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https://github.com/wpilibsuite/allwpilib
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Prepends all HAL functions with HAL_ (#146)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
5ad28d58ec
commit
b637b9ee4c
@@ -25,17 +25,17 @@ const uint32_t DriverStation::kJoystickPorts;
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* This is only called once the first time GetInstance() is called
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*/
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DriverStation::DriverStation() {
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m_joystickAxes = std::make_unique<HALJoystickAxes[]>(kJoystickPorts);
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m_joystickPOVs = std::make_unique<HALJoystickPOVs[]>(kJoystickPorts);
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m_joystickButtons = std::make_unique<HALJoystickButtons[]>(kJoystickPorts);
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m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
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m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
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m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
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m_joystickDescriptor =
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std::make_unique<HALJoystickDescriptor[]>(kJoystickPorts);
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m_joystickAxesCache = std::make_unique<HALJoystickAxes[]>(kJoystickPorts);
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m_joystickPOVsCache = std::make_unique<HALJoystickPOVs[]>(kJoystickPorts);
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std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
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m_joystickAxesCache = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
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m_joystickPOVsCache = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
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m_joystickButtonsCache =
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std::make_unique<HALJoystickButtons[]>(kJoystickPorts);
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std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
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m_joystickDescriptorCache =
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std::make_unique<HALJoystickDescriptor[]>(kJoystickPorts);
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std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
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// All joysticks should default to having zero axes, povs and buttons, so
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// uninitialized memory doesn't get sent to speed controllers.
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@@ -56,7 +56,7 @@ DriverStation::DriverStation() {
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}
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// Register that semaphore with the network communications task.
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// It will signal when new packet data is available.
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HALSetNewDataSem(&m_packetDataAvailableCond);
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HAL_SetNewDataSem(&m_packetDataAvailableCond);
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m_task = Task("DriverStation", &DriverStation::Run, this);
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}
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@@ -66,7 +66,7 @@ DriverStation::~DriverStation() {
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m_task.join();
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// Unregister our semaphore.
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HALSetNewDataSem(nullptr);
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HAL_SetNewDataSem(nullptr);
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}
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void DriverStation::Run() {
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@@ -88,11 +88,11 @@ void DriverStation::Run() {
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MotorSafetyHelper::CheckMotors();
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period = 0;
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}
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if (m_userInDisabled) HALNetworkCommunicationObserveUserProgramDisabled();
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if (m_userInDisabled) HAL_NetworkCommunicationObserveUserProgramDisabled();
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if (m_userInAutonomous)
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HALNetworkCommunicationObserveUserProgramAutonomous();
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if (m_userInTeleop) HALNetworkCommunicationObserveUserProgramTeleop();
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if (m_userInTest) HALNetworkCommunicationObserveUserProgramTest();
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HAL_NetworkCommunicationObserveUserProgramAutonomous();
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if (m_userInTeleop) HAL_NetworkCommunicationObserveUserProgramTeleop();
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if (m_userInTest) HAL_NetworkCommunicationObserveUserProgramTest();
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}
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}
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@@ -115,10 +115,10 @@ DriverStation& DriverStation::GetInstance() {
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void DriverStation::GetData() {
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// Get the status of all of the joysticks, and save to the cache
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for (uint8_t stick = 0; stick < kJoystickPorts; stick++) {
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HALGetJoystickAxes(stick, &m_joystickAxesCache[stick]);
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HALGetJoystickPOVs(stick, &m_joystickPOVsCache[stick]);
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HALGetJoystickButtons(stick, &m_joystickButtonsCache[stick]);
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HALGetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]);
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HAL_GetJoystickAxes(stick, &m_joystickAxesCache[stick]);
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HAL_GetJoystickPOVs(stick, &m_joystickPOVsCache[stick]);
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HAL_GetJoystickButtons(stick, &m_joystickButtonsCache[stick]);
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HAL_GetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]);
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}
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// Obtain a write lock on the data, swap the cached data into the
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// main data arrays
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@@ -138,7 +138,7 @@ void DriverStation::GetData() {
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*/
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float DriverStation::GetBatteryVoltage() const {
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int32_t status = 0;
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float voltage = getVinVoltage(&status);
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float voltage = HAL_GetVinVoltage(&status);
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wpi_setErrorWithContext(status, "getVinVoltage");
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return voltage;
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@@ -293,7 +293,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis) {
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// Unlock early so error printing isn't locked.
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m_joystickDataMutex.unlock();
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lock.release();
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if (axis >= kMaxJoystickAxes)
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if (axis >= HAL_kMaxJoystickAxes)
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wpi_setWPIError(BadJoystickAxis);
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else
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ReportJoystickUnpluggedWarning(
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@@ -318,7 +318,7 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
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if (pov >= m_joystickPOVs[stick].count) {
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// Unlock early so error printing isn't locked.
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lock.unlock();
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if (pov >= kMaxJoystickPOVs)
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if (pov >= HAL_kMaxJoystickPOVs)
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wpi_setWPIError(BadJoystickAxis);
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else
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ReportJoystickUnpluggedWarning(
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@@ -380,9 +380,9 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button) {
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* @return True if the robot is enabled and the DS is connected
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*/
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bool DriverStation::IsEnabled() const {
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HALControlWord controlWord;
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HAL_ControlWord controlWord;
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std::memset(&controlWord, 0, sizeof(controlWord));
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HALGetControlWord(&controlWord);
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HAL_GetControlWord(&controlWord);
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return controlWord.enabled && controlWord.dsAttached;
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}
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@@ -392,9 +392,9 @@ bool DriverStation::IsEnabled() const {
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* @return True if the robot is explicitly disabled or the DS is not connected
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*/
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bool DriverStation::IsDisabled() const {
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HALControlWord controlWord;
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HAL_ControlWord controlWord;
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std::memset(&controlWord, 0, sizeof(controlWord));
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HALGetControlWord(&controlWord);
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HAL_GetControlWord(&controlWord);
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return !(controlWord.enabled && controlWord.dsAttached);
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}
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@@ -404,9 +404,9 @@ bool DriverStation::IsDisabled() const {
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* @return True if the robot is being commanded to be in autonomous mode
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*/
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bool DriverStation::IsAutonomous() const {
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HALControlWord controlWord;
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HAL_ControlWord controlWord;
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std::memset(&controlWord, 0, sizeof(controlWord));
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HALGetControlWord(&controlWord);
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HAL_GetControlWord(&controlWord);
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return controlWord.autonomous;
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}
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@@ -416,9 +416,9 @@ bool DriverStation::IsAutonomous() const {
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* @return True if the robot is being commanded to be in teleop mode
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*/
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bool DriverStation::IsOperatorControl() const {
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HALControlWord controlWord;
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HAL_ControlWord controlWord;
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std::memset(&controlWord, 0, sizeof(controlWord));
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HALGetControlWord(&controlWord);
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HAL_GetControlWord(&controlWord);
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return !(controlWord.autonomous || controlWord.test);
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}
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@@ -428,8 +428,8 @@ bool DriverStation::IsOperatorControl() const {
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* @return True if the robot is being commanded to be in test mode
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*/
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bool DriverStation::IsTest() const {
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HALControlWord controlWord;
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HALGetControlWord(&controlWord);
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HAL_ControlWord controlWord;
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HAL_GetControlWord(&controlWord);
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return controlWord.test;
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}
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@@ -439,9 +439,9 @@ bool DriverStation::IsTest() const {
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* @return True if the DS is connected to the robot
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*/
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bool DriverStation::IsDSAttached() const {
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HALControlWord controlWord;
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HAL_ControlWord controlWord;
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std::memset(&controlWord, 0, sizeof(controlWord));
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HALGetControlWord(&controlWord);
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HAL_GetControlWord(&controlWord);
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return controlWord.dsAttached;
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}
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@@ -455,8 +455,8 @@ bool DriverStation::IsDSAttached() const {
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*/
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bool DriverStation::IsSysActive() const {
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int32_t status = 0;
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bool retVal = HALGetSystemActive(&status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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bool retVal = HAL_GetSystemActive(&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return retVal;
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}
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@@ -467,8 +467,8 @@ bool DriverStation::IsSysActive() const {
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*/
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bool DriverStation::IsBrownedOut() const {
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int32_t status = 0;
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bool retVal = HALGetBrownedOut(&status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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bool retVal = HAL_GetBrownedOut(&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return retVal;
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}
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@@ -492,8 +492,8 @@ bool DriverStation::IsNewControlData() const {
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* Management System
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*/
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bool DriverStation::IsFMSAttached() const {
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HALControlWord controlWord;
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HALGetControlWord(&controlWord);
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HAL_ControlWord controlWord;
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HAL_GetControlWord(&controlWord);
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return controlWord.fmsAttached;
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}
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@@ -505,16 +505,16 @@ bool DriverStation::IsFMSAttached() const {
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* @return The Alliance enum (kRed, kBlue or kInvalid)
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*/
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DriverStation::Alliance DriverStation::GetAlliance() const {
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HALAllianceStationID allianceStationID;
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HALGetAllianceStation(&allianceStationID);
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HAL_AllianceStationID allianceStationID;
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HAL_GetAllianceStation(&allianceStationID);
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switch (allianceStationID) {
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case kHALAllianceStationID_red1:
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case kHALAllianceStationID_red2:
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case kHALAllianceStationID_red3:
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case HAL_AllianceStationID_kRed1:
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case HAL_AllianceStationID_kRed2:
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case HAL_AllianceStationID_kRed3:
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return kRed;
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case kHALAllianceStationID_blue1:
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case kHALAllianceStationID_blue2:
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case kHALAllianceStationID_blue3:
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case HAL_AllianceStationID_kBlue1:
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case HAL_AllianceStationID_kBlue2:
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case HAL_AllianceStationID_kBlue3:
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return kBlue;
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default:
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return kInvalid;
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@@ -529,17 +529,17 @@ DriverStation::Alliance DriverStation::GetAlliance() const {
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* @return The location of the driver station (1-3, 0 for invalid)
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*/
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uint32_t DriverStation::GetLocation() const {
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HALAllianceStationID allianceStationID;
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HALGetAllianceStation(&allianceStationID);
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HAL_AllianceStationID allianceStationID;
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HAL_GetAllianceStation(&allianceStationID);
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switch (allianceStationID) {
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case kHALAllianceStationID_red1:
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case kHALAllianceStationID_blue1:
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case HAL_AllianceStationID_kRed1:
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case HAL_AllianceStationID_kBlue1:
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return 1;
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case kHALAllianceStationID_red2:
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case kHALAllianceStationID_blue2:
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case HAL_AllianceStationID_kRed2:
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case HAL_AllianceStationID_kBlue2:
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return 2;
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case kHALAllianceStationID_red3:
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case kHALAllianceStationID_blue3:
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case HAL_AllianceStationID_kRed3:
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case HAL_AllianceStationID_kBlue3:
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return 3;
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default:
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return 0;
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@@ -579,7 +579,7 @@ void DriverStation::WaitForData() {
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*/
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double DriverStation::GetMatchTime() const {
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float matchTime;
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HALGetMatchTime(&matchTime);
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HAL_GetMatchTime(&matchTime);
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return (double)matchTime;
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}
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@@ -589,7 +589,7 @@ double DriverStation::GetMatchTime() const {
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* The error is also printed to the program console.
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*/
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void DriverStation::ReportError(std::string error) {
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HALSendError(1, 1, 0, error.c_str(), "", "", 1);
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HAL_SendError(1, 1, 0, error.c_str(), "", "", 1);
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}
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/**
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@@ -598,7 +598,7 @@ void DriverStation::ReportError(std::string error) {
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* The warning is also printed to the program console.
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*/
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void DriverStation::ReportWarning(std::string error) {
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HALSendError(0, 1, 0, error.c_str(), "", "", 1);
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HAL_SendError(0, 1, 0, error.c_str(), "", "", 1);
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}
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/**
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@@ -610,6 +610,6 @@ void DriverStation::ReportError(bool is_error, int32_t code,
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const std::string& error,
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const std::string& location,
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const std::string& stack) {
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HALSendError(is_error, code, 0, error.c_str(), location.c_str(),
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stack.c_str(), 1);
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HAL_SendError(is_error, code, 0, error.c_str(), location.c_str(),
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stack.c_str(), 1);
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}
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