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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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110
wpilibc/athena/src/Encoder.cpp
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@@ -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";