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

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This commit is contained in:
Thad House
2025-01-28 05:43:09 -08:00
committed by GitHub
parent 3b345fe218
commit b799b285b3
8 changed files with 60 additions and 543 deletions
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72
wpilibc/src/main/native/cpp/Encoder.cpp
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@@ -20,44 +20,7 @@ using namespace frc;
Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
EncodingType encodingType) {
m_aSource = std::make_shared<DigitalInput>(aChannel);
m_bSource = std::make_shared<DigitalInput>(bChannel);
InitEncoder(reverseDirection, encodingType);
wpi::SendableRegistry::AddChild(this, m_aSource.get());
wpi::SendableRegistry::AddChild(this, m_bSource.get());
}
Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
bool reverseDirection, EncodingType encodingType)
: m_aSource(aSource, wpi::NullDeleter<DigitalSource>()),
m_bSource(bSource, wpi::NullDeleter<DigitalSource>()) {
if (!m_aSource) {
throw FRC_MakeError(err::NullParameter, "aSource");
}
if (!m_bSource) {
throw FRC_MakeError(err::NullParameter, "bSource");
}
InitEncoder(reverseDirection, encodingType);
}
Encoder::Encoder(DigitalSource& aSource, DigitalSource& bSource,
bool reverseDirection, EncodingType encodingType)
: m_aSource(&aSource, wpi::NullDeleter<DigitalSource>()),
m_bSource(&bSource, wpi::NullDeleter<DigitalSource>()) {
InitEncoder(reverseDirection, encodingType);
}
Encoder::Encoder(std::shared_ptr<DigitalSource> aSource,
std::shared_ptr<DigitalSource> bSource, bool reverseDirection,
EncodingType encodingType)
: m_aSource(std::move(aSource)), m_bSource(std::move(bSource)) {
if (!m_aSource) {
throw FRC_MakeError(err::NullParameter, "aSource");
}
if (!m_bSource) {
throw FRC_MakeError(err::NullParameter, "bSource");
}
InitEncoder(reverseDirection, encodingType);
InitEncoder(aChannel, bChannel, reverseDirection, encodingType);
}
int Encoder::Get() const {
@@ -172,24 +135,6 @@ int Encoder::GetSamplesToAverage() const {
return result;
}
void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
// Force digital input if just given an index
m_indexSource = std::make_shared<DigitalInput>(channel);
wpi::SendableRegistry::AddChild(this, m_indexSource.get());
SetIndexSource(*m_indexSource.get(), type);
}
void Encoder::SetIndexSource(const DigitalSource& source,
Encoder::IndexingType type) {
int32_t status = 0;
HAL_SetEncoderIndexSource(m_encoder, source.GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
source.GetAnalogTriggerTypeForRouting()),
static_cast<HAL_EncoderIndexingType>(type),
&status);
FRC_CheckErrorStatus(status, "SetIndexSource");
}
void Encoder::SetSimDevice(HAL_SimDeviceHandle device) {
HAL_SetEncoderSimDevice(m_encoder, device);
}
@@ -219,22 +164,17 @@ void Encoder::InitSendable(wpi::SendableBuilder& builder) {
nullptr);
}
void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
void Encoder::InitEncoder(int aChannel, int bChannel, bool reverseDirection,
EncodingType encodingType) {
int32_t status = 0;
m_encoder = HAL_InitializeEncoder(
m_aSource->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
m_aSource->GetAnalogTriggerTypeForRouting()),
m_bSource->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
m_bSource->GetAnalogTriggerTypeForRouting()),
reverseDirection, static_cast<HAL_EncoderEncodingType>(encodingType),
&status);
aChannel, bChannel, reverseDirection,
static_cast<HAL_EncoderEncodingType>(encodingType), &status);
FRC_CheckErrorStatus(status, "InitEncoder");
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
encodingType);
wpi::SendableRegistry::Add(this, "Encoder", m_aSource->GetChannel());
// wpi::SendableRegistry::Add(this, "Encoder", m_aSource->GetChannel());
}
double Encoder::DecodingScaleFactor() const {