurve); reported = true; } @@ -306,8 +306,8 @@ void RobotDrive::TankDrive(float leftValue, float rightValue, bool squaredInputs) { static bool reported = false; if (!reported) { - HALReport(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), - HALUsageReporting::kRobotDrive_Tank); + HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), + HALUsageReporting::kRobotDrive_Tank); reported = true; } @@ -430,8 +430,8 @@ void RobotDrive::ArcadeDrive(float moveValue, float rotateValue, bool squaredInputs) { static bool reported = false; if (!reported) { - HALReport(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), - HALUsageReporting::kRobotDrive_ArcadeStandard); + HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), + HALUsageReporting::kRobotDrive_ArcadeStandard); reported = true; } @@ -502,8 +502,8 @@ void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation, float gyroAngle) { static bool reported = false; if (!reported) { - HALReport(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), - HALUsageReporting::kRobotDrive_MecanumCartesian); + HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), + HALUsageReporting::kRobotDrive_MecanumCartesian); reported = true; } @@ -551,8 +551,8 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction, float rotation) { static bool reported = false; if (!reported) { - HALReport(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), - HALUsageReporting::kRobotDrive_MecanumPolar); + HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(), + HALUsageReporting::kRobotDrive_MecanumPolar); reported = true; } diff --git a/wpilibc/athena/src/SD540.cpp b/wpilibc/athena/src/SD540.cpp index 8b8cb79bdd..de409c18bc 100644 --- a/wpilibc/athena/src/SD540.cpp +++ b/wpilibc/athena/src/SD540.cpp @@ -37,6 +37,6 @@ SD540::SD540(uint32_t channel) : PWMSpeedController(channel) { SetSpeed(0.0); SetZeroLatch(); - HALReport(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel()); LiveWindow::GetInstance()->AddActuator("SD540", GetChannel(), this); } diff --git a/wpilibc/athena/src/SPI.cpp b/wpilibc/athena/src/SPI.cpp index 6492111672..15e1732b31 100644 --- a/wpilibc/athena/src/SPI.cpp +++ b/wpilibc/athena/src/SPI.cpp @@ -20,18 +20,18 @@ SPI::SPI(Port SPIport) { m_port = SPIport; int32_t status = 0; - spiInitialize(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SpiInitialize(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); static int32_t instances = 0; instances++; - HALReport(HALUsageReporting::kResourceType_SPI, instances); + HAL_Report(HALUsageReporting::kResourceType_SPI, instances); } /** * Destructor. */ -SPI::~SPI() { spiClose(m_port); } +SPI::~SPI() { HAL_SpiClose(m_port); } /** * Configure the rate of the generated clock signal. @@ -41,7 +41,7 @@ SPI::~SPI() { spiClose(m_port); } * * @param hz The clock rate in Hertz. */ -void SPI::SetClockRate(double hz) { spiSetSpeed(m_port, hz); } +void SPI::SetClockRate(double hz) { HAL_SpiSetSpeed(m_port, hz); } /** * Configure the order that bits are sent and received on the wire @@ -49,8 +49,8 @@ void SPI::SetClockRate(double hz) { spiSetSpeed(m_port, hz); } */ void SPI::SetMSBFirst() { m_msbFirst = true; - spiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, - (int)m_clk_idle_high); + HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, + (int)m_clk_idle_high); } /** @@ -59,8 +59,8 @@ void SPI::SetMSBFirst() { */ void SPI::SetLSBFirst() { m_msbFirst = false; - spiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, - (int)m_clk_idle_high); + HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, + (int)m_clk_idle_high); } /** @@ -69,8 +69,8 @@ void SPI::SetLSBFirst() { */ void SPI::SetSampleDataOnFalling() { m_sampleOnTrailing = true; - spiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, - (int)m_clk_idle_high); + HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, + (int)m_clk_idle_high); } /** @@ -79,8 +79,8 @@ void SPI::SetSampleDataOnFalling() { */ void SPI::SetSampleDataOnRising() { m_sampleOnTrailing = false; - spiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, - (int)m_clk_idle_high); + HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, + (int)m_clk_idle_high); } /** @@ -89,8 +89,8 @@ void SPI::SetSampleDataOnRising() { */ void SPI::SetClockActiveLow() { m_clk_idle_high = true; - spiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, - (int)m_clk_idle_high); + HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, + (int)m_clk_idle_high); } /** @@ -99,8 +99,8 @@ void SPI::SetClockActiveLow() { */ void SPI::SetClockActiveHigh() { m_clk_idle_high = false; - spiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, - (int)m_clk_idle_high); + HAL_SpiSetOpts(m_port, (int)m_msbFirst, (int)m_sampleOnTrailing, + (int)m_clk_idle_high); } /** @@ -108,8 +108,8 @@ void SPI::SetClockActiveHigh() { */ void SPI::SetChipSelectActiveHigh() { int32_t status = 0; - spiSetChipSelectActiveHigh(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SpiSetChipSelectActiveHigh(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -117,8 +117,8 @@ void SPI::SetChipSelectActiveHigh() { */ void SPI::SetChipSelectActiveLow() { int32_t status = 0; - spiSetChipSelectActiveLow(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SpiSetChipSelectActiveLow(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -130,7 +130,7 @@ void SPI::SetChipSelectActiveLow() { */ int32_t SPI::Write(uint8_t* data, uint8_t size) { int32_t retVal = 0; - retVal = spiWrite(m_port, data, size); + retVal = HAL_SpiWrite(m_port, data, size); return retVal; } @@ -152,9 +152,9 @@ int32_t SPI::Read(bool initiate, uint8_t* dataReceived, uint8_t size) { if (initiate) { auto dataToSend = new uint8_t[size]; std::memset(dataToSend, 0, size); - retVal = spiTransaction(m_port, dataToSend, dataReceived, size); + retVal = HAL_SpiTransaction(m_port, dataToSend, dataReceived, size); } else - retVal = spiRead(m_port, dataReceived, size); + retVal = HAL_SpiRead(m_port, dataReceived, size); return retVal; } @@ -168,7 +168,7 @@ int32_t SPI::Read(bool initiate, uint8_t* dataReceived, uint8_t size) { int32_t SPI::Transaction(uint8_t* dataToSend, uint8_t* dataReceived, uint8_t size) { int32_t retVal = 0; - retVal = spiTransaction(m_port, dataToSend, dataReceived, size); + retVal = HAL_SpiTransaction(m_port, dataToSend, dataReceived, size); return retVal; } @@ -192,10 +192,10 @@ void SPI::InitAccumulator(double period, uint32_t cmd, uint8_t xfer_size, uint8_t data_shift, uint8_t data_size, bool is_signed, bool big_endian) { int32_t status = 0; - spiInitAccumulator(m_port, (uint32_t)(period * 1e6), cmd, xfer_size, - valid_mask, valid_value, data_shift, data_size, is_signed, - big_endian, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SpiInitAccumulator(m_port, (uint32_t)(period * 1e6), cmd, xfer_size, + valid_mask, valid_value, data_shift, data_size, + is_signed, big_endian, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -203,8 +203,8 @@ void SPI::InitAccumulator(double period, uint32_t cmd, uint8_t xfer_size, */ void SPI::FreeAccumulator() { int32_t status = 0; - spiFreeAccumulator(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SpiFreeAccumulator(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -212,8 +212,8 @@ void SPI::FreeAccumulator() { */ void SPI::ResetAccumulator() { int32_t status = 0; - spiResetAccumulator(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SpiResetAccumulator(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -226,8 +226,8 @@ void SPI::ResetAccumulator() { */ void SPI::SetAccumulatorCenter(int32_t center) { int32_t status = 0; - spiSetAccumulatorCenter(m_port, center, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SpiSetAccumulatorCenter(m_port, center, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -235,8 +235,8 @@ void SPI::SetAccumulatorCenter(int32_t center) { */ void SPI::SetAccumulatorDeadband(int32_t deadband) { int32_t status = 0; - spiSetAccumulatorDeadband(m_port, deadband, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SpiSetAccumulatorDeadband(m_port, deadband, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -244,8 +244,8 @@ void SPI::SetAccumulatorDeadband(int32_t deadband) { */ int32_t SPI::GetAccumulatorLastValue() const { int32_t status = 0; - int32_t retVal = spiGetAccumulatorLastValue(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t retVal = HAL_SpiGetAccumulatorLastValue(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -256,8 +256,8 @@ int32_t SPI::GetAccumulatorLastValue() const { */ int64_t SPI::GetAccumulatorValue() const { int32_t status = 0; - int64_t retVal = spiGetAccumulatorValue(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int64_t retVal = HAL_SpiGetAccumulatorValue(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -271,8 +271,8 @@ int64_t SPI::GetAccumulatorValue() const { */ uint32_t SPI::GetAccumulatorCount() const { int32_t status = 0; - uint32_t retVal = spiGetAccumulatorCount(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + uint32_t retVal = HAL_SpiGetAccumulatorCount(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -283,8 +283,8 @@ uint32_t SPI::GetAccumulatorCount() const { */ double SPI::GetAccumulatorAverage() const { int32_t status = 0; - double retVal = spiGetAccumulatorAverage(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + double retVal = HAL_SpiGetAccumulatorAverage(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -299,6 +299,6 @@ double SPI::GetAccumulatorAverage() const { */ void SPI::GetAccumulatorOutput(int64_t& value, uint32_t& count) const { int32_t status = 0; - spiGetAccumulatorOutput(m_port, &value, &count, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SpiGetAccumulatorOutput(m_port, &value, &count, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } diff --git a/wpilibc/athena/src/SampleRobot.cpp b/wpilibc/athena/src/SampleRobot.cpp index 593725517d..90215221a4 100644 --- a/wpilibc/athena/src/SampleRobot.cpp +++ b/wpilibc/athena/src/SampleRobot.cpp @@ -101,8 +101,8 @@ void SampleRobot::RobotMain() { m_robotMainOverridden = false; } void SampleRobot::StartCompetition() { LiveWindow* lw = LiveWindow::GetInstance(); - HALReport(HALUsageReporting::kResourceType_Framework, - HALUsageReporting::kFramework_Simple); + HAL_Report(HALUsageReporting::kResourceType_Framework, + HALUsageReporting::kFramework_Simple); SmartDashboard::init(); NetworkTable::GetTable("LiveWindow") @@ -112,7 +112,7 @@ void SampleRobot::StartCompetition() { RobotInit(); // Tell the DS that the robot is ready to be enabled - HALNetworkCommunicationObserveUserProgramStarting(); + HAL_NetworkCommunicationObserveUserProgramStarting(); RobotMain(); diff --git a/wpilibc/athena/src/SensorBase.cpp b/wpilibc/athena/src/SensorBase.cpp index 71b2a835ea..7d3bea537b 100644 --- a/wpilibc/athena/src/SensorBase.cpp +++ b/wpilibc/athena/src/SensorBase.cpp @@ -52,7 +52,7 @@ bool SensorBase::CheckDigitalChannel(uint32_t channel) { * @return Relay channel is valid */ bool SensorBase::CheckRelayChannel(uint32_t channel) { - return checkRelayChannel((uint8_t)channel); + return HAL_CheckRelayChannel((uint8_t)channel); } /** diff --git a/wpilibc/athena/src/SerialPort.cpp b/wpilibc/athena/src/SerialPort.cpp index cd7fdf4aa8..a62921e78e 100644 --- a/wpilibc/athena/src/SerialPort.cpp +++ b/wpilibc/athena/src/SerialPort.cpp @@ -30,16 +30,16 @@ SerialPort::SerialPort(uint32_t baudRate, Port port, uint8_t dataBits, m_port = port; - serialInitializePort(port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - serialSetBaudRate(port, baudRate, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - serialSetDataBits(port, dataBits, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - serialSetParity(port, parity, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - serialSetStopBits(port, stopBits, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialInitializePort(port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + HAL_SerialSetBaudRate(port, baudRate, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + HAL_SerialSetDataBits(port, dataBits, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + HAL_SerialSetParity(port, parity, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + HAL_SerialSetStopBits(port, stopBits, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); // Set the default timeout to 5 seconds. SetTimeout(5.0f); @@ -53,7 +53,7 @@ SerialPort::SerialPort(uint32_t baudRate, Port port, uint8_t dataBits, // this); // viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL); - HALReport(HALUsageReporting::kResourceType_SerialPort, 0); + HAL_Report(HALUsageReporting::kResourceType_SerialPort, 0); } /** @@ -61,8 +61,8 @@ SerialPort::SerialPort(uint32_t baudRate, Port port, uint8_t dataBits, */ SerialPort::~SerialPort() { int32_t status = 0; - serialClose(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialClose(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -72,8 +72,8 @@ SerialPort::~SerialPort() { */ void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) { int32_t status = 0; - serialSetFlowControl(m_port, flowControl, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialSetFlowControl(m_port, flowControl, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -87,8 +87,8 @@ void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) { */ void SerialPort::EnableTermination(char terminator) { int32_t status = 0; - serialEnableTermination(m_port, terminator, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialEnableTermination(m_port, terminator, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -96,8 +96,8 @@ void SerialPort::EnableTermination(char terminator) { */ void SerialPort::DisableTermination() { int32_t status = 0; - serialDisableTermination(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialDisableTermination(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -107,8 +107,8 @@ void SerialPort::DisableTermination() { */ int32_t SerialPort::GetBytesReceived() { int32_t status = 0; - int32_t retVal = serialGetBytesReceived(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t retVal = HAL_SerialGetBytesReceived(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -121,8 +121,8 @@ int32_t SerialPort::GetBytesReceived() { */ uint32_t SerialPort::Read(char* buffer, int32_t count) { int32_t status = 0; - int32_t retVal = serialRead(m_port, buffer, count, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t retVal = HAL_SerialRead(m_port, buffer, count, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -135,8 +135,8 @@ uint32_t SerialPort::Read(char* buffer, int32_t count) { */ uint32_t SerialPort::Write(const std::string& buffer, int32_t count) { int32_t status = 0; - int32_t retVal = serialWrite(m_port, buffer.c_str(), count, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + int32_t retVal = HAL_SerialWrite(m_port, buffer.c_str(), count, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } @@ -150,8 +150,8 @@ uint32_t SerialPort::Write(const std::string& buffer, int32_t count) { */ void SerialPort::SetTimeout(float timeout) { int32_t status = 0; - serialSetTimeout(m_port, timeout, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialSetTimeout(m_port, timeout, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -168,8 +168,8 @@ void SerialPort::SetTimeout(float timeout) { */ void SerialPort::SetReadBufferSize(uint32_t size) { int32_t status = 0; - serialSetReadBufferSize(m_port, size, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialSetReadBufferSize(m_port, size, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -182,8 +182,8 @@ void SerialPort::SetReadBufferSize(uint32_t size) { */ void SerialPort::SetWriteBufferSize(uint32_t size) { int32_t status = 0; - serialSetWriteBufferSize(m_port, size, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialSetWriteBufferSize(m_port, size, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -199,8 +199,8 @@ void SerialPort::SetWriteBufferSize(uint32_t size) { */ void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) { int32_t status = 0; - serialSetWriteMode(m_port, mode, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialSetWriteMode(m_port, mode, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -211,8 +211,8 @@ void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) { */ void SerialPort::Flush() { int32_t status = 0; - serialFlush(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialFlush(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -222,6 +222,6 @@ void SerialPort::Flush() { */ void SerialPort::Reset() { int32_t status = 0; - serialClear(m_port, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SerialClear(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } diff --git a/wpilibc/athena/src/Solenoid.cpp b/wpilibc/athena/src/Solenoid.cpp index 1355ec9ee6..d48d61112c 100644 --- a/wpilibc/athena/src/Solenoid.cpp +++ b/wpilibc/athena/src/Solenoid.cpp @@ -41,25 +41,25 @@ Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel) } int32_t status = 0; - m_solenoidHandle = - initializeSolenoidPort(getPortWithModule(moduleNumber, channel), &status); + m_solenoidHandle = HAL_InitializeSolenoidPort( + HAL_GetPortWithModule(moduleNumber, channel), &status); if (status != 0) { - wpi_setErrorWithContext(status, getHALErrorMessage(status)); - m_solenoidHandle = HAL_INVALID_HANDLE; + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + m_solenoidHandle = HAL_kInvalidHandle; return; } LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel, this); - HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel, - m_moduleNumber); + HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel, + m_moduleNumber); } /** * Destructor. */ Solenoid::~Solenoid() { - freeSolenoidPort(m_solenoidHandle); + HAL_FreeSolenoidPort(m_solenoidHandle); if (m_table != nullptr) m_table->RemoveTableListener(this); } @@ -71,8 +71,8 @@ Solenoid::~Solenoid() { void Solenoid::Set(bool on) { if (StatusIsFatal()) return; int32_t status = 0; - setSolenoid(m_solenoidHandle, on, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + HAL_SetSolenoid(m_solenoidHandle, on, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } /** @@ -83,8 +83,8 @@ void Solenoid::Set(bool on) { bool Solenoid::Get() const { if (StatusIsFatal()) return false; int32_t status = 0; - bool value = getSolenoid(m_solenoidHandle, &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + bool value = HAL_GetSolenoid(m_solenoidHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } diff --git a/wpilibc/athena/src/SolenoidBase.cpp b/wpilibc/athena/src/SolenoidBase.cpp index aa6fcf8715..eed3d6a64a 100644 --- a/wpilibc/athena/src/SolenoidBase.cpp +++ b/wpilibc/athena/src/SolenoidBase.cpp @@ -25,8 +25,8 @@ SolenoidBase::SolenoidBase(uint8_t moduleNumber) uint8_t SolenoidBase::GetAll(int module) const { uint8_t value = 0; int32_t status = 0; - value = getAllSolenoids(static_cast(module), &status); - wpi_setErrorWithContext(status, getHALErrorMessage(status)); + value = HAL_GetAllSolenoids(static_cast(module), &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return value; } @@ -41,7 +41,7 @@ uint8_t SolenoidBase::GetAll(int module) const { */ uint8_t SolenoidBase::GetPCMSolenoidBlackList(int module) const { int32_t status = 0; - return getPCMSolenoidBlackList(static_cast(module), &status); + return HAL_GetPCMSolenoidBlackList(static_cast(module), &status); } /** @@ -50,8 +50,8 @@ uint8_t SolenoidBase::GetPCMSolenoidBlackList(int module) const { */ bool SolenoidBase::GetPCMSolenoidVoltageStickyFault(int module) const { int32_t status = 0; - return getPCMSolenoidVoltageStickyFault(static_cast(module), - &status); + return HAL_GetPCMSolenoidVoltageStickyFault(static_cast(module), + &status); } /** @@ -60,7 +60,7 @@ bool SolenoidBase::GetPCMSolenoidVoltageStickyFault(int module) const { */ bool SolenoidBase::GetPCMSolenoidVoltageFault(int module) const { int32_t status = 0; - return getPCMSolenoidVoltageFault(static_cast(module), &status); + return HAL_GetPCMSolenoidVoltageFault(static_cast(module), &status); } /** @@ -75,5 +75,5 @@ bool SolenoidBase::GetPCMSolenoidVoltageFault(int module) const { */ void SolenoidBase::ClearAllPCMStickyFaults(int module) { int32_t status = 0; - return clearAllPCMStickyFaults_sol(static_cast(module), &status); + return HAL_ClearAllPCMStickyFaults_sol(static_cast(module), &status); } diff --git a/wpilibc/athena/src/Spark.cpp b/wpilibc/athena/src/Spark.cpp index 76f7488bad..eaa81fd7d8 100644 --- a/wpilibc/athena/src/Spark.cpp +++ b/wpilibc/athena/src/Spark.cpp @@ -37,6 +37,6 @@ Spark::Spark(uint32_t channel) : PWMSpeedController(channel) { SetSpeed(0.0); SetZeroLatch(); - HALReport(HALUsageReporting::kResourceType_RevSPARK, GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel()); LiveWindow::GetInstance()->AddActuator("Spark", GetChannel(), this); } diff --git a/wpilibc/athena/src/Talon.cpp b/wpilibc/athena/src/Talon.cpp index b223bd3d0f..afc3d3918a 100644 --- a/wpilibc/athena/src/Talon.cpp +++ b/wpilibc/athena/src/Talon.cpp @@ -35,6 +35,6 @@ Talon::Talon(uint32_t channel) : PWMSpeedController(channel) { SetSpeed(0.0); SetZeroLatch(); - HALReport(HALUsageReporting::kResourceType_Talon, GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel()); LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this); } diff --git a/wpilibc/athena/src/TalonSRX.cpp b/wpilibc/athena/src/TalonSRX.cpp index db268f9870..d0370f6db3 100644 --- a/wpilibc/athena/src/TalonSRX.cpp +++ b/wpilibc/athena/src/TalonSRX.cpp @@ -34,6 +34,6 @@ TalonSRX::TalonSRX(uint32_t channel) : PWMSpeedController(channel) { SetSpeed(0.0); SetZeroLatch(); - HALReport(HALUsageReporting::kResourceType_TalonSRX, GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_TalonSRX, GetChannel()); LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this); } diff --git a/wpilibc/athena/src/Task.cpp b/wpilibc/athena/src/Task.cpp index 33db422efc..817e10b82a 100644 --- a/wpilibc/athena/src/Task.cpp +++ b/wpilibc/athena/src/Task.cpp @@ -52,7 +52,7 @@ std::thread::native_handle_type Task::native_handle() { */ bool Task::Verify() { TASK id = (TASK)m_thread.native_handle(); - return verifyTaskID(id) == OK; + return HAL_VerifyTaskID(id) == OK; } /** @@ -63,7 +63,7 @@ bool Task::Verify() { int32_t Task::GetPriority() { int priority; auto id = m_thread.native_handle(); - if (HandleError(getTaskPriority(&id, &priority))) + if (HandleError(HAL_GetTaskPriority(&id, &priority))) return priority; else return 0; @@ -79,7 +79,7 @@ int32_t Task::GetPriority() { */ bool Task::SetPriority(int32_t priority) { auto id = m_thread.native_handle(); - return HandleError(setTaskPriority(&id, priority)); + return HandleError(HAL_SetTaskPriority(&id, priority)); } /** @@ -95,7 +95,7 @@ std::string Task::GetName() const { return m_taskName; } bool Task::HandleError(STATUS results) { if (results != ERROR) return true; int errsv = errno; - if (errsv == HAL_taskLib_ILLEGAL_PRIORITY) { + if (errsv == HAL_TaskLib_ILLEGAL_PRIORITY) { wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName.c_str()); } else { printf("ERROR: errno=%i", errsv); diff --git a/wpilibc/athena/src/Ultrasonic.cpp b/wpilibc/athena/src/Ultrasonic.cpp index 86e71bb928..d4359a8d5e 100644 --- a/wpilibc/athena/src/Ultrasonic.cpp +++ b/wpilibc/athena/src/Ultrasonic.cpp @@ -73,7 +73,7 @@ void Ultrasonic::Initialize() { static int instances = 0; instances++; - HALReport(HALUsageReporting::kResourceType_Ultrasonic, instances); + HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances); LiveWindow::GetInstance()->AddSensor("Ultrasonic", m_echoChannel->GetChannel(), this); } diff --git a/wpilibc/athena/src/Utility.cpp b/wpilibc/athena/src/Utility.cpp index 420e655ca0..a75e29bca9 100644 --- a/wpilibc/athena/src/Utility.cpp +++ b/wpilibc/athena/src/Utility.cpp @@ -45,7 +45,7 @@ bool wpi_assert_impl(bool conditionValue, const char* conditionText, std::string error = errorStream.str(); // Print the error and send it to the DriverStation - HALSendError(1, 1, 0, error.c_str(), location.c_str(), stack.c_str(), 1); + HAL_SendError(1, 1, 0, error.c_str(), location.c_str(), stack.c_str(), 1); } return conditionValue; @@ -80,7 +80,7 @@ void wpi_assertEqual_common_impl(const char* valueA, const char* valueB, std::string error = errorStream.str(); // Print the error and send it to the DriverStation - HALSendError(1, 1, 0, error.c_str(), location.c_str(), trace.c_str(), 1); + HAL_SendError(1, 1, 0, error.c_str(), location.c_str(), trace.c_str(), 1); } /** @@ -127,8 +127,8 @@ bool wpi_assertNotEqual_impl(int valueA, int valueB, const char* valueAString, */ uint16_t GetFPGAVersion() { int32_t status = 0; - uint16_t version = getFPGAVersion(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + uint16_t version = HAL_GetFPGAVersion(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return version; } @@ -142,8 +142,8 @@ uint16_t GetFPGAVersion() { */ uint32_t GetFPGARevision() { int32_t status = 0; - uint32_t revision = getFPGARevision(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + uint32_t revision = HAL_GetFPGARevision(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return revision; } @@ -155,8 +155,8 @@ uint32_t GetFPGARevision() { */ uint64_t GetFPGATime() { int32_t status = 0; - uint64_t time = getFPGATime(&status); - wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status)); + uint64_t time = HAL_GetFPGATime(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return time; } @@ -168,7 +168,7 @@ uint64_t GetFPGATime() { bool GetUserButton() { int32_t status = 0; - bool value = getFPGAButton(&status); + bool value = HAL_GetFPGAButton(&status); wpi_setGlobalError(status); return value; diff --git a/wpilibc/athena/src/Victor.cpp b/wpilibc/athena/src/Victor.cpp index 45f09bec40..16ac12082a 100644 --- a/wpilibc/athena/src/Victor.cpp +++ b/wpilibc/athena/src/Victor.cpp @@ -37,5 +37,5 @@ Victor::Victor(uint32_t channel) : PWMSpeedController(channel) { SetZeroLatch(); LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this); - HALReport(HALUsageReporting::kResourceType_Victor, GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel()); } diff --git a/wpilibc/athena/src/VictorSP.cpp b/wpilibc/athena/src/VictorSP.cpp index 78c15310dc..8888ed1b26 100644 --- a/wpilibc/athena/src/VictorSP.cpp +++ b/wpilibc/athena/src/VictorSP.cpp @@ -36,6 +36,6 @@ VictorSP::VictorSP(uint32_t channel) : PWMSpeedController(channel) { SetSpeed(0.0); SetZeroLatch(); - HALReport(HALUsageReporting::kResourceType_VictorSP, GetChannel()); + HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel()); LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this); } diff --git a/wpilibc/shared/include/Task.inc b/wpilibc/shared/include/Task.inc index 482034e208..706e3b2b70 100644 --- a/wpilibc/shared/include/Task.inc +++ b/wpilibc/shared/include/Task.inc @@ -29,6 +29,6 @@ Task::Task(const std::string& name, Function&& function, Args&&... args) { static std::atomic instances{0}; instances++; - HALReport(HALUsageReporting::kResourceType_Task, instances, 0, - m_taskName.c_str()); + HAL_Report(HALUsageReporting::kResourceType_Task, instances, 0, + m_taskName.c_str()); } diff --git a/wpilibcIntegrationTests/src/AnalogLoopTest.cpp b/wpilibcIntegrationTests/src/AnalogLoopTest.cpp index aa9fb4d66a..7a7ed2b30a 100644 --- a/wpilibcIntegrationTests/src/AnalogLoopTest.cpp +++ b/wpilibcIntegrationTests/src/AnalogLoopTest.cpp @@ -114,7 +114,7 @@ TEST_F(AnalogLoopTest, AsynchronusInterruptWorks) { // Given an interrupt handler that sets an int to 12345 std::shared_ptr triggerOutput = - trigger.CreateOutput(kState); + trigger.CreateOutput(AnalogTriggerType::kState); triggerOutput->RequestInterrupts(InterruptHandler, ¶m); triggerOutput->EnableInterrupts(); diff --git a/wpilibcIntegrationTests/src/TestEnvironment.cpp b/wpilibcIntegrationTests/src/TestEnvironment.cpp index a0babee86e..a01c6076ad 100644 --- a/wpilibcIntegrationTests/src/TestEnvironment.cpp +++ b/wpilibcIntegrationTests/src/TestEnvironment.cpp @@ -21,7 +21,7 @@ class TestEnvironment : public testing::Environment { if (m_alreadySetUp) return; m_alreadySetUp = true; - if (!HALInitialize()) { + if (!HAL_Initialize()) { std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl; exit(-1); } @@ -30,7 +30,7 @@ class TestEnvironment : public testing::Environment { station. After starting network coms, it will loop until the driver station returns that the robot is enabled, to ensure that tests will be able to run on the hardware. */ - HALNetworkCommunicationObserveUserProgramStarting(); + HAL_NetworkCommunicationObserveUserProgramStarting(); LiveWindow::GetInstance()->SetEnabled(false); std::cout << "Waiting for enable" << std::endl; diff --git a/wpilibj/src/athena/cpp/lib/AccelerometerJNI.cpp b/wpilibj/src/athena/cpp/lib/AccelerometerJNI.cpp index 38dec67a42..d67c084a4a 100644 --- a/wpilibj/src/athena/cpp/lib/AccelerometerJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/AccelerometerJNI.cpp @@ -19,7 +19,7 @@ extern "C" { JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerActive( JNIEnv *, jclass, jboolean active) { - setAccelerometerActive(active); + HAL_SetAccelerometerActive(active); } /* @@ -30,7 +30,7 @@ Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerActive( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerRange( JNIEnv *, jclass, jint range) { - setAccelerometerRange((AccelerometerRange)range); + HAL_SetAccelerometerRange((HAL_AccelerometerRange)range); } /* @@ -41,7 +41,7 @@ Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerRange( JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerX( JNIEnv *, jclass) { - return getAccelerometerX(); + return HAL_GetAccelerometerX(); } /* @@ -52,7 +52,7 @@ Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerX( JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerY( JNIEnv *, jclass) { - return getAccelerometerY(); + return HAL_GetAccelerometerY(); } /* @@ -63,7 +63,7 @@ Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerY( JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerZ( JNIEnv *, jclass) { - return getAccelerometerZ(); + return HAL_GetAccelerometerZ(); } } // extern "C" diff --git a/wpilibj/src/athena/cpp/lib/AnalogGyroJNI.cpp b/wpilibj/src/athena/cpp/lib/AnalogGyroJNI.cpp index e0e8637f7d..d6ce1a651f 100644 --- a/wpilibj/src/athena/cpp/lib/AnalogGyroJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/AnalogGyroJNI.cpp @@ -32,9 +32,9 @@ extern "C" { JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_initializeAnalogGyro( JNIEnv* env, jclass, jint id) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI initializeAnalogGyro"; - ANALOGGYROJNI_LOG(logDEBUG) << "Analog Input Handle = " << (HalAnalogInputHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Analog Input Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - HalGyroHandle handle = initializeAnalogGyro((HalAnalogInputHandle)id, &status); + HAL_GyroHandle handle = HAL_InitializeAnalogGyro((HAL_AnalogInputHandle)id, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << handle; return (jint) handle; @@ -48,9 +48,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_initializeAn JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setupAnalogGyro( JNIEnv* env, jclass, jint id) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setupAnalogGyro"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; int32_t status = 0; - setupAnalogGyro((HalGyroHandle)id, &status); + HAL_SetupAnalogGyro((HAL_GyroHandle)id, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -63,8 +63,8 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setupAnalogG JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_freeAnalogGyro( JNIEnv* env, jclass, jint id) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI freeAnalogGyro"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; - freeAnalogGyro((HalGyroHandle)id); + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; + HAL_FreeAnalogGyro((HAL_GyroHandle)id); } /* @@ -75,9 +75,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_freeAnalogGy JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroParameters( JNIEnv* env, jclass, jint id, jfloat vPDPS, jfloat offset, jint center) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroParameters"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; int32_t status = 0; - setAnalogGyroParameters((HalGyroHandle)id, vPDPS, offset, center, &status); + HAL_SetAnalogGyroParameters((HAL_GyroHandle)id, vPDPS, offset, center, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -90,10 +90,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyr JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroVoltsPerDegreePerSecond( JNIEnv* env, jclass, jint id, jfloat vPDPS) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroVoltsPerDegreePerSecond"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; ANALOGGYROJNI_LOG(logDEBUG) << "vPDPS = " << vPDPS; int32_t status = 0; - setAnalogGyroVoltsPerDegreePerSecond((HalGyroHandle)id, vPDPS, &status); + HAL_SetAnalogGyroVoltsPerDegreePerSecond((HAL_GyroHandle)id, vPDPS, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -106,9 +106,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyr JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_resetAnalogGyro( JNIEnv* env, jclass, jint id) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI resetAnalogGyro"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; int32_t status = 0; - resetAnalogGyro((HalGyroHandle)id, &status); + HAL_ResetAnalogGyro((HAL_GyroHandle)id, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -121,9 +121,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_resetAnalogG JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_calibrateAnalogGyro( JNIEnv* env, jclass, jint id) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI calibrateAnalogGyro"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; int32_t status = 0; - calibrateAnalogGyro((HalGyroHandle)id, &status); + HAL_CalibrateAnalogGyro((HAL_GyroHandle)id, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -136,9 +136,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_calibrateAna JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroDeadband( JNIEnv* env, jclass, jint id, jfloat deadband) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroDeadband"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; int32_t status = 0; - setAnalogGyroDeadband((HalGyroHandle)id, deadband, &status); + HAL_SetAnalogGyroDeadband((HAL_GyroHandle)id, deadband, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -151,9 +151,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyr JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroAngle( JNIEnv* env, jclass, jint id) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroAngle"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; int32_t status = 0; - jfloat value = getAnalogGyroAngle((HalGyroHandle)id, &status); + jfloat value = HAL_GetAnalogGyroAngle((HAL_GyroHandle)id, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value; CheckStatus(env, status); @@ -168,9 +168,9 @@ JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogG JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroRate( JNIEnv* env, jclass, jint id) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroRate"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; int32_t status = 0; - jdouble value = getAnalogGyroRate((HalGyroHandle)id, &status); + jdouble value = HAL_GetAnalogGyroRate((HAL_GyroHandle)id, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value; CheckStatus(env, status); @@ -185,9 +185,9 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalog JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroOffset( JNIEnv* env, jclass, jint id) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroOffset"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; int32_t status = 0; - jfloat value = getAnalogGyroOffset((HalGyroHandle)id, &status); + jfloat value = HAL_GetAnalogGyroOffset((HAL_GyroHandle)id, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value; CheckStatus(env, status); @@ -202,9 +202,9 @@ JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogG JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroCenter( JNIEnv* env, jclass, jint id) { ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroCenter"; - ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id; + ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id; int32_t status = 0; - jint value = getAnalogGyroCenter((HalGyroHandle)id, &status); + jint value = HAL_GetAnalogGyroCenter((HAL_GyroHandle)id, &status); ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status; ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value; CheckStatus(env, status); diff --git a/wpilibj/src/athena/cpp/lib/AnalogJNI.cpp b/wpilibj/src/athena/cpp/lib/AnalogJNI.cpp index 91687a4950..1e4b4836ed 100644 --- a/wpilibj/src/athena/cpp/lib/AnalogJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/AnalogJNI.cpp @@ -36,9 +36,9 @@ extern "C" { JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogInputPort( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HalPortHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id; int32_t status = 0; - auto analog = initializeAnalogInputPort((HalPortHandle)id, &status); + auto analog = HAL_InitializeAnalogInputPort((HAL_PortHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog; CheckStatus(env, status); @@ -53,8 +53,8 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogInputPort( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogInputPort( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HalAnalogInputHandle)id; - freeAnalogInputPort((HalAnalogInputHandle)id); + ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_AnalogInputHandle)id; + HAL_FreeAnalogInputPort((HAL_AnalogInputHandle)id); } /* @@ -65,9 +65,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogInputPort( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogOutputPort( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HalPortHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id; int32_t status = 0; - HalAnalogOutputHandle analog = initializeAnalogOutputPort((HalPortHandle)id, &status); + HAL_AnalogOutputHandle analog = HAL_InitializeAnalogOutputPort((HAL_PortHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog; CheckStatus(env, status); @@ -83,7 +83,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogOutputPort( JNIEnv *env, jclass, jint id) { ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << id; - freeAnalogOutputPort((HalAnalogOutputHandle)id); + HAL_FreeAnalogOutputPort((HAL_AnalogOutputHandle)id); } /* @@ -95,7 +95,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogModule( JNIEnv *, jclass, jbyte value) { // ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)value; - jboolean returnValue = checkAnalogModule(value); + jboolean returnValue = HAL_CheckAnalogModule(value); // ANALOGJNI_LOG(logDEBUG) << "checkAnalogModuleResult = " << // (jint)returnValue; return returnValue; @@ -110,7 +110,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogInputChannel( JNIEnv *, jclass, jint value) { // ANALOGJNI_LOG(logDEBUG) << "Channel = " << value; - jboolean returnValue = checkAnalogInputChannel(value); + jboolean returnValue = HAL_CheckAnalogInputChannel(value); // ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " << // (jint)returnValue; return returnValue; @@ -125,7 +125,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogOutputChannel( JNIEnv *, jclass, jint value) { // ANALOGJNI_LOG(logDEBUG) << "Channel = " << value; - jboolean returnValue = checkAnalogOutputChannel(value); + jboolean returnValue = HAL_CheckAnalogOutputChannel(value); // ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " << // (jint)returnValue; return returnValue; @@ -142,7 +142,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOutput( ANALOGJNI_LOG(logDEBUG) << "Voltage = " << voltage; ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << id; int32_t status = 0; - setAnalogOutput((HalAnalogOutputHandle)id, voltage, &status); + HAL_SetAnalogOutput((HAL_AnalogOutputHandle)id, voltage, &status); CheckStatus(env, status); } @@ -155,7 +155,7 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOutput( JNIEnv *env, jclass, jint id) { int32_t status = 0; - double val = getAnalogOutput((HalAnalogOutputHandle)id, &status); + double val = HAL_GetAnalogOutput((HAL_AnalogOutputHandle)id, &status); CheckStatus(env, status); return val; } @@ -170,7 +170,7 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogSampleRate( JNIEnv *env, jclass, jdouble value) { ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << value; int32_t status = 0; - setAnalogSampleRate(value, &status); + HAL_SetAnalogSampleRate(value, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -184,7 +184,7 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogSampleRate( JNIEnv *env, jclass) { int32_t status = 0; - double returnValue = getAnalogSampleRate(&status); + double returnValue = HAL_GetAnalogSampleRate(&status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << returnValue; CheckStatus(env, status); @@ -200,9 +200,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogAverageBits( JNIEnv *env, jclass, jint id, jint value) { ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << value; - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - setAnalogAverageBits((HalAnalogInputHandle)id, value, &status); + HAL_SetAnalogAverageBits((HAL_AnalogInputHandle)id, value, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -215,9 +215,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogAverageBits( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageBits( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - jint returnValue = getAnalogAverageBits((HalAnalogInputHandle)id, &status); + jint returnValue = HAL_GetAnalogAverageBits((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << returnValue; CheckStatus(env, status); @@ -233,9 +233,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOversampleBits( JNIEnv *env, jclass, jint id, jint value) { ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << value; - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - setAnalogOversampleBits((HalAnalogInputHandle)id, value, &status); + HAL_SetAnalogOversampleBits((HAL_AnalogInputHandle)id, value, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -248,9 +248,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOversampleBits( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOversampleBits( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - jint returnValue = getAnalogOversampleBits((HalAnalogInputHandle)id, &status); + jint returnValue = HAL_GetAnalogOversampleBits((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << returnValue; CheckStatus(env, status); @@ -267,7 +267,7 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogValue( JNIEnv *env, jclass, jint id) { // ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (void*)id; int32_t status = 0; - jshort returnValue = getAnalogValue((HalAnalogInputHandle)id, &status); + jshort returnValue = HAL_GetAnalogValue((HAL_AnalogInputHandle)id, &status); // ANALOGJNI_LOG(logDEBUG) << "Status = " << status; // ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue; CheckStatus(env, status); @@ -282,9 +282,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogValue( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageValue( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - jint returnValue = getAnalogAverageValue((HalAnalogInputHandle)id, &status); + jint returnValue = HAL_GetAnalogAverageValue((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "AverageValue = " << returnValue; CheckStatus(env, status); @@ -299,10 +299,10 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageValue( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltsToValue( JNIEnv *env, jclass, jint id, jdouble voltageValue) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; ANALOGJNI_LOG(logDEBUG) << "VoltageValue = " << voltageValue; int32_t status = 0; - jint returnValue = getAnalogVoltsToValue((HalAnalogInputHandle)id, voltageValue, &status); + jint returnValue = HAL_GetAnalogVoltsToValue((HAL_AnalogInputHandle)id, voltageValue, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue; CheckStatus(env, status); @@ -319,7 +319,7 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltage( JNIEnv *env, jclass, jint id) { // ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (void*)id; int32_t status = 0; - jdouble returnValue = getAnalogVoltage((HalAnalogInputHandle)id, &status); + jdouble returnValue = HAL_GetAnalogVoltage((HAL_AnalogInputHandle)id, &status); // ANALOGJNI_LOG(logDEBUG) << "Status = " << status; // ANALOGJNI_LOG(logDEBUG) << "Voltage = " << returnValue; CheckStatus(env, status); @@ -334,9 +334,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltage( JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageVoltage( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - jdouble returnValue = getAnalogAverageVoltage((HalAnalogInputHandle)id, &status); + jdouble returnValue = HAL_GetAnalogAverageVoltage((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "AverageVoltage = " << returnValue; CheckStatus(env, status); @@ -351,10 +351,10 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageVoltage( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeight( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - jint returnValue = getAnalogLSBWeight((HalAnalogInputHandle)id, &status); + jint returnValue = HAL_GetAnalogLSBWeight((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "AnalogLSBWeight = " << returnValue; CheckStatus(env, status); @@ -368,10 +368,10 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeight( */ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOffset( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - jint returnValue = getAnalogOffset((HalAnalogInputHandle)id, &status); + jint returnValue = HAL_GetAnalogOffset((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "AnalogOffset = " << returnValue; CheckStatus(env, status); @@ -387,10 +387,10 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorChannel( JNIEnv *env, jclass, jint id) { ANALOGJNI_LOG(logDEBUG) << "isAccumulatorChannel"; - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - jboolean returnValue = isAccumulatorChannel((HalAnalogInputHandle)id, &status); + jboolean returnValue = HAL_IsAccumulatorChannel((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "AnalogOffset = " << returnValue; CheckStatus(env, status); @@ -404,9 +404,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorChannel( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - initAccumulator((HalAnalogInputHandle)id, &status); + HAL_InitAccumulator((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -419,10 +419,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - - resetAccumulator((HalAnalogInputHandle)id, &status); + HAL_ResetAccumulator((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -435,10 +434,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter( JNIEnv *env, jclass, jint id, jint center) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - - setAccumulatorCenter((HalAnalogInputHandle)id, center, &status); + HAL_SetAccumulatorCenter((HAL_AnalogInputHandle)id, center, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -451,10 +449,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband( JNIEnv *env, jclass, jint id, jint deadband) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - - setAccumulatorDeadband((HalAnalogInputHandle)id, deadband, &status); + HAL_SetAccumulatorDeadband((HAL_AnalogInputHandle)id, deadband, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -467,10 +464,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband( JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - - jlong returnValue = getAccumulatorValue((HalAnalogInputHandle)id, &status); + jlong returnValue = HAL_GetAccumulatorValue((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "AccumulatorValue = " << returnValue; CheckStatus(env, status); @@ -486,10 +482,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount( JNIEnv *env, jclass, jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - - jint returnValue = getAccumulatorCount((HalAnalogInputHandle)id, &status); + jint returnValue = HAL_GetAccumulatorCount((HAL_AnalogInputHandle)id, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "AccumulatorCount = " << returnValue; CheckStatus(env, status); @@ -504,14 +499,11 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput( JNIEnv *env, jclass, jint id, jobject value, jobject count) { - ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HalAnalogInputHandle)id; + ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id; int32_t status = 0; - jlong *valuePtr = (jlong *)env->GetDirectBufferAddress(value); uint32_t *countPtr = (uint32_t *)env->GetDirectBufferAddress(count); - - getAccumulatorOutput((HalAnalogInputHandle)id, valuePtr, countPtr, &status); - + HAL_GetAccumulatorOutput((HAL_AnalogInputHandle)id, valuePtr, countPtr, &status); ANALOGJNI_LOG(logDEBUG) << "Value = " << *valuePtr; ANALOGJNI_LOG(logDEBUG) << "Count = " << *countPtr; ANALOGJNI_LOG(logDEBUG) << "Status = " << status; @@ -526,14 +518,12 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger( JNIEnv *env, jclass, jint id, jobject index) { - ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HalAnalogInputHandle)id; - + ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_AnalogInputHandle)id; jint *indexHandle = (jint *)env->GetDirectBufferAddress(index); ANALOGJNI_LOG(logDEBUG) << "Index Ptr = " << indexHandle; - int32_t status = 0; - HalAnalogTriggerHandle analogTrigger = - initializeAnalogTrigger((HalAnalogInputHandle)id, (uint32_t *)indexHandle, &status); + HAL_AnalogTriggerHandle analogTrigger = + HAL_InitializeAnalogTrigger((HAL_AnalogInputHandle)id, (uint32_t *)indexHandle, &status); ANALOGJNI_LOG(logDEBUG) << "Status = " << status; ANALOGJNI_LOG(logDEBUG) << "AnalogTrigger Handle = " << analogTrigger; CheckStatus(env, status); @@ -548,10 +538,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigger( JNIEnv *env, jclass,jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HalAnalogTriggerHandle)id; - + ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id; int32_t status = 0; - cleanAnalogTrigger((HalAnalogTriggerHandle)id, &status); + HAL_CleanAnalogTrigger((HAL_AnalogTriggerHandle)id, &status); CheckStatus(env, status); } @@ -563,10 +552,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigger( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsRaw( JNIEnv *env, jclass,jint id, jint lower, jint upper) { - ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HalAnalogTriggerHandle)id; - + ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id; int32_t status = 0; - setAnalogTriggerLimitsRaw((HalAnalogTriggerHandle)id, lower, upper, &status); + HAL_SetAnalogTriggerLimitsRaw((HAL_AnalogTriggerHandle)id, lower, upper, &status); CheckStatus(env, status); } @@ -578,10 +566,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsRaw( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsVoltage( JNIEnv *env, jclass,jint id, jdouble lower, jdouble upper) { - ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HalAnalogTriggerHandle)id; - + ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id; int32_t status = 0; - setAnalogTriggerLimitsVoltage((HalAnalogTriggerHandle)id, lower, upper, &status); + HAL_SetAnalogTriggerLimitsVoltage((HAL_AnalogTriggerHandle)id, lower, upper, &status); CheckStatus(env, status); } @@ -593,10 +580,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsVoltage( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerAveraged( JNIEnv *env, jclass,jint id, jboolean averaged) { - ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HalAnalogTriggerHandle)id; - + ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id; int32_t status = 0; - setAnalogTriggerAveraged((HalAnalogTriggerHandle)id, averaged, &status); + HAL_SetAnalogTriggerAveraged((HAL_AnalogTriggerHandle)id, averaged, &status); CheckStatus(env, status); } @@ -608,10 +594,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerAveraged( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerFiltered( JNIEnv *env, jclass,jint id, jboolean filtered) { - ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HalAnalogTriggerHandle)id; - + ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id; int32_t status = 0; - setAnalogTriggerFiltered((HalAnalogTriggerHandle)id, filtered, &status); + HAL_SetAnalogTriggerFiltered((HAL_AnalogTriggerHandle)id, filtered, &status); CheckStatus(env, status); } @@ -623,10 +608,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerFiltered( JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerInWindow( JNIEnv *env, jclass,jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HalAnalogTriggerHandle)id; - + ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id; int32_t status = 0; - jboolean val = getAnalogTriggerInWindow((HalAnalogTriggerHandle)id, &status); + jboolean val = HAL_GetAnalogTriggerInWindow((HAL_AnalogTriggerHandle)id, &status); CheckStatus(env, status); return val; } @@ -639,10 +623,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerInWindow( JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerTriggerState( JNIEnv *env, jclass,jint id) { - ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HalAnalogTriggerHandle)id; - + ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id; int32_t status = 0; - jboolean val = getAnalogTriggerTriggerState((HalAnalogTriggerHandle)id, &status); + jboolean val = HAL_GetAnalogTriggerTriggerState((HAL_AnalogTriggerHandle)id, &status); CheckStatus(env, status); return val; } @@ -655,11 +638,10 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerTriggerState( JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerOutput( JNIEnv *env, jclass,jint id, jint type) { - ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HalAnalogTriggerHandle)id; - + ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id; int32_t status = 0; jboolean val = - getAnalogTriggerOutput((HalAnalogTriggerHandle)id, (AnalogTriggerType)type, &status); + HAL_GetAnalogTriggerOutput((HAL_AnalogTriggerHandle)id, (HAL_AnalogTriggerType)type, &status); CheckStatus(env, status); return val; } diff --git a/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp b/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp index 31ebfe102c..f47bb19b91 100644 --- a/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp @@ -21,7 +21,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_initializeCompressor( JNIEnv *env, jclass, jbyte module) { int32_t status = 0; - auto handle = initializeCompressor(module, &status); + auto handle = HAL_InitializeCompressor(module, &status); if (status == PARAMETER_OUT_OF_RANGE) { //TODO: Move 63 to a constant (Thad will do) ThrowBoundaryException(env, module, 0, 63); @@ -38,7 +38,7 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_initializeCompressor( JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_checkCompressorModule( JNIEnv *env, jclass, jbyte module) { - return checkCompressorModule(module); + return HAL_CheckCompressorModule(module); } /* @@ -50,7 +50,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - bool val = getCompressor((HalCompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressor((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -64,7 +64,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setClosedLoopControl( JNIEnv *env, jclass, jint compressor_handle, jboolean value) { int32_t status = 0; - setClosedLoopControl((HalCompressorHandle)compressor_handle, value, &status); + HAL_SetClosedLoopControl((HAL_CompressorHandle)compressor_handle, value, &status); CheckStatus(env, status); } @@ -77,7 +77,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getClosedLoopControl( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - bool val = getClosedLoopControl((HalCompressorHandle)compressor_handle, &status); + bool val = HAL_GetClosedLoopControl((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -91,7 +91,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getPressureSwitch( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - bool val = getPressureSwitch((HalCompressorHandle)compressor_handle, &status); + bool val = HAL_GetPressureSwitch((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -105,7 +105,7 @@ JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - float val = getCompressorCurrent((HalCompressorHandle)compressor_handle, &status); + float val = HAL_GetCompressorCurrent((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -119,7 +119,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighFault( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - bool val = getCompressorCurrentTooHighFault((HalCompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorCurrentTooHighFault((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -134,7 +134,7 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighStickyFa JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; bool val = - getCompressorCurrentTooHighStickyFault((HalCompressorHandle)compressor_handle, &status); + HAL_GetCompressorCurrentTooHighStickyFault((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -148,7 +148,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedStickyFault( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - bool val = getCompressorShortedStickyFault((HalCompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorShortedStickyFault((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -162,7 +162,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedFault( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - bool val = getCompressorShortedFault((HalCompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorShortedFault((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -176,7 +176,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedStickyFault( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - bool val = getCompressorNotConnectedStickyFault((HalCompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorNotConnectedStickyFault((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -190,7 +190,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedFault( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - bool val = getCompressorNotConnectedFault((HalCompressorHandle)compressor_handle, &status); + bool val = HAL_GetCompressorNotConnectedFault((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); return val; } @@ -203,7 +203,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_clearAllPCMStickyFaults( JNIEnv *env, jclass, jint compressor_handle) { int32_t status = 0; - clearAllPCMStickyFaults((HalCompressorHandle)compressor_handle, &status); + HAL_ClearAllPCMStickyFaults((HAL_CompressorHandle)compressor_handle, &status); CheckStatus(env, status); } diff --git a/wpilibj/src/athena/cpp/lib/ConstantsJNI.cpp b/wpilibj/src/athena/cpp/lib/ConstantsJNI.cpp index 76ae3d591a..93f6942e88 100644 --- a/wpilibj/src/athena/cpp/lib/ConstantsJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/ConstantsJNI.cpp @@ -33,7 +33,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_ConstantsJNI_getSystemClockTicksPerMicrosecond( JNIEnv *env, jclass) { CONSTANTSJNI_LOG(logDEBUG) << "Calling ConstantsJNI getSystemClockTicksPerMicrosecond"; - jint value = HAL_getSystemClockTicksPerMicrosecond(); + jint value = HAL_GetSystemClockTicksPerMicrosecond(); CONSTANTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } diff --git a/wpilibj/src/athena/cpp/lib/CounterJNI.cpp b/wpilibj/src/athena/cpp/lib/CounterJNI.cpp index 7f366bd9c5..c798eef0de 100644 --- a/wpilibj/src/athena/cpp/lib/CounterJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/CounterJNI.cpp @@ -39,7 +39,7 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_initializeCounter( jint* indexPtr = (jint*)env->GetDirectBufferAddress(index); COUNTERJNI_LOG(logDEBUG) << "Index Ptr = " << (int32_t*)indexPtr; int32_t status = 0; - auto counter = initializeCounter((Mode)mode, (int32_t*)indexPtr, &status); + auto counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, (int32_t*)indexPtr, &status); COUNTERJNI_LOG(logDEBUG) << "Index = " << *indexPtr; COUNTERJNI_LOG(logDEBUG) << "Status = " << status; COUNTERJNI_LOG(logDEBUG) << "COUNTER Handle = " << counter; @@ -55,9 +55,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_initializeCounter( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_freeCounter( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI freeCounter"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - freeCounter((HalCounterHandle)id, &status); + HAL_FreeCounter((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -71,10 +71,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterAverageSize( JNIEnv* env, jclass, jint id, jint value) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterAverageSize"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "AverageSize = " << value; int32_t status = 0; - setCounterAverageSize((HalCounterHandle)id, value, &status); + HAL_SetCounterAverageSize((HAL_CounterHandle)id, value, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -89,12 +89,12 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSource( JNIEnv* env, jclass, jint id, jint digitalSourceHandle, jint analogTriggerType) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSource"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle; COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType; int32_t status = 0; - setCounterUpSource((HalCounterHandle)id, (HalHandle)digitalSourceHandle, - (AnalogTriggerType)analogTriggerType, &status); + HAL_SetCounterUpSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle, + (HAL_AnalogTriggerType)analogTriggerType, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -108,11 +108,11 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceEdge( JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSourceEdge"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise; COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall; int32_t status = 0; - setCounterUpSourceEdge((HalCounterHandle)id, valueRise, valueFall, &status); + HAL_SetCounterUpSourceEdge((HAL_CounterHandle)id, valueRise, valueFall, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -126,9 +126,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterUpSource( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterUpSource"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - clearCounterUpSource((HalCounterHandle)id, &status); + HAL_ClearCounterUpSource((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -143,12 +143,12 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSource( JNIEnv* env, jclass, jint id, jint digitalSourceHandle, jint analogTriggerType) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSource"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle; COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType; int32_t status = 0; - setCounterDownSource((HalCounterHandle)id, (HalHandle)digitalSourceHandle, - (AnalogTriggerType)analogTriggerType, &status); + HAL_SetCounterDownSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle, + (HAL_AnalogTriggerType)analogTriggerType, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; if (status == PARAMETER_OUT_OF_RANGE) { ThrowIllegalArgumentException(env, @@ -168,11 +168,11 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceEdge( JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSourceEdge"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise; COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall; int32_t status = 0; - setCounterDownSourceEdge((HalCounterHandle)id, valueRise, valueFall, &status); + HAL_SetCounterDownSourceEdge((HAL_CounterHandle)id, valueRise, valueFall, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -186,9 +186,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterDownSource( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterDownSource"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - clearCounterDownSource((HalCounterHandle)id, &status); + HAL_ClearCounterDownSource((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -202,9 +202,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpDownMode( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpDownMode"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - setCounterUpDownMode((HalCounterHandle)id, &status); + HAL_SetCounterUpDownMode((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -219,9 +219,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterExternalDirectionMode( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterExternalDirectionMode"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - setCounterExternalDirectionMode((HalCounterHandle)id, &status); + HAL_SetCounterExternalDirectionMode((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -235,10 +235,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSemiPeriodMode( JNIEnv* env, jclass, jint id, jboolean value) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSemiPeriodMode"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "SemiPeriodMode = " << (jint)value; int32_t status = 0; - setCounterSemiPeriodMode((HalCounterHandle)id, value, &status); + HAL_SetCounterSemiPeriodMode((HAL_CounterHandle)id, value, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -252,10 +252,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterPulseLengthMode( JNIEnv* env, jclass, jint id, jdouble value) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterPulseLengthMode"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "PulseLengthMode = " << value; int32_t status = 0; - setCounterPulseLengthMode((HalCounterHandle)id, value, &status); + HAL_SetCounterPulseLengthMode((HAL_CounterHandle)id, value, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -269,9 +269,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterSamplesToAverage( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterSamplesToAverage"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - jint returnValue = getCounterSamplesToAverage((HalCounterHandle)id, &status); + jint returnValue = HAL_GetCounterSamplesToAverage((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; COUNTERJNI_LOG(logDEBUG) << "getCounterSamplesToAverageResult = " << returnValue; @@ -288,10 +288,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSamplesToAverage( JNIEnv* env, jclass, jint id, jint value) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSamplesToAverage"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "SamplesToAverage = " << value; int32_t status = 0; - setCounterSamplesToAverage((HalCounterHandle)id, value, &status); + HAL_SetCounterSamplesToAverage((HAL_CounterHandle)id, value, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; if (status == PARAMETER_OUT_OF_RANGE) { ThrowBoundaryException(env, value, 1, 127); @@ -308,9 +308,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSamplesToAverage( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_resetCounter( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI resetCounter"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - resetCounter((HalCounterHandle)id, &status); + HAL_ResetCounter((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -323,9 +323,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_resetCounter( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounter( JNIEnv* env, jclass, jint id) { // COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounter"; - // COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + // COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - jint returnValue = getCounter((HalCounterHandle)id, &status); + jint returnValue = HAL_GetCounter((HAL_CounterHandle)id, &status); // COUNTERJNI_LOG(logDEBUG) << "Status = " << status; // COUNTERJNI_LOG(logDEBUG) << "getCounterResult = " << returnValue; CheckStatus(env, status); @@ -341,9 +341,9 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterPeriod( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterPeriod"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - jdouble returnValue = getCounterPeriod((HalCounterHandle)id, &status); + jdouble returnValue = HAL_GetCounterPeriod((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; COUNTERJNI_LOG(logDEBUG) << "getCounterPeriodResult = " << returnValue; CheckStatus(env, status); @@ -359,10 +359,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterMaxPeriod( JNIEnv* env, jclass, jint id, jdouble value) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "MaxPeriod = " << value; int32_t status = 0; - setCounterMaxPeriod((HalCounterHandle)id, value, &status); + HAL_SetCounterMaxPeriod((HAL_CounterHandle)id, value, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -376,10 +376,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpdateWhenEmpty( JNIEnv* env, jclass, jint id, jboolean value) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "UpdateWhenEmpty = " << (jint)value; int32_t status = 0; - setCounterUpdateWhenEmpty((HalCounterHandle)id, value, &status); + HAL_SetCounterUpdateWhenEmpty((HAL_CounterHandle)id, value, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -393,9 +393,9 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterStopped( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterStopped"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - jboolean returnValue = getCounterStopped((HalCounterHandle)id, &status); + jboolean returnValue = HAL_GetCounterStopped((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; COUNTERJNI_LOG(logDEBUG) << "getCounterStoppedResult = " << (jint)returnValue; CheckStatus(env, status); @@ -411,9 +411,9 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterDirection( JNIEnv* env, jclass, jint id) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterDirection"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; int32_t status = 0; - jboolean returnValue = getCounterDirection((HalCounterHandle)id, &status); + jboolean returnValue = HAL_GetCounterDirection((HAL_CounterHandle)id, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; COUNTERJNI_LOG(logDEBUG) << "getCounterDirectionResult = " << (jint)returnValue; @@ -430,10 +430,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterReverseDirection( JNIEnv* env, jclass, jint id, jboolean value) { COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterReverseDirection"; - COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HalCounterHandle)id; + COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id; COUNTERJNI_LOG(logDEBUG) << "ReverseDirection = " << (jint)value; int32_t status = 0; - setCounterReverseDirection((HalCounterHandle)id, value, &status); + HAL_SetCounterReverseDirection((HAL_CounterHandle)id, value, &status); COUNTERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } diff --git a/wpilibj/src/athena/cpp/lib/DIOJNI.cpp b/wpilibj/src/athena/cpp/lib/DIOJNI.cpp index 02cb3a2916..71993aa5c9 100644 --- a/wpilibj/src/athena/cpp/lib/DIOJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/DIOJNI.cpp @@ -35,10 +35,10 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort( JNIEnv *env, jclass, jint id, jboolean input) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDIOPort"; - DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalPortHandle)id; + DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id; DIOJNI_LOG(logDEBUG) << "Input = " << (jint)input; int32_t status = 0; - auto dio = initializeDIOPort((HalPortHandle)id, (uint8_t)input, &status); + auto dio = HAL_InitializeDIOPort((HAL_PortHandle)id, (uint8_t)input, &status); DIOJNI_LOG(logDEBUG) << "Status = " << status; DIOJNI_LOG(logDEBUG) << "DIO Handle = " << dio; CheckStatus(env, status); @@ -53,8 +53,8 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIOPort( JNIEnv *env, jclass, jint id) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIOPort"; - DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; - freeDIOPort((HalDigitalHandle)id); + DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; + HAL_FreeDIOPort((HAL_DigitalHandle)id); } /* @@ -65,10 +65,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIOPort( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO( JNIEnv *env, jclass, jint id, jshort value) { // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO"; - // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; + // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; // DIOJNI_LOG(logDEBUG) << "Value = " << value; int32_t status = 0; - setDIO((HalDigitalHandle)id, value, &status); + HAL_SetDIO((HAL_DigitalHandle)id, value, &status); // DIOJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -81,9 +81,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO( JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO(JNIEnv *env, jclass, jint id) { // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO"; - // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; + // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - jboolean returnValue = getDIO((HalDigitalHandle)id, &status); + jboolean returnValue = HAL_GetDIO((HAL_DigitalHandle)id, &status); // DIOJNI_LOG(logDEBUG) << "Status = " << status; // DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue; CheckStatus(env, status); @@ -99,9 +99,9 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection( JNIEnv *env, jclass, jint id) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIODirection (RR upd)"; - // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; + // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - jboolean returnValue = getDIODirection((HalDigitalHandle)id, &status); + jboolean returnValue = HAL_GetDIODirection((HAL_DigitalHandle)id, &status); // DIOJNI_LOG(logDEBUG) << "Status = " << status; DIOJNI_LOG(logDEBUG) << "getDIODirectionResult = " << (jint)returnValue; CheckStatus(env, status); @@ -116,10 +116,10 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse( JNIEnv *env, jclass, jint id, jdouble value) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI pulse (RR upd)"; - // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; + // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; // DIOJNI_LOG(logDEBUG) << "Value = " << value; int32_t status = 0; - pulse((HalDigitalHandle)id, value, &status); + HAL_Pulse((HAL_DigitalHandle)id, value, &status); DIOJNI_LOG(logDEBUG) << "Did it work? Status = " << status; CheckStatus(env, status); } @@ -132,9 +132,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse( JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing(JNIEnv *env, jclass, jint id) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isPulsing (RR upd)"; - // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; + // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - jboolean returnValue = isPulsing((HalDigitalHandle)id, &status); + jboolean returnValue = HAL_IsPulsing((HAL_DigitalHandle)id, &status); // DIOJNI_LOG(logDEBUG) << "Status = " << status; DIOJNI_LOG(logDEBUG) << "isPulsingResult = " << (jint)returnValue; CheckStatus(env, status); @@ -150,7 +150,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing(JNIEnv *env, jclass) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isAnyPulsing (RR upd)"; int32_t status = 0; - jboolean returnValue = isAnyPulsing(&status); + jboolean returnValue = HAL_IsAnyPulsing(&status); // DIOJNI_LOG(logDEBUG) << "Status = " << status; DIOJNI_LOG(logDEBUG) << "isAnyPulsingResult = " << (jint)returnValue; CheckStatus(env, status); @@ -166,7 +166,7 @@ JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming(JNIEnv *env, jclass) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing"; int32_t status = 0; - jshort returnValue = getLoopTiming(&status); + jshort returnValue = HAL_GetLoopTiming(&status); DIOJNI_LOG(logDEBUG) << "Status = " << status; DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue; CheckStatus(env, status); @@ -183,7 +183,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDigitalPWM(JNIEnv* env, jclass) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDigitalPWM"; int32_t status = 0; - auto pwm = allocateDigitalPWM(&status); + auto pwm = HAL_AllocateDigitalPWM(&status); DIOJNI_LOG(logDEBUG) << "Status = " << status; DIOJNI_LOG(logDEBUG) << "PWM Handle = " << pwm; CheckStatus(env, status); @@ -198,9 +198,9 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDigitalPWM(JNIEnv* env, jclass) { JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDigitalPWM(JNIEnv* env, jclass, jint id) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDigitalPWM"; - DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalPWMHandle)id; + DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id; int32_t status = 0; - freeDigitalPWM((HalDigitalPWMHandle)id, &status); + HAL_FreeDigitalPWM((HAL_DigitalPWMHandle)id, &status); DIOJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -215,7 +215,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMRate( DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMRate"; DIOJNI_LOG(logDEBUG) << "Rate= " << value; int32_t status = 0; - setDigitalPWMRate(value, &status); + HAL_SetDigitalPWMRate(value, &status); DIOJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -228,10 +228,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMRate( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMDutyCycle( JNIEnv* env, jclass, jint id, jdouble value) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMDutyCycle"; - DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalPWMHandle)id; + DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id; DIOJNI_LOG(logDEBUG) << "DutyCycle= " << value; int32_t status = 0; - setDigitalPWMDutyCycle((HalDigitalPWMHandle)id, value, &status); + HAL_SetDigitalPWMDutyCycle((HAL_DigitalPWMHandle)id, value, &status); DIOJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -245,10 +245,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMOutputChannel( JNIEnv* env, jclass, jint id, jint value) { DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMOutputChannel"; - DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalPWMHandle)id; + DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id; DIOJNI_LOG(logDEBUG) << "Pin= " << value; int32_t status = 0; - setDigitalPWMOutputChannel((HalDigitalPWMHandle)id, (uint32_t)value, &status); + HAL_SetDigitalPWMOutputChannel((HAL_DigitalPWMHandle)id, (uint32_t)value, &status); DIOJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } diff --git a/wpilibj/src/athena/cpp/lib/DigitalGlitchFilterJNI.cpp b/wpilibj/src/athena/cpp/lib/DigitalGlitchFilterJNI.cpp index 975463e7a4..997eda490f 100644 --- a/wpilibj/src/athena/cpp/lib/DigitalGlitchFilterJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/DigitalGlitchFilterJNI.cpp @@ -20,7 +20,7 @@ Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterSelect( JNIEnv* env, jclass, jint id, jint filter_index) { int32_t status = 0; - setFilterSelect((HalDigitalHandle)id, filter_index, &status); + HAL_SetFilterSelect((HAL_DigitalHandle)id, filter_index, &status); CheckStatus(env, status); } @@ -33,7 +33,7 @@ Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterSelect( JNIEnv* env, jclass, jint id) { int32_t status = 0; - jint result = getFilterSelect((HalDigitalHandle)id, &status); + jint result = HAL_GetFilterSelect((HAL_DigitalHandle)id, &status); CheckStatus(env, status); return result; } @@ -47,7 +47,7 @@ Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterPeriod( JNIEnv* env, jclass, jint filter_index, jint fpga_cycles) { int32_t status = 0; - setFilterPeriod(filter_index, fpga_cycles, &status); + HAL_SetFilterPeriod(filter_index, fpga_cycles, &status); CheckStatus(env, status); } @@ -60,7 +60,7 @@ Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterPeriod( JNIEnv* env, jclass, jint filter_index) { int32_t status = 0; - jint result = getFilterPeriod(filter_index, &status); + jint result = HAL_GetFilterPeriod(filter_index, &status); CheckStatus(env, status); return result; } diff --git a/wpilibj/src/athena/cpp/lib/EncoderJNI.cpp b/wpilibj/src/athena/cpp/lib/EncoderJNI.cpp index 03dffb0873..fca91af9c6 100644 --- a/wpilibj/src/athena/cpp/lib/EncoderJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/EncoderJNI.cpp @@ -46,10 +46,10 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder( ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection; ENCODERJNI_LOG(logDEBUG) << "EncodingType = " << encodingType; int32_t status = 0; - auto encoder = initializeEncoder( - (HalHandle)digitalSourceHandleA, (AnalogTriggerType)analogTriggerTypeA, - (HalHandle)digitalSourceHandleB, (AnalogTriggerType)analogTriggerTypeB, - reverseDirection, (EncoderEncodingType)encodingType, &status); + auto encoder = HAL_InitializeEncoder( + (HAL_Handle)digitalSourceHandleA, (HAL_AnalogTriggerType)analogTriggerTypeA, + (HAL_Handle)digitalSourceHandleB, (HAL_AnalogTriggerType)analogTriggerTypeB, + reverseDirection, (HAL_EncoderEncodingType)encodingType, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "ENCODER Handle = " << encoder; @@ -65,9 +65,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - freeEncoder((HalEncoderHandle)id, &status); + HAL_FreeEncoder((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -80,9 +80,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jint returnValue = getEncoder((HalEncoderHandle)id, &status); + jint returnValue = HAL_GetEncoder((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " << returnValue; CheckStatus(env, status); @@ -97,9 +97,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRaw( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRaw"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jint returnValue = getEncoderRaw((HalEncoderHandle)id, &status); + jint returnValue = HAL_GetEncoderRaw((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getRawEncoderResult = " << returnValue; CheckStatus(env, status); @@ -114,9 +114,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRaw( JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncodingScaleFactor( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncodingScaleFactor"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jint returnValue = getEncoderEncodingScale((HalEncoderHandle)id, &status); + jint returnValue = HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getEncodingScaleFactorResult = " << returnValue; CheckStatus(env, status); @@ -131,9 +131,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncodingScal JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - resetEncoder((HalEncoderHandle)id, &status); + HAL_ResetEncoder((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -147,9 +147,9 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - double returnValue = getEncoderPeriod((HalEncoderHandle)id, &status); + double returnValue = HAL_GetEncoderPeriod((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodEncoderResult = " << returnValue; CheckStatus(env, status); @@ -165,9 +165,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod( JNIEnv* env, jclass, jint id, jdouble value) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - setEncoderMaxPeriod((HalEncoderHandle)id, value, &status); + HAL_SetEncoderMaxPeriod((HAL_EncoderHandle)id, value, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -181,9 +181,9 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jboolean returnValue = getEncoderStopped((HalEncoderHandle)id, &status); + jboolean returnValue = HAL_GetEncoderStopped((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getStoppedEncoderResult = " << returnValue; CheckStatus(env, status); @@ -199,9 +199,9 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jboolean returnValue = getEncoderDirection((HalEncoderHandle)id, &status); + jboolean returnValue = HAL_GetEncoderDirection((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getDirectionEncoderResult = " << returnValue; CheckStatus(env, status); @@ -217,9 +217,9 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistance( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDistance"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jdouble returnValue = getEncoderDistance((HalEncoderHandle)id, &status); + jdouble returnValue = HAL_GetEncoderDistance((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getDistanceEncoderResult = " << returnValue; CheckStatus(env, status); @@ -235,9 +235,9 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRate( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRate"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jdouble returnValue = getEncoderRate((HalEncoderHandle)id, &status); + jdouble returnValue = HAL_GetEncoderRate((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getRateEncoderResult = " << returnValue; CheckStatus(env, status); @@ -253,9 +253,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMinRate( JNIEnv* env, jclass, jint id, jdouble value) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMinRate"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - setEncoderMinRate((HalEncoderHandle)id, value, &status); + HAL_SetEncoderMinRate((HAL_EncoderHandle)id, value, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -269,9 +269,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderDistancePerPulse( JNIEnv* env, jclass, jint id, jdouble value) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderDistancePerPulse"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - setEncoderDistancePerPulse((HalEncoderHandle)id, value, &status); + HAL_SetEncoderDistancePerPulse((HAL_EncoderHandle)id, value, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -285,9 +285,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection( JNIEnv* env, jclass, jint id, jboolean value) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - setEncoderReverseDirection((HalEncoderHandle)id, value, &status); + HAL_SetEncoderReverseDirection((HAL_EncoderHandle)id, value, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -301,9 +301,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage( JNIEnv* env, jclass, jint id, jint value) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - setEncoderSamplesToAverage((HalEncoderHandle)id, value, &status); + HAL_SetEncoderSamplesToAverage((HAL_EncoderHandle)id, value, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; if (status == PARAMETER_OUT_OF_RANGE) { ThrowBoundaryException(env, value, 1, 127); @@ -321,9 +321,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jint returnValue = getEncoderSamplesToAverage((HalEncoderHandle)id, &status); + jint returnValue = HAL_GetEncoderSamplesToAverage((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue; @@ -341,15 +341,15 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource( JNIEnv* env, jclass, jint id, jint digitalSourceHandle, jint analogTriggerType, jint type) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; ENCODERJNI_LOG(logDEBUG) << "Source Handle = " << digitalSourceHandle; ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type = " << analogTriggerType; ENCODERJNI_LOG(logDEBUG) << "IndexingType = " << type; int32_t status = 0; - setEncoderIndexSource((HalEncoderHandle)id, (HalHandle)digitalSourceHandle, - (AnalogTriggerType)analogTriggerType, - (EncoderIndexingType)type, &status); + HAL_SetEncoderIndexSource((HAL_EncoderHandle)id, (HAL_Handle)digitalSourceHandle, + (HAL_AnalogTriggerType)analogTriggerType, + (HAL_EncoderIndexingType)type, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -363,9 +363,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderFPGAIndex( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jint returnValue = getEncoderFPGAIndex((HalEncoderHandle)id, &status); + jint returnValue = HAL_GetEncoderFPGAIndex((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue; @@ -382,9 +382,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingScale( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jint returnValue = getEncoderEncodingScale((HalEncoderHandle)id, &status); + jint returnValue = HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue; @@ -401,9 +401,9 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDecodingScaleFactor( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jint returnValue = getEncoderDecodingScaleFactor((HalEncoderHandle)id, &status); + jint returnValue = HAL_GetEncoderDecodingScaleFactor((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue; @@ -420,9 +420,9 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistancePerPulse( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jint returnValue = getEncoderDistancePerPulse((HalEncoderHandle)id, &status); + jint returnValue = HAL_GetEncoderDistancePerPulse((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue; @@ -439,9 +439,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingType( JNIEnv* env, jclass, jint id) { ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage"; - ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id; + ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id; int32_t status = 0; - jint returnValue = getEncoderEncodingType((HalEncoderHandle)id, &status); + jint returnValue = HAL_GetEncoderEncodingType((HAL_EncoderHandle)id, &status); ENCODERJNI_LOG(logDEBUG) << "Status = " << status; ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue; diff --git a/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp b/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp index 46e79fa16c..afcb68e623 100644 --- a/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp +++ b/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp @@ -40,7 +40,7 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetw << " context:" << (unsigned int)paramContext << " feature:" << featureStr; jint returnValue = - HALReport(paramResource, paramInstanceNumber, paramContext, featureStr); + HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr); paramEnv->ReleaseStringUTFChars(paramFeature, featureStr); return returnValue; } @@ -52,7 +52,7 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetw JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting( JNIEnv *, jclass) { - HALNetworkCommunicationObserveUserProgramStarting(); + HAL_NetworkCommunicationObserveUserProgramStarting(); } /* * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary @@ -62,7 +62,7 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetw JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled( JNIEnv *, jclass) { - HALNetworkCommunicationObserveUserProgramDisabled(); + HAL_NetworkCommunicationObserveUserProgramDisabled(); } /* * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary @@ -72,7 +72,7 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetw JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous( JNIEnv *, jclass) { - HALNetworkCommunicationObserveUserProgramAutonomous(); + HAL_NetworkCommunicationObserveUserProgramAutonomous(); } /* @@ -83,7 +83,7 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetw JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop( JNIEnv *, jclass) { - HALNetworkCommunicationObserveUserProgramTeleop(); + HAL_NetworkCommunicationObserveUserProgramTeleop(); } /* @@ -94,7 +94,7 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetw JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest( JNIEnv *, jclass) { - HALNetworkCommunicationObserveUserProgramTest(); + HAL_NetworkCommunicationObserveUserProgramTest(); } /* @@ -105,7 +105,7 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetw JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve( JNIEnv *, jclass) { - int rv = HALInitialize(0); + int rv = HAL_Initialize(0); assert(1 == rv); } @@ -119,7 +119,7 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeH JNIEnv *, jclass) { NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word"; jint controlWord; - HALGetControlWord((HALControlWord *)&controlWord); + HAL_GetControlWord((HAL_ControlWord *)&controlWord); return controlWord; } @@ -133,21 +133,21 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeH JNIEnv *, jclass) { NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station"; jint allianceStation; - HALGetAllianceStation((HALAllianceStationID *)&allianceStation); + HAL_GetAllianceStation((HAL_AllianceStationID *)&allianceStation); return allianceStation; } /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetJoystickAxes + * Method: HAL_GetJoystickAxes * Signature: (B[S)B */ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes( JNIEnv * env, jclass, jbyte joystickNum, jfloatArray axesArray) { NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes"; - HALJoystickAxes axes; - HALGetJoystickAxes(joystickNum, &axes); + HAL_JoystickAxes axes; + HAL_GetJoystickAxes(joystickNum, &axes); jsize javaSize = env->GetArrayLength(axesArray); if (axes.count > javaSize) @@ -162,15 +162,15 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJ /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetJoystickPOVs + * Method: HAL_GetJoystickPOVs * Signature: (B[S)B */ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickPOVs( JNIEnv * env, jclass, jbyte joystickNum, jshortArray povsArray) { NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs"; - HALJoystickPOVs povs; - HALGetJoystickPOVs(joystickNum, &povs); + HAL_JoystickPOVs povs; + HAL_GetJoystickPOVs(joystickNum, &povs); jsize javaSize = env->GetArrayLength(povsArray); if (povs.count > javaSize) @@ -185,15 +185,15 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJ /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetJoystickButtons + * Method: HAL_GetJoystickButtons * Signature: (B)S */ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons( JNIEnv *env, jclass, jbyte joystickNum, jobject count) { NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons"; - HALJoystickButtons joystickButtons; - HALGetJoystickButtons(joystickNum, &joystickButtons); + HAL_JoystickButtons joystickButtons; + HAL_GetJoystickButtons(joystickNum, &joystickButtons); jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count); NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons; NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count; @@ -204,54 +204,54 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJ /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALSetJoystickOutputs + * Method: HAL_SetJoystickOutputs * Signature: (BISS)I */ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs( JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble, jshort rightRumble) { - NETCOMM_LOG(logDEBUG) << "Calling HALSetJoystickOutputs on port " << port; + NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port; NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs; NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble << " Right Rumble: " << rightRumble; - return HALSetJoystickOutputs(port, outputs, leftRumble, rightRumble); + return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble); } /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetJoystickIsXbox + * Method: HAL_GetJoystickIsXbox * Signature: (B)I */ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox( JNIEnv *, jclass, jbyte port) { - NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickIsXbox"; - return HALGetJoystickIsXbox(port); + NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox"; + return HAL_GetJoystickIsXbox(port); } /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetJoystickType + * Method: HAL_GetJoystickType * Signature: (B)I */ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType( JNIEnv *, jclass, jbyte port) { - NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickType"; - return HALGetJoystickType(port); + NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType"; + return HAL_GetJoystickType(port); } /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetJoystickName + * Method: HAL_GetJoystickName * Signature: (B)Ljava/lang/String; */ JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName( JNIEnv *env, jclass, jbyte port) { - NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickName"; - char *joystickName = HALGetJoystickName(port); + NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName"; + char *joystickName = HAL_GetJoystickName(port); jstring str = env->NewStringUTF(joystickName); std::free(joystickName); return str; @@ -259,14 +259,14 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJ /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetJoystickAxisType + * Method: HAL_GetJoystickAxisType * Signature: (BB)I */ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxisType( JNIEnv *, jclass, jbyte joystickNum, jbyte axis) { - NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickAxisType"; - return HALGetJoystickAxisType(joystickNum, axis); + NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType"; + return HAL_GetJoystickAxisType(joystickNum, axis); } /* @@ -278,54 +278,54 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem( JNIEnv *env, jclass, jlong id) { NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void *)id; - HALSetNewDataSem((MULTIWAIT_ID)id); + HAL_SetNewDataSem((MULTIWAIT_ID)id); } /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetMatchTime + * Method: HAL_GetMatchTime * Signature: ()F */ JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime( JNIEnv *env, jclass) { jfloat matchTime; - HALGetMatchTime((float *)&matchTime); + HAL_GetMatchTime((float *)&matchTime); return matchTime; } /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetSystemActive + * Method: HAL_GetSystemActive * Signature: ()Z */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive( JNIEnv *env, jclass) { int32_t status = 0; - bool val = HALGetSystemActive(&status); + bool val = HAL_GetSystemActive(&status); CheckStatus(env, status); return val; } /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALGetBrownedOut + * Method: HAL_GetBrownedOut * Signature: ()Z */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut( JNIEnv *env, jclass) { int32_t status = 0; - bool val = HALGetBrownedOut(&status); + bool val = HAL_GetBrownedOut(&status); CheckStatus(env, status); return val; } /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALSetErrorData + * Method: HAL_SetErrorData * Signature: (Ljava/lang/String;)I */ JNIEXPORT jint JNICALL @@ -336,14 +336,14 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetE NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr; NETCOMM_LOG(logDEBUG) << "Length: " << length; - jint returnValue = HALSetErrorData(errorStr, (jint)length, 0); + jint returnValue = HAL_SetErrorData(errorStr, (jint)length, 0); env->ReleaseStringUTFChars(error, errorStr); return returnValue; } /* * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HALSendError + * Method: HAL_SendError * Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I */ JNIEXPORT jint JNICALL @@ -357,7 +357,7 @@ Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSend NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr; NETCOMM_LOG(logDEBUG) << "Location: " << locationStr; NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr; - jint returnValue = HALSendError(isError, errorCode, isLVCode, detailsStr, + jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr, locationStr, callStackStr, printMsg); env->ReleaseStringUTFChars(details, detailsStr); env->ReleaseStringUTFChars(location, locationStr); diff --git a/wpilibj/src/athena/cpp/lib/HALUtil.cpp b/wpilibj/src/athena/cpp/lib/HALUtil.cpp index 9ec1ea0849..41bda579bf 100644 --- a/wpilibj/src/athena/cpp/lib/HALUtil.cpp +++ b/wpilibj/src/athena/cpp/lib/HALUtil.cpp @@ -121,15 +121,15 @@ static void GetStackTrace(JNIEnv *env, std::string &res, std::string &func) { } void ThrowAllocationException(JNIEnv *env, int32_t status) { - const char *message = getHALErrorMessage(status); + const char *message = HAL_GetErrorMessage(status); char *buf = new char[strlen(message) + 30]; sprintf(buf, " Code: $%d. %s", status, message); env->ThrowNew(allocationExCls, buf); delete[] buf; } -void ThrowHalHandleException(JNIEnv *env, int32_t status) { - const char *message = getHALErrorMessage(status); +void ThrowHAL_HandleException(JNIEnv *env, int32_t status) { + const char *message = HAL_GetErrorMessage(status); char *buf = new char[strlen(message) + 30]; sprintf(buf, " Code: $%d. %s", status, message); env->ThrowNew(halHandleExCls, buf); @@ -143,9 +143,9 @@ void ReportError(JNIEnv *env, int32_t status, bool do_throw) { ThrowAllocationException(env, status); } if (status == HAL_HANDLE_ERROR) { - ThrowHalHandleException(env, status); + ThrowHAL_HandleException(env, status); } - const char *message = getHALErrorMessage(status); + const char *message = HAL_GetErrorMessage(status); if (do_throw && status < 0) { char *buf = new char[strlen(message) + 30]; sprintf(buf, " Code: %d. %s", status, message); @@ -155,7 +155,7 @@ void ReportError(JNIEnv *env, int32_t status, bool do_throw) { std::string stack = " at "; std::string func; GetStackTrace(env, stack, func); - HALSendError(1, status, 0, message, func.c_str(), stack.c_str(), 1); + HAL_SendError(1, status, 0, message, func.c_str(), stack.c_str(), 1); } } @@ -302,7 +302,7 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) { if (!allocationExCls) return JNI_ERR; env->DeleteLocalRef(local); - local = env->FindClass("edu/wpi/first/wpilibj/util/HalHandleException"); + local = env->FindClass("edu/wpi/first/wpilibj/util/HAL_HandleException"); if (!local) return JNI_ERR; halHandleExCls = static_cast(env->NewGlobalRef(local)); if (!halHandleExCls) return JNI_ERR; @@ -381,7 +381,7 @@ JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMutexNormal( JNIEnv *env, jclass) { HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMutex"; - MUTEX_ID mutex = initializeMutexNormal(); + MUTEX_ID mutex = HAL_InitializeMutexNormal(); HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << mutex; return (jlong)mutex; } @@ -395,7 +395,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMutex( JNIEnv *env, jclass, jlong id) { HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMutex"; HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << (MUTEX_ID)id; - deleteMutex((MUTEX_ID)id); + HAL_DeleteMutex((MUTEX_ID)id); } /* @@ -407,7 +407,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex( JNIEnv *env, jclass, jlong id) { // HALUTIL_LOG(logDEBUG) << "Calling HALUtil takeMutex"; // HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << (MUTEX_ID)id; - takeMutex((MUTEX_ID)id); + HAL_TakeMutex((MUTEX_ID)id); } /* @@ -419,7 +419,7 @@ JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMultiWait( JNIEnv *env, jclass) { HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMultiWait"; - MULTIWAIT_ID multiWait = initializeMultiWait(); + MULTIWAIT_ID multiWait = HAL_InitializeMultiWait(); HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << multiWait; return (jlong)multiWait; } @@ -433,7 +433,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMultiWait( JNIEnv *env, jclass, jlong id) { HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMultiWait"; HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << (MULTIWAIT_ID)id; - deleteMultiWait((MULTIWAIT_ID)id); + HAL_DeleteMultiWait((MULTIWAIT_ID)id); } /* @@ -443,7 +443,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMultiWait( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMultiWait( JNIEnv *env, jclass, jlong multiWaitId, jlong mutexId) { - takeMultiWait((MULTIWAIT_ID)multiWaitId, (MUTEX_ID)mutexId); + HAL_TakeMultiWait((MULTIWAIT_ID)multiWaitId, (MUTEX_ID)mutexId); } /* @@ -455,7 +455,7 @@ JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion(JNIEnv *env, jclass) { HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion"; int32_t status = 0; - jshort returnValue = getFPGAVersion(&status); + jshort returnValue = HAL_GetFPGAVersion(&status); HALUTIL_LOG(logDEBUG) << "Status = " << status; HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue; CheckStatus(env, status); @@ -471,7 +471,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision(JNIEnv *env, jclass) { HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision"; int32_t status = 0; - jint returnValue = getFPGARevision(&status); + jint returnValue = HAL_GetFPGARevision(&status); HALUTIL_LOG(logDEBUG) << "Status = " << status; HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue; CheckStatus(env, status); @@ -487,7 +487,7 @@ JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime(JNIEnv *env, jclass) { // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime"; int32_t status = 0; - jlong returnValue = getFPGATime(&status); + jlong returnValue = HAL_GetFPGATime(&status); // HALUTIL_LOG(logDEBUG) << "Status = " << status; // HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue; CheckStatus(env, status); @@ -503,7 +503,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton(JNIEnv *env, jclass) { // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime"; int32_t status = 0; - jboolean returnValue = getFPGAButton(&status); + jboolean returnValue = HAL_GetFPGAButton(&status); // HALUTIL_LOG(logDEBUG) << "Status = " << status; // HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue; CheckStatus(env, status); @@ -512,14 +512,14 @@ Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton(JNIEnv *env, jclass) { /* * Class: edu_wpi_first_wpilibj_hal_HALUtil - * Method: getHALErrorMessage + * Method: HAL_GetErrorMessage * Signature: (I)Ljava/lang/String; */ JNIEXPORT jstring JNICALL -Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage( +Java_edu_wpi_first_wpilibj_hal_HALUtil_HAL_GetErrorMessage( JNIEnv *paramEnv, jclass, jint paramId) { - const char *msg = getHALErrorMessage(paramId); - HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALErrorMessage id=" << paramId + const char *msg = HAL_GetErrorMessage(paramId); + HALUTIL_LOG(logDEBUG) << "Calling HALUtil HAL_GetErrorMessage id=" << paramId << " msg=" << msg; return paramEnv->NewStringUTF(msg); } diff --git a/wpilibj/src/athena/cpp/lib/I2CJNI.cpp b/wpilibj/src/athena/cpp/lib/I2CJNI.cpp index 7d8a9e0174..1dafdf2570 100644 --- a/wpilibj/src/athena/cpp/lib/I2CJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/I2CJNI.cpp @@ -35,7 +35,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize( I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize"; I2CJNI_LOG(logDEBUG) << "Port: " << (jint)value; int32_t status = 0; - i2CInitialize(value, &status); + HAL_I2CInitialize(value, &status); I2CJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -61,7 +61,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction( (uint8_t*)env->GetDirectBufferAddress(dataReceived); I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr; I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize; - jint returnValue = i2CTransaction(port, address, dataToSendPtr, sendSize, + jint returnValue = HAL_I2CTransaction(port, address, dataToSendPtr, sendSize, dataReceivedPtr, receiveSize); I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue; return returnValue; @@ -85,7 +85,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite( } I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr; I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)dataToSend; - jint returnValue = i2CWrite(port, address, dataToSendPtr, sendSize); + jint returnValue = HAL_I2CWrite(port, address, dataToSendPtr, sendSize); I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue; return returnValue; } @@ -105,7 +105,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead( (uint8_t*)env->GetDirectBufferAddress(dataReceived); I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr; I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize; - jint returnValue = i2CRead(port, address, dataReceivedPtr, receiveSize); + jint returnValue = HAL_I2CRead(port, address, dataReceivedPtr, receiveSize); I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue; return returnValue; } @@ -118,7 +118,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose(JNIEnv*, jclass, jbyte value) { I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CClose"; - i2CClose(value); + HAL_I2CClose(value); } } // extern "C" diff --git a/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp b/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp index dc48eedb67..3ea76a4476 100644 --- a/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/InterruptJNI.cpp @@ -128,7 +128,7 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts( INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << (bool)watcher; int32_t status = 0; - HalInterruptHandle interrupt = initializeInterrupts(watcher, &status); + HAL_InterruptHandle interrupt = HAL_InitializeInterrupts(watcher, &status); INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << interrupt; INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -146,10 +146,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts( JNIEnv* env, jclass, jint interrupt_handle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; int32_t status = 0; - cleanInterrupts((HalInterruptHandle)interrupt_handle, &status); + HAL_CleanInterrupts((HAL_InterruptHandle)interrupt_handle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -166,10 +166,10 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt( JNIEnv* env, jclass, jint interrupt_handle, jdouble timeout, jboolean ignorePrevious) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; int32_t status = 0; - int result = waitForInterrupt((HalInterruptHandle)interrupt_handle, timeout, + int result = HAL_WaitForInterrupt((HAL_InterruptHandle)interrupt_handle, timeout, ignorePrevious, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -187,10 +187,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts( JNIEnv* env, jclass, jint interrupt_handle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; int32_t status = 0; - enableInterrupts((HalInterruptHandle)interrupt_handle, &status); + HAL_EnableInterrupts((HAL_InterruptHandle)interrupt_handle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -206,10 +206,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts( JNIEnv* env, jclass, jint interrupt_handle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; int32_t status = 0; - disableInterrupts((HalInterruptHandle)interrupt_handle, &status); + HAL_DisableInterrupts((HAL_InterruptHandle)interrupt_handle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -225,10 +225,10 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRisingTimestamp( JNIEnv* env, jclass, jint interrupt_handle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readRisingTimestamp"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; int32_t status = 0; - jdouble timeStamp = readRisingTimestamp((HalInterruptHandle)interrupt_handle, &status); + jdouble timeStamp = HAL_ReadRisingTimestamp((HAL_InterruptHandle)interrupt_handle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); @@ -244,10 +244,10 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp( JNIEnv* env, jclass, jint interrupt_handle) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readFallingTimestamp"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; int32_t status = 0; - jdouble timeStamp = readFallingTimestamp((HalInterruptHandle)interrupt_handle, &status); + jdouble timeStamp = HAL_ReadFallingTimestamp((HAL_InterruptHandle)interrupt_handle, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); @@ -264,13 +264,13 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts( JNIEnv* env, jclass, jint interrupt_handle, jint digitalSourceHandle, jint analogTriggerType) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; INTERRUPTJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle; INTERRUPTJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType; int32_t status = 0; - requestInterrupts((HalInterruptHandle)interrupt_handle, (HalHandle)digitalSourceHandle, - (AnalogTriggerType)analogTriggerType, &status); + HAL_RequestInterrupts((HAL_InterruptHandle)interrupt_handle, (HAL_Handle)digitalSourceHandle, + (HAL_AnalogTriggerType)analogTriggerType, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); @@ -287,7 +287,7 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler( JNIEnv* env, jclass, jint interrupt_handle, jobject handler, jobject param) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; jclass cls = env->GetObjectClass(handler); INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls; @@ -311,7 +311,7 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler( INTERRUPTJNI_LOG(logDEBUG) << "InterruptThreadJNI Ptr = " << intr; int32_t status = 0; - attachInterruptHandler((HalInterruptHandle)interrupt_handle, interruptHandler, intr, + HAL_AttachInterruptHandler((HAL_InterruptHandle)interrupt_handle, interruptHandler, intr, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; @@ -328,12 +328,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge( JNIEnv* env, jclass, jint interrupt_handle, jboolean risingEdge, jboolean fallingEdge) { INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge"; - INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle; + INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interrupt_handle; INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool)risingEdge; INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool)fallingEdge; int32_t status = 0; - setInterruptUpSourceEdge((HalInterruptHandle)interrupt_handle, risingEdge, fallingEdge, + HAL_SetInterruptUpSourceEdge((HAL_InterruptHandle)interrupt_handle, risingEdge, fallingEdge, &status); INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status; diff --git a/wpilibj/src/athena/cpp/lib/JNIWrapper.cpp b/wpilibj/src/athena/cpp/lib/JNIWrapper.cpp index 42f183a765..af6990d357 100644 --- a/wpilibj/src/athena/cpp/lib/JNIWrapper.cpp +++ b/wpilibj/src/athena/cpp/lib/JNIWrapper.cpp @@ -26,7 +26,7 @@ Java_edu_wpi_first_wpilibj_hal_JNIWrapper_getPortWithModule( // FILE_LOG(logDEBUG) << "Calling JNIWrapper getPortWithModlue"; // FILE_LOG(logDEBUG) << "Module = " << (jint)module; // FILE_LOG(logDEBUG) << "Pin = " << (jint)pin; - HalPortHandle port = getPortWithModule(module, pin); + HAL_PortHandle port = HAL_GetPortWithModule(module, pin); // FILE_LOG(logDEBUG) << "Port Handle = " << port; return (jint)port; } @@ -41,7 +41,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_JNIWrapper_getPort( // FILE_LOG(logDEBUG) << "Calling JNIWrapper getPortWithModlue"; // FILE_LOG(logDEBUG) << "Module = " << (jint)module; // FILE_LOG(logDEBUG) << "Pin = " << (jint)pin; - HalPortHandle port = getPort(pin); + HAL_PortHandle port = HAL_GetPort(pin); // FILE_LOG(logDEBUG) << "Port Handle = " << port; return (jint)port; } diff --git a/wpilibj/src/athena/cpp/lib/NotifierJNI.cpp b/wpilibj/src/athena/cpp/lib/NotifierJNI.cpp index 5568161f29..6c562fb6ab 100644 --- a/wpilibj/src/athena/cpp/lib/NotifierJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/NotifierJNI.cpp @@ -141,7 +141,7 @@ Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier( notify->Start(); notify->SetFunc(env, func, mid); int32_t status = 0; - HalNotifierHandle notifierHandle = initializeNotifier(notifierHandler, notify, &status); + HAL_NotifierHandle notifierHandle = HAL_InitializeNotifier(notifierHandler, notify, &status); NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle; NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status; @@ -167,8 +167,8 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier( int32_t status = 0; NotifierJNI *notify = - (NotifierJNI *)getNotifierParam((HalNotifierHandle)notifierHandle, &status); - cleanNotifier((HalNotifierHandle)notifierHandle, &status); + (NotifierJNI *)HAL_GetNotifierParam((HAL_NotifierHandle)notifierHandle, &status); + HAL_CleanNotifier((HAL_NotifierHandle)notifierHandle, &status); NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); delete notify; @@ -189,7 +189,7 @@ Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm( NOTIFIERJNI_LOG(logDEBUG) << "triggerTime = " << triggerTime; int32_t status = 0; - updateNotifierAlarm((HalNotifierHandle)notifierHandle, (uint64_t)triggerTime, &status); + HAL_UpdateNotifierAlarm((HAL_NotifierHandle)notifierHandle, (uint64_t)triggerTime, &status); NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -207,7 +207,7 @@ Java_edu_wpi_first_wpilibj_hal_NotifierJNI_stopNotifierAlarm( NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle; int32_t status = 0; - stopNotifierAlarm((HalNotifierHandle)notifierHandle, &status); + HAL_StopNotifierAlarm((HAL_NotifierHandle)notifierHandle, &status); NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } diff --git a/wpilibj/src/athena/cpp/lib/PDPJNI.cpp b/wpilibj/src/athena/cpp/lib/PDPJNI.cpp index 065ac9d893..8493d78d44 100644 --- a/wpilibj/src/athena/cpp/lib/PDPJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/PDPJNI.cpp @@ -18,7 +18,7 @@ extern "C" { */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_initializePDP( JNIEnv *, jclass, jint module) { - initializePDP(module); + HAL_InitializePDP(module); } /* @@ -30,7 +30,7 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTemperature( JNIEnv *env, jclass, jint module) { int32_t status = 0; - double temperature = getPDPTemperature(module, &status); + double temperature = HAL_GetPDPTemperature(module, &status); CheckStatus(env, status, false); return temperature; } @@ -43,7 +43,7 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTemperature( JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPVoltage( JNIEnv *env, jclass, jint module) { int32_t status = 0; - double voltage = getPDPVoltage(module, &status); + double voltage = HAL_GetPDPVoltage(module, &status); CheckStatus(env, status, false); return voltage; } @@ -57,7 +57,7 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPChannelCurrent( JNIEnv *env, jclass, jbyte channel, jint module) { int32_t status = 0; - double current = getPDPChannelCurrent(module, channel, &status); + double current = HAL_GetPDPChannelCurrent(module, channel, &status); CheckStatus(env, status, false); return current; } @@ -71,7 +71,7 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalCurrent( JNIEnv *env, jclass, jint module) { int32_t status = 0; - double current = getPDPTotalCurrent(module, &status); + double current = HAL_GetPDPTotalCurrent(module, &status); CheckStatus(env, status, false); return current; } @@ -85,7 +85,7 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalPower( JNIEnv *env, jclass, jint module) { int32_t status = 0; - double power = getPDPTotalPower(module, &status); + double power = HAL_GetPDPTotalPower(module, &status); CheckStatus(env, status, false); return power; } @@ -99,7 +99,7 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalEnergy( JNIEnv *env, jclass, jint module) { int32_t status = 0; - double energy = getPDPTotalEnergy(module, &status); + double energy = HAL_GetPDPTotalEnergy(module, &status); CheckStatus(env, status, false); return energy; } @@ -113,7 +113,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_resetPDPTotalEnergy( JNIEnv *env, jclass, jint module) { int32_t status = 0; - resetPDPTotalEnergy(module, &status); + HAL_ResetPDPTotalEnergy(module, &status); CheckStatus(env, status, false); } @@ -126,7 +126,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_clearPDPStickyFaults( JNIEnv *env, jclass, jint module) { int32_t status = 0; - clearPDPStickyFaults(module, &status); + HAL_ClearPDPStickyFaults(module, &status); CheckStatus(env, status, false); } diff --git a/wpilibj/src/athena/cpp/lib/PWMJNI.cpp b/wpilibj/src/athena/cpp/lib/PWMJNI.cpp index b6f5c11cc6..4f07c59f53 100644 --- a/wpilibj/src/athena/cpp/lib/PWMJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/PWMJNI.cpp @@ -35,9 +35,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort( JNIEnv *env, jclass, jint id) { PWMJNI_LOG(logDEBUG) << "Calling PWMJNI initializePWMPort"; - PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalPortHandle)id; + PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id; int32_t status = 0; - auto pwm = initializePWMPort((HalPortHandle)id, &status); + auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; PWMJNI_LOG(logDEBUG) << "PWM Handle = " << pwm; CheckStatus(env, status); @@ -52,9 +52,9 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort( JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMPort( JNIEnv *env, jclass, jint id) { PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMPort"; - PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - freePWMPort((HalDigitalHandle)id, &status); + HAL_FreePWMPort((HAL_DigitalHandle)id, &status); CheckStatus(env, status); } @@ -67,9 +67,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfigRaw( JNIEnv *env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm, jint centerPwm, jint deadbandMinPwm, jint minPwm) { PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfigRaw"; - PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - setPWMConfigRaw((HalDigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm, + HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm, deadbandMinPwm, minPwm, &status); CheckStatus(env, status); } @@ -83,9 +83,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfig( JNIEnv *env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm, jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm) { PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfig"; - PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - setPWMConfig((HalDigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm, + HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm, deadbandMinPwm, minPwm, &status); CheckStatus(env, status); } @@ -98,14 +98,14 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfig( JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw( JNIEnv *env, jclass, jint id) { PWMJNI_LOG(logDEBUG) << "Calling PWMJNI getPWMConfigRaw"; - PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; int32_t maxPwm = 0; int32_t deadbandMaxPwm = 0; int32_t centerPwm = 0; int32_t deadbandMinPwm = 0; int32_t minPwm = 0; - getPWMConfigRaw((HalDigitalHandle)id, &maxPwm, &deadbandMaxPwm, ¢erPwm, + HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm, ¢erPwm, &deadbandMinPwm, &minPwm, &status); CheckStatus(env, status); return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm, @@ -119,9 +119,9 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDeadband( JNIEnv* env, jclass, jint id, jboolean value) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - setPWMEliminateDeadband((HalDigitalHandle)id, value, &status); + HAL_SetPWMEliminateDeadband((HAL_DigitalHandle)id, value, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -133,9 +133,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDead */ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM( JNIEnv* env, jclass, jint id) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - auto val = getPWMEliminateDeadband((HalDigitalHandle)id, &status); + auto val = HAL_GetPWMEliminateDeadband((HAL_DigitalHandle)id, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); return (jboolean)val; @@ -148,10 +148,10 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw( JNIEnv* env, jclass, jint id, jshort value) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; PWMJNI_LOG(logDEBUG) << "PWM Value = " << value; int32_t status = 0; - setPWMRaw((HalDigitalHandle)id, value, &status); + HAL_SetPWMRaw((HAL_DigitalHandle)id, value, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -163,10 +163,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed( JNIEnv* env, jclass, jint id, jfloat value) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; PWMJNI_LOG(logDEBUG) << "PWM Value = " << value; int32_t status = 0; - setPWMSpeed((HalDigitalHandle)id, value, &status); + HAL_SetPWMSpeed((HAL_DigitalHandle)id, value, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -178,10 +178,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition( JNIEnv* env, jclass, jint id, jfloat value) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; PWMJNI_LOG(logDEBUG) << "PWM Value = " << value; int32_t status = 0; - setPWMPosition((HalDigitalHandle)id, value, &status); + HAL_SetPWMPosition((HAL_DigitalHandle)id, value, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -194,9 +194,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition( JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw( JNIEnv* env, jclass, jint id) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - jshort returnValue = getPWMRaw((HalDigitalHandle)id, &status); + jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)id, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; PWMJNI_LOG(logDEBUG) << "Value = " << returnValue; CheckStatus(env, status); @@ -211,9 +211,9 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw( JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed( JNIEnv* env, jclass, jint id) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - jfloat returnValue = getPWMSpeed((HalDigitalHandle)id, &status); + jfloat returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; PWMJNI_LOG(logDEBUG) << "Value = " << returnValue; CheckStatus(env, status); @@ -228,9 +228,9 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed( JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition( JNIEnv* env, jclass, jint id) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - jfloat returnValue = getPWMPosition((HalDigitalHandle)id, &status); + jfloat returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; PWMJNI_LOG(logDEBUG) << "Value = " << returnValue; CheckStatus(env, status); @@ -244,9 +244,9 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled( JNIEnv* env, jclass, jint id) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - setPWMDisabled((HalDigitalHandle)id, &status); + HAL_SetPWMDisabled((HAL_DigitalHandle)id, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -258,9 +258,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero( JNIEnv* env, jclass, jint id) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; int32_t status = 0; - latchPWMZero((HalDigitalHandle)id, &status); + HAL_LatchPWMZero((HAL_DigitalHandle)id, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -272,10 +272,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero( */ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale( JNIEnv* env, jclass, jint id, jint value) { - PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id; + PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id; PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value; int32_t status = 0; - setPWMPeriodScale((HalDigitalHandle)id, value, &status); + HAL_SetPWMPeriodScale((HAL_DigitalHandle)id, value, &status); PWMJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } diff --git a/wpilibj/src/athena/cpp/lib/PortsJNI.cpp b/wpilibj/src/athena/cpp/lib/PortsJNI.cpp index 5915566b2e..64eeeb2d9d 100644 --- a/wpilibj/src/athena/cpp/lib/PortsJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/PortsJNI.cpp @@ -33,7 +33,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAccumulators( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAccumulators"; - jint value = HAL_getNumAccumulators(); + jint value = HAL_GetNumAccumulators(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -48,7 +48,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogTriggers( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogTriggers"; - jint value = HAL_getNumAnalogTriggers(); + jint value = HAL_GetNumAnalogTriggers(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -63,7 +63,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogInputs( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogInputs"; - jint value = HAL_getNumAnalogInputs(); + jint value = HAL_GetNumAnalogInputs(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -78,7 +78,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogOutputs( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogOutputs"; - jint value = HAL_getNumAnalogOutputs(); + jint value = HAL_GetNumAnalogOutputs(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -93,7 +93,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumCounters( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumCounters"; - jint value = HAL_getNumCounters(); + jint value = HAL_GetNumCounters(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -108,7 +108,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalHeaders( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalHeaders"; - jint value = HAL_getNumDigitalHeaders(); + jint value = HAL_GetNumDigitalHeaders(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -123,7 +123,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMHeaders( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMHeaders"; - jint value = HAL_getNumPWMHeaders(); + jint value = HAL_GetNumPWMHeaders(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -138,7 +138,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalPins( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalPins"; - jint value = HAL_getNumDigitalPins(); + jint value = HAL_GetNumDigitalPins(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -153,7 +153,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMPins( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMPins"; - jint value = HAL_getNumPWMPins(); + jint value = HAL_GetNumPWMPins(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -168,7 +168,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalPWMOutputs( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalPWMOutputs"; - jint value = HAL_getNumDigitalPWMOutputs(); + jint value = HAL_GetNumDigitalPWMOutputs(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -183,7 +183,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumEncoders( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumEncoders"; - jint value = HAL_getNumEncoders(); + jint value = HAL_GetNumEncoders(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -198,7 +198,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumInterrupts( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumInterrupts"; - jint value = HAL_getNumInterrupts(); + jint value = HAL_GetNumInterrupts(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -213,7 +213,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayPins( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayPins"; - jint value = HAL_getNumRelayPins(); + jint value = HAL_GetNumRelayPins(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -228,7 +228,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayHeaders( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayHeaders"; - jint value = HAL_getNumRelayHeaders(); + jint value = HAL_GetNumRelayHeaders(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -243,7 +243,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPCMModules( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPCMModules"; - jint value = HAL_getNumPCMModules(); + jint value = HAL_GetNumPCMModules(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -258,7 +258,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumSolenoidPins( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumSolenoidPins"; - jint value = HAL_getNumSolenoidPins(); + jint value = HAL_GetNumSolenoidPins(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -273,7 +273,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPModules( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPModules"; - jint value = HAL_getNumPDPModules(); + jint value = HAL_GetNumPDPModules(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -288,7 +288,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPChannels( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPChannels"; - jint value = HAL_getNumPDPChannels(); + jint value = HAL_GetNumPDPChannels(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } @@ -303,7 +303,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumCanTalons( JNIEnv *env, jclass) { PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumCanTalons"; - jint value = HAL_getNumCanTalons(); + jint value = HAL_GetNumCanTalons(); PORTSJNI_LOG(logDEBUG) << "Value = " << value; return value; } diff --git a/wpilibj/src/athena/cpp/lib/PowerJNI.cpp b/wpilibj/src/athena/cpp/lib/PowerJNI.cpp index 4af1470ef8..6d3b342c90 100644 --- a/wpilibj/src/athena/cpp/lib/PowerJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/PowerJNI.cpp @@ -20,7 +20,7 @@ extern "C" { JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinVoltage(JNIEnv* env, jclass) { int32_t status = 0; - float val = getVinVoltage(&status); + float val = HAL_GetVinVoltage(&status); CheckStatus(env, status); return val; } @@ -33,7 +33,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinVoltage(JNIEnv* env, jclass) { JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinCurrent(JNIEnv* env, jclass) { int32_t status = 0; - float val = getVinCurrent(&status); + float val = HAL_GetVinCurrent(&status); CheckStatus(env, status); return val; } @@ -46,7 +46,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinCurrent(JNIEnv* env, jclass) { JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage6V(JNIEnv* env, jclass) { int32_t status = 0; - float val = getUserVoltage6V(&status); + float val = HAL_GetUserVoltage6V(&status); CheckStatus(env, status); return val; } @@ -59,7 +59,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage6V(JNIEnv* env, jclass) { JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent6V(JNIEnv* env, jclass) { int32_t status = 0; - float val = getUserCurrent6V(&status); + float val = HAL_GetUserCurrent6V(&status); CheckStatus(env, status); return val; } @@ -72,7 +72,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent6V(JNIEnv* env, jclass) { JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive6V(JNIEnv* env, jclass) { int32_t status = 0; - bool val = getUserActive6V(&status); + bool val = HAL_GetUserActive6V(&status); CheckStatus(env, status); return val; } @@ -86,7 +86,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults6V( JNIEnv* env, jclass) { int32_t status = 0; - int val = getUserCurrentFaults6V(&status); + int val = HAL_GetUserCurrentFaults6V(&status); CheckStatus(env, status); return val; } @@ -99,7 +99,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults6V( JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage5V(JNIEnv* env, jclass) { int32_t status = 0; - float val = getUserVoltage5V(&status); + float val = HAL_GetUserVoltage5V(&status); CheckStatus(env, status); return val; } @@ -112,7 +112,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage5V(JNIEnv* env, jclass) { JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent5V(JNIEnv* env, jclass) { int32_t status = 0; - float val = getUserCurrent5V(&status); + float val = HAL_GetUserCurrent5V(&status); CheckStatus(env, status); return val; } @@ -125,7 +125,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent5V(JNIEnv* env, jclass) { JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive5V(JNIEnv* env, jclass) { int32_t status = 0; - bool val = getUserActive5V(&status); + bool val = HAL_GetUserActive5V(&status); CheckStatus(env, status); return val; } @@ -139,7 +139,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults5V( JNIEnv* env, jclass) { int32_t status = 0; - int val = getUserCurrentFaults5V(&status); + int val = HAL_GetUserCurrentFaults5V(&status); CheckStatus(env, status); return val; } @@ -152,7 +152,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults5V( JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage3V3(JNIEnv* env, jclass) { int32_t status = 0; - float val = getUserVoltage3V3(&status); + float val = HAL_GetUserVoltage3V3(&status); CheckStatus(env, status); return val; } @@ -165,7 +165,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage3V3(JNIEnv* env, jclass) { JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent3V3(JNIEnv* env, jclass) { int32_t status = 0; - float val = getUserCurrent3V3(&status); + float val = HAL_GetUserCurrent3V3(&status); CheckStatus(env, status); return val; } @@ -178,7 +178,7 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent3V3(JNIEnv* env, jclass) { JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive3V3(JNIEnv* env, jclass) { int32_t status = 0; - bool val = getUserActive3V3(&status); + bool val = HAL_GetUserActive3V3(&status); CheckStatus(env, status); return val; } @@ -192,7 +192,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults3V3( JNIEnv* env, jclass) { int32_t status = 0; - int val = getUserCurrentFaults3V3(&status); + int val = HAL_GetUserCurrentFaults3V3(&status); CheckStatus(env, status); return val; } diff --git a/wpilibj/src/athena/cpp/lib/RelayJNI.cpp b/wpilibj/src/athena/cpp/lib/RelayJNI.cpp index 6c11701c00..ab94c30cf2 100644 --- a/wpilibj/src/athena/cpp/lib/RelayJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/RelayJNI.cpp @@ -33,10 +33,10 @@ extern "C" { JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_initializeRelayPort( JNIEnv* env, jclass, jint id, jboolean fwd) { RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI initializeRelayPort"; - RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HalPortHandle)id; + RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id; RELAYJNI_LOG(logDEBUG) << "Forward = " << (jint)fwd; int32_t status = 0; - HalRelayHandle handle = initializeRelayPort((HalPortHandle)id, (uint8_t) fwd, &status); + HAL_RelayHandle handle = HAL_InitializeRelayPort((HAL_PortHandle)id, (uint8_t) fwd, &status); RELAYJNI_LOG(logDEBUG) << "Status = " << status; RELAYJNI_LOG(logDEBUG) << "Relay Handle = " << handle; return (jint) handle; @@ -50,8 +50,8 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_initializeRelayPo JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_freeRelayPort( JNIEnv *env, jclass, jint id) { RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI freeRelayPort"; - RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HalRelayHandle)id; - freeRelayPort((HalRelayHandle)id); + RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id; + HAL_FreeRelayPort((HAL_RelayHandle)id); } /* @@ -63,7 +63,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_checkRelayCha JNIEnv *env, jclass, jint channel) { RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI checkRelayChannel"; RELAYJNI_LOG(logDEBUG) << "Channel = " << channel; - return (jboolean)checkRelayChannel((uint8_t) channel); + return (jboolean)HAL_CheckRelayChannel((uint8_t) channel); } /* @@ -74,10 +74,10 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_checkRelayCha JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelay( JNIEnv* env, jclass, jint id, jboolean value) { RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI setRelay"; - RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HalRelayHandle)id; + RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id; RELAYJNI_LOG(logDEBUG) << "Flag = " << (jint)value; int32_t status = 0; - setRelay((HalRelayHandle)id, value, &status); + HAL_SetRelay((HAL_RelayHandle)id, value, &status); RELAYJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -91,9 +91,9 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_getRelay( JNIEnv* env, jclass, jint id) { RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI getRelay"; - RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HalRelayHandle)id; + RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id; int32_t status = 0; - jboolean returnValue = getRelay((HalRelayHandle)id, &status); + jboolean returnValue = HAL_GetRelay((HAL_RelayHandle)id, &status); RELAYJNI_LOG(logDEBUG) << "Status = " << status; RELAYJNI_LOG(logDEBUG) << "getRelayResult = " << (jint)returnValue; CheckStatus(env, status); diff --git a/wpilibj/src/athena/cpp/lib/SPIJNI.cpp b/wpilibj/src/athena/cpp/lib/SPIJNI.cpp index 0d9485c09e..61cde1531a 100644 --- a/wpilibj/src/athena/cpp/lib/SPIJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/SPIJNI.cpp @@ -35,7 +35,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - spiInitialize(port, &status); + HAL_SpiInitialize(port, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -59,7 +59,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction( SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size; SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr; SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr; - jint retVal = spiTransaction(port, dataToSendPtr, dataReceivedPtr, size); + jint retVal = HAL_SpiTransaction(port, dataToSendPtr, dataReceivedPtr, size); SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal; return retVal; } @@ -79,7 +79,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite( } SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size; SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr; - jint retVal = spiWrite(port, dataToSendPtr, size); + jint retVal = HAL_SpiWrite(port, dataToSendPtr, size); SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal; return retVal; } @@ -97,7 +97,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead( (uint8_t *)env->GetDirectBufferAddress(dataReceived); SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size; SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr; - jint retVal = spiRead(port, (uint8_t *)dataReceivedPtr, size); + jint retVal = HAL_SpiRead(port, (uint8_t *)dataReceivedPtr, size); SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal; return retVal; } @@ -111,7 +111,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose(JNIEnv *, jclass, jbyte port) { SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; - spiClose(port); + HAL_SpiClose(port); } /* @@ -124,7 +124,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed; - spiSetSpeed(port, speed); + HAL_SpiSetSpeed(port, speed); } /* @@ -140,7 +140,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts( SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first; SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing; SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high; - spiSetOpts(port, msb_first, sample_on_trailing, clk_idle_high); + HAL_SpiSetOpts(port, msb_first, sample_on_trailing, clk_idle_high); } /* @@ -154,7 +154,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - spiSetChipSelectActiveHigh(port, &status); + HAL_SpiSetChipSelectActiveHigh(port, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -170,7 +170,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - spiSetChipSelectActiveLow(port, &status); + HAL_SpiSetChipSelectActiveLow(port, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -196,7 +196,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAccumulator( SPIJNI_LOG(logDEBUG) << "IsSigned = " << (jint)isSigned; SPIJNI_LOG(logDEBUG) << "BigEndian = " << (jint)bigEndian; int32_t status = 0; - spiInitAccumulator(port, period, cmd, xferSize, validMask, validValue, + HAL_SpiInitAccumulator(port, period, cmd, xferSize, validMask, validValue, dataShift, dataSize, isSigned, bigEndian, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); @@ -212,7 +212,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAccumulator( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAccumulator"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - spiFreeAccumulator(port, &status); + HAL_SpiFreeAccumulator(port, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -228,7 +228,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiResetAccumulator( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiResetAccumulator"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - spiResetAccumulator(port, &status); + HAL_SpiResetAccumulator(port, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -245,7 +245,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorCenter( SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; SPIJNI_LOG(logDEBUG) << "Center = " << center; int32_t status = 0; - spiSetAccumulatorCenter(port, center, &status); + HAL_SpiSetAccumulatorCenter(port, center, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -262,7 +262,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAccumulatorDeadband( SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; SPIJNI_LOG(logDEBUG) << "Deadband = " << deadband; int32_t status = 0; - spiSetAccumulatorDeadband(port, deadband, &status); + HAL_SpiSetAccumulatorDeadband(port, deadband, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -278,7 +278,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorLastValue( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorLastValue"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - jint retVal = spiGetAccumulatorLastValue(port, &status); + jint retVal = HAL_SpiGetAccumulatorLastValue(port, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal; CheckStatus(env, status); @@ -296,7 +296,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorValue( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorValue"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - jlong retVal = spiGetAccumulatorValue(port, &status); + jlong retVal = HAL_SpiGetAccumulatorValue(port, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal; CheckStatus(env, status); @@ -314,7 +314,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorCount( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorCount"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - jint retVal = spiGetAccumulatorCount(port, &status); + jint retVal = HAL_SpiGetAccumulatorCount(port, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal; CheckStatus(env, status); @@ -332,7 +332,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorAverage( SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAccumulatorAverage"; SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - jdouble retVal = spiGetAccumulatorAverage(port, &status); + jdouble retVal = HAL_SpiGetAccumulatorAverage(port, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; SPIJNI_LOG(logDEBUG) << "ReturnValue = " << retVal; CheckStatus(env, status); @@ -354,7 +354,7 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAccumulatorOutput( jlong *valuePtr = (jlong *)env->GetDirectBufferAddress(value); uint32_t *countPtr = (uint32_t *)env->GetDirectBufferAddress(count); - spiGetAccumulatorOutput(port, valuePtr, countPtr, &status); + HAL_SpiGetAccumulatorOutput(port, valuePtr, countPtr, &status); SPIJNI_LOG(logDEBUG) << "Status = " << status; SPIJNI_LOG(logDEBUG) << "Value = " << *valuePtr; diff --git a/wpilibj/src/athena/cpp/lib/SerialPortJNI.cpp b/wpilibj/src/athena/cpp/lib/SerialPortJNI.cpp index b767496ef7..c81e0ece22 100644 --- a/wpilibj/src/athena/cpp/lib/SerialPortJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/SerialPortJNI.cpp @@ -36,7 +36,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePort( SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize"; SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port; int32_t status = 0; - serialInitializePort(port, &status); + HAL_SerialInitializePort(port, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -52,7 +52,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetBaudRate( SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate"; SERIALJNI_LOG(logDEBUG) << "Baud: " << rate; int32_t status = 0; - serialSetBaudRate(port, rate, &status); + HAL_SerialSetBaudRate(port, rate, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -68,7 +68,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetDataBits( SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits"; SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits; int32_t status = 0; - serialSetDataBits(port, bits, &status); + HAL_SerialSetDataBits(port, bits, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -84,7 +84,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetParity( SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity"; SERIALJNI_LOG(logDEBUG) << "Parity: " << parity; int32_t status = 0; - serialSetParity(port, parity, &status); + HAL_SerialSetParity(port, parity, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -100,7 +100,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetStopBits( SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits"; SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits; int32_t status = 0; - serialSetStopBits(port, bits, &status); + HAL_SerialSetStopBits(port, bits, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -116,7 +116,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteMode( SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode"; SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode; int32_t status = 0; - serialSetWriteMode(port, mode, &status); + HAL_SerialSetWriteMode(port, mode, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -132,7 +132,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetFlowControl( SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control"; SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow; int32_t status = 0; - serialSetFlowControl(port, flow, &status); + HAL_SerialSetFlowControl(port, flow, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -148,7 +148,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetTimeout( SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout"; SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout; int32_t status = 0; - serialSetTimeout(port, timeout, &status); + HAL_SerialSetTimeout(port, timeout, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -164,7 +164,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialEnableTermination( SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination"; SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator; int32_t status = 0; - serialEnableTermination(port, terminator, &status); + HAL_SerialEnableTermination(port, terminator, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -179,7 +179,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialDisableTermination( JNIEnv* env, jclass, jbyte port) { SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination"; int32_t status = 0; - serialDisableTermination(port, &status); + HAL_SerialDisableTermination(port, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -195,7 +195,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetReadBufferSize( SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size"; SERIALJNI_LOG(logDEBUG) << "Size: " << size; int32_t status = 0; - serialSetReadBufferSize(port, size, &status); + HAL_SerialSetReadBufferSize(port, size, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -211,7 +211,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteBufferSize( SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size"; SERIALJNI_LOG(logDEBUG) << "Size: " << size; int32_t status = 0; - serialSetWriteBufferSize(port, size, &status); + HAL_SerialSetWriteBufferSize(port, size, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -226,7 +226,7 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialGetBytesRecieved( JNIEnv* env, jclass, jbyte port) { SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received"; int32_t status = 0; - jint retVal = serialGetBytesReceived(port, &status); + jint retVal = HAL_SerialGetBytesReceived(port, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); return retVal; @@ -243,7 +243,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialRead( jbyte* dataReceivedPtr = nullptr; dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived); int32_t status = 0; - jint retVal = serialRead(port, (char*)dataReceivedPtr, size, &status); + jint retVal = HAL_SerialRead(port, (char*)dataReceivedPtr, size, &status); SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal; SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); @@ -263,7 +263,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialWrite( dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend); } int32_t status = 0; - jint retVal = serialWrite(port, (const char*)dataToSendPtr, size, &status); + jint retVal = HAL_SerialWrite(port, (const char*)dataToSendPtr, size, &status); SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal; SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); @@ -279,7 +279,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialFlush( JNIEnv* env, jclass, jbyte port) { SERIALJNI_LOG(logDEBUG) << "Serial Flush"; int32_t status = 0; - serialFlush(port, &status); + HAL_SerialFlush(port, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -293,7 +293,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClear( JNIEnv* env, jclass, jbyte port) { SERIALJNI_LOG(logDEBUG) << "Serial Clear"; int32_t status = 0; - serialClear(port, &status); + HAL_SerialClear(port, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } @@ -307,7 +307,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClose( JNIEnv* env, jclass, jbyte port) { SERIALJNI_LOG(logDEBUG) << "Serial Close"; int32_t status = 0; - serialClose(port, &status); + HAL_SerialClose(port, &status); SERIALJNI_LOG(logDEBUG) << "Status = " << status; CheckStatus(env, status); } diff --git a/wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp b/wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp index 8206e672b6..c4132caf4e 100644 --- a/wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp @@ -33,11 +33,11 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort( JNIEnv *env, jclass, jint port_handle) { SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort"; - SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HalPortHandle)port_handle; + SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)port_handle; int32_t status = 0; - HalSolenoidHandle handle = - initializeSolenoidPort((HalPortHandle)port_handle, &status); + HAL_SolenoidHandle handle = + HAL_InitializeSolenoidPort((HAL_PortHandle)port_handle, &status); SOLENOIDJNI_LOG(logDEBUG) << "Status = " << status; SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = " << handle; @@ -56,8 +56,8 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_freeSolenoidPort( JNIEnv *env, jclass, jint id) { SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort"; - SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HalSolenoidHandle)id; - freeSolenoidPort((HalSolenoidHandle)id); + SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_SolenoidHandle)id; + HAL_FreeSolenoidPort((HAL_SolenoidHandle)id); } /* @@ -70,10 +70,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setSolenoid( SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetSolenoid"; SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = " - << (HalSolenoidHandle)solenoid_port; + << (HAL_SolenoidHandle)solenoid_port; int32_t status = 0; - setSolenoid((HalSolenoidHandle)solenoid_port, value, &status); + HAL_SetSolenoid((HAL_SolenoidHandle)solenoid_port, value, &status); CheckStatus(env, status); } @@ -86,7 +86,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid( JNIEnv *env, jclass, jint solenoid_port) { int32_t status = 0; - jboolean val = getSolenoid((HalSolenoidHandle)solenoid_port, &status); + jboolean val = HAL_GetSolenoid((HAL_SolenoidHandle)solenoid_port, &status); CheckStatus(env, status); return val; } @@ -100,7 +100,7 @@ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getAllSolenoids( JNIEnv *env, jclass, jbyte module) { int32_t status = 0; - jbyte val = getAllSolenoids(module, &status); + jbyte val = HAL_GetAllSolenoids(module, &status); CheckStatus(env, status); return val; } @@ -114,7 +114,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidBlackList( JNIEnv *env, jclass, jbyte module) { int32_t status = 0; - jint val = getPCMSolenoidBlackList(module, &status); + jint val = HAL_GetPCMSolenoidBlackList(module, &status); CheckStatus(env, status); return val; } @@ -127,7 +127,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageStickyFault( JNIEnv *env, jclass, jbyte module) { int32_t status = 0; - bool val = getPCMSolenoidVoltageStickyFault(module, &status); + bool val = HAL_GetPCMSolenoidVoltageStickyFault(module, &status); CheckStatus(env, status); return val; } @@ -140,7 +140,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageFault( JNIEnv *env, jclass, jbyte module) { int32_t status = 0; - bool val = getPCMSolenoidVoltageFault(module, &status); + bool val = HAL_GetPCMSolenoidVoltageFault(module, &status); CheckStatus(env, status); return val; } @@ -153,7 +153,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_clearAllPCMStickyFaults( JNIEnv *env, jclass, jbyte module) { int32_t status = 0; - clearAllPCMStickyFaults_sol(module, &status); + HAL_ClearAllPCMStickyFaults_sol(module, &status); CheckStatus(env, status); }