[hal, wpilib] Remove digital source from encoder (#7740)

hal/src/main/native/cpp/jni/EncoderJNI.cpp

@@ -18,21 +18,17 @@ extern "C" {
 /*
  * Class:     edu_wpi_first_hal_EncoderJNI
  * Method:    initializeEncoder
- * Signature: (IIIIZI)I
+ * Signature: (IIZI)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_EncoderJNI_initializeEncoder
-  (JNIEnv* env, jclass, jint digitalSourceHandleA, jint analogTriggerTypeA,
-   jint digitalSourceHandleB, jint analogTriggerTypeB,
-   jboolean reverseDirection, jint encodingType)
+  (JNIEnv* env, jclass, jint aChannel, jint bChannel, jboolean reverseDirection,
+   jint encodingType)
 {
   int32_t status = 0;
-  auto encoder = HAL_InitializeEncoder(
-      (HAL_Handle)digitalSourceHandleA,
-      (HAL_AnalogTriggerType)analogTriggerTypeA,
-      (HAL_Handle)digitalSourceHandleB,
-      (HAL_AnalogTriggerType)analogTriggerTypeB, reverseDirection,
-      (HAL_EncoderEncodingType)encodingType, &status);
+  auto encoder =
+      HAL_InitializeEncoder(aChannel, bChannel, reverseDirection,
+                            (HAL_EncoderEncodingType)encodingType, &status);
   CheckStatusForceThrow(env, status);
   return (jint)encoder;
 }
@@ -286,24 +282,6 @@ Java_edu_wpi_first_hal_EncoderJNI_getEncoderSamplesToAverage
   return returnValue;
 }
 
-/*
- * Class:     edu_wpi_first_hal_EncoderJNI
- * Method:    setEncoderIndexSource
- * Signature: (IIII)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_EncoderJNI_setEncoderIndexSource
-  (JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
-   jint analogTriggerType, jint type)
-{
-  int32_t status = 0;
-  HAL_SetEncoderIndexSource((HAL_EncoderHandle)id,
-                            (HAL_Handle)digitalSourceHandle,
-                            (HAL_AnalogTriggerType)analogTriggerType,
-                            (HAL_EncoderIndexingType)type, &status);
-  CheckStatus(env, status);
-}
-
 /*
  * Class:     edu_wpi_first_hal_EncoderJNI
  * Method:    getEncoderFPGAIndex

hal/src/main/native/include/hal/Encoder.h

@@ -41,25 +41,18 @@ extern "C" {
 /**
  * Initializes an encoder.
  *
- * @param[in] digitalSourceHandleA the A source (either a HAL_DigitalHandle or a
- *                                 HAL_AnalogTriggerHandle)
- * @param[in] analogTriggerTypeA   the analog trigger type of the A source if it
- *                                 is an analog trigger
- * @param[in] digitalSourceHandleB the B source (either a HAL_DigitalHandle or a
- *                                 HAL_AnalogTriggerHandle)
- * @param[in] analogTriggerTypeB   the analog trigger type of the B source if it
- *                                 is an analog trigger
+ * @param[in] aChannel             the A channel
+ * @param[in] bChannel             the B channel
  * @param[in] reverseDirection     true to reverse the counting direction from
  *                                 standard, otherwise false
  * @param[in] encodingType         the encoding type
  * @param[out] status              Error status variable. 0 on success.
  * @return the created encoder handle
  */
-HAL_EncoderHandle HAL_InitializeEncoder(
-    HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
-    HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
-    HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
-    int32_t* status);
+HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
+                                        HAL_Bool reverseDirection,
+                                        HAL_EncoderEncodingType encodingType,
+                                        int32_t* status);
 
 /**
  * Frees an encoder.
@@ -260,26 +253,6 @@ void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
 int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
                                        int32_t* status);
 
-/**
- * Sets the source for an index pulse on the encoder.
- *
- * The index pulse can be used to cause an encoder to reset based on an external
- * input.
- *
- * @param[in] encoderHandle       the encoder handle
- * @param[in] digitalSourceHandle the index source handle (either a
- *                                HAL_AnalogTriggerHandle or a
- *                                HAL_DigitalHandle)
- * @param[in] analogTriggerType   the analog trigger type if the source is an
- *                                analog trigger
- * @param[in] type                the index triggering type
- * @param[out] status             Error status variable. 0 on success.
- */
-void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
-                               HAL_Handle digitalSourceHandle,
-                               HAL_AnalogTriggerType analogTriggerType,
-                               HAL_EncoderIndexingType type, int32_t* status);
-
 /**
  * Gets the FPGA index of the encoder.
  *

hal/src/main/native/sim/Encoder.cpp

@@ -66,11 +66,10 @@ bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
 }  // namespace hal
 
 extern "C" {
-HAL_EncoderHandle HAL_InitializeEncoder(
-    HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
-    HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
-    HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
-    int32_t* status) {
+HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
+                                        HAL_Bool reverseDirection,
+                                        HAL_EncoderEncodingType encodingType,
+                                        int32_t* status) {
   hal::init::CheckInit();
   HAL_Handle nativeHandle = HAL_kInvalidHandle;
   if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
@@ -95,8 +94,8 @@ HAL_EncoderHandle HAL_InitializeEncoder(
     return HAL_kInvalidHandle;
   }
   int16_t index = getHandleIndex(handle);
-  SimEncoderData[index].digitalChannelA = getHandleIndex(digitalSourceHandleA);
-  SimEncoderData[index].digitalChannelB = getHandleIndex(digitalSourceHandleB);
+  SimEncoderData[index].digitalChannelA = aChannel;
+  SimEncoderData[index].digitalChannelB = bChannel;
   SimEncoderData[index].initialized = true;
   SimEncoderData[index].reverseDirection = reverseDirection;
   SimEncoderData[index].simDevice = 0;
@@ -328,13 +327,6 @@ int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
   return SimEncoderData[encoder->index].samplesToAverage;
 }
 
-void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
-                               HAL_Handle digitalSourceHandle,
-                               HAL_AnalogTriggerType analogTriggerType,
-                               HAL_EncoderIndexingType type, int32_t* status) {
-  // Not implemented yet
-}
-
 int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
                                 int32_t* status) {
   auto encoder = encoderHandles->Get(encoderHandle);

hal/src/main/native/systemcore/Encoder.cpp

@@ -17,25 +17,15 @@
 
 using namespace hal;
 
-namespace hal {
-
-namespace init {
+namespace hal::init {
 void InitializeEncoder() {}
-}  // namespace init
-
-bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
-                          HAL_FPGAEncoderHandle* fpgaHandle,
-                          HAL_CounterHandle* counterHandle) {
-  return false;
-}
-}  // namespace hal
+}  // namespace hal::init
 
 extern "C" {
-HAL_EncoderHandle HAL_InitializeEncoder(
-    HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
-    HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
-    HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
-    int32_t* status) {
+HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
+                                        HAL_Bool reverseDirection,
+                                        HAL_EncoderEncodingType encodingType,
+                                        int32_t* status) {
   hal::init::CheckInit();
   *status = HAL_HANDLE_ERROR;
   return HAL_kInvalidHandle;
@@ -150,14 +140,6 @@ HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
   return HAL_Encoder_k4X;
 }
 
-void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
-                               HAL_Handle digitalSourceHandle,
-                               HAL_AnalogTriggerType analogTriggerType,
-                               HAL_EncoderIndexingType type, int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return;
-}
-
 int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
                                 int32_t* status) {
   *status = HAL_HANDLE_ERROR;