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Prepends all HAL functions with HAL_ (#146)

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This commit is contained in:
Thad House
2016-07-09 00:24:26 -07:00
committed by Peter Johnson
parent 5ad28d58ec
commit b637b9ee4c
162 changed files with 2855 additions and 2747 deletions
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70
wpilibc/athena/src/AnalogGyro.cpp
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@@ -80,11 +80,11 @@ AnalogGyro::AnalogGyro(int32_t channel, uint32_t center, float offset) {
m_analog = std::make_shared<AnalogInput>(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<AnalogInput> 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<AnalogInput> 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));
}