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[romi/xrp] Add Romi and XRP Vendordeps (#5644)

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This commit is contained in:
Zhiquan Yeo
2023-09-17 19:20:06 -04:00
committed by GitHub
parent cb99517838
commit bb39900353
39 changed files with 2152 additions and 0 deletions
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31
romiVendordep/.styleguide Normal file
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cppHeaderFileInclude {
\.h$
\.hpp$
\.inc$
}
cppSrcFileInclude {
\.cpp$
}
repoRootNameOverride {
wpilib
}
includeOtherLibs {
^cameraserver/
^cscore
^fmt/
^frc/
^gtest/
^hal/
^imgui
^mockdata/
^networktables/
^ntcore
^opencv2/
^support/
^units/
^vision/
^wpi/
}

59
romiVendordep/CMakeLists.txt Normal file
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project(romiVendordep)
include(SubDirList)
include(CompileWarnings)
include(AddTest)
if (WITH_JAVA)
find_package(Java REQUIRED)
include(UseJava)
set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
add_jar(romiVendordep_jar ${JAVA_SOURCES} INCLUDE_JARS hal_jar ntcore_jar cscore_jar cameraserver_jar wpimath_jar wpiutil_jar wpilibj_jar OUTPUT_NAME romiVendordep)
get_property(ROMIVENDORDEP_JAR_FILE TARGET romiVendordep_jar PROPERTY JAR_FILE)
install(FILES ${ROMIVENDORDEP_JAR_FILE} DESTINATION "${java_lib_dest}")
set_property(TARGET romiVendordep_jar PROPERTY FOLDER "java")
if (WITH_FLAT_INSTALL)
set (romiVendordep_config_dir ${wpilib_dest})
else()
set (romiVendordep_config_dir share/romiVendordep)
endif()
install(FILES romiVendordep-config.cmake DESTINATION ${romiVendordep_config_dir})
endif()
file(GLOB_RECURSE romiVendordep_native_src src/main/native/cpp/*.cpp)
add_library(romiVendordep ${romiVendordep_native_src})
set_target_properties(romiVendordep PROPERTIES DEBUG_POSTFIX "d")
set_property(TARGET romiVendordep PROPERTY FOLDER "libraries")
target_compile_features(romiVendordep PUBLIC cxx_std_20)
wpilib_target_warnings(romiVendordep)
target_link_libraries(romiVendordep wpilibc)
target_include_directories(romiVendordep PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/romiVendordep>)
install(TARGETS romiVendordep EXPORT romiVendordep DESTINATION "${main_lib_dest}")
install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/romiVendordep")
if (FLAT_INSTALL_WPILIB)
set(romiVendordep_config_dir ${wpilib_dest})
else()
set(romiVendordep_config_dir share/romiVendordep)
endif()
configure_file(romiVendordep-config.cmake.in ${WPILIB_BINARY_DIR}/romiVendordep-config.cmake)
install(FILES ${WPILIB_BINARY_DIR}/romiVendordep-config.cmake DESTINATION ${romiVendordep_config_dir})
install(EXPORT romiVendordep DESTINATION ${romiVendordep_config_dir})
if (WITH_TESTS)
wpilib_add_test(romiVendordep src/test/native/cpp)
target_include_directories(romiVendordep_test PRIVATE src/test/native/include)
target_link_libraries(romiVendordep_test romiVendordep gmock_main)
endif()

2
romiVendordep/README.md Normal file
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# romi-vendordep
WPILib Romi Vendordep

36
romiVendordep/RomiVendordep.json Normal file
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{
"fileName": "RomiVendordep.json",
"name": "Romi-Vendordep",
"version": "1.0.0",
"uuid": "1010372a-b446-46f4-b229-61e53a26a7dc",
"mavenUrls": [],
"jsonUrl": "",
"javaDependencies": [
{
"groupId": "edu.wpi.first.romiVendordep",
"artifactId": "romiVendordep-java",
"version": "wpilib"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "edu.wpi.first.romiVendordep",
"artifactId": "romiVendordep-cpp",
"version": "vendordep",
"libName": "romiVendordep",
"headerClassifier": "headers",
"sourcesClassifier": "sources",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxarm32",
"linuxarm64",
"windowsx86-64",
"windowsx86",
"linuxx86-64",
"osxuniversal"
]
}
]
}

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romiVendordep/build.gradle Normal file
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ext {
nativeName = 'romiVendordep'
devMain = 'edu.wpi.first.wpilibj.romi.DevMain'
}
evaluationDependsOn(":ntcore")
evaluationDependsOn(":cscore")
evaluationDependsOn(":hal")
evaluationDependsOn(":wpimath")
evaluationDependsOn(":wpilibc")
evaluationDependsOn(":cameraserver")
evaluationDependsOn(":wpilibj")
apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
dependencies {
implementation project(":wpiutil")
implementation project(":wpinet")
implementation project(":ntcore")
implementation project(":cscore")
implementation project(":hal")
implementation project(":wpimath")
implementation project(":wpilibj")
}
nativeUtils.exportsConfigs {
// Main library is just default empty. This will export everything
romiVendordep {
x64ExcludeSymbols = [
'_CT??_R0?AV_System_error',
'_CT??_R0?AVexception',
'_CT??_R0?AVfailure',
'_CT??_R0?AVruntime_error',
'_CT??_R0?AVsystem_error',
'_CTA5?AVfailure',
'_TI5?AVfailure',
'_CT??_R0?AVout_of_range',
'_CTA3?AVout_of_range',
'_TI3?AVout_of_range',
'_CT??_R0?AVbad_cast'
]
}
}
model {
components {}
binaries {
all {
if (!it.buildable || !(it instanceof NativeBinarySpec)) {
return
}
lib project: ":wpilibc", library: "wpilibc", linkage: "shared"
project(":ntcore").addNtcoreDependency(it, "shared")
project(":hal").addHalDependency(it, "shared")
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
if (it.component.name == "${nativeName}Dev") {
project(":ntcore").addNtcoreJniDependency(it)
lib project: ":wpinet", library: "wpinetJNIShared", linkage: "shared"
lib project: ":wpiutil", library: "wpiutilJNIShared", linkage: "shared"
lib project: ":wpimath", library: "wpimathJNIShared", linkage: "shared"
project(":hal").addHalJniDependency(it)
}
if (it instanceof GoogleTestTestSuiteBinarySpec) {
nativeUtils.useRequiredLibrary(it, "opencv_shared")
lib project: ":cscore", library: "cscore", linkage: "shared"
}
}
}
tasks {
def c = $.components
def found = false
def systemArch = getCurrentArch()
c.each {
if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
it.binaries.each {
if (!found) {
def arch = it.targetPlatform.name
if (arch == systemArch) {
def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + "lib"
found = true
}
}
}
}
}
}
}
test {
testLogging {
outputs.upToDateWhen {false}
showStandardStreams = true
}
}

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romiVendordep/romiVendordep-config.cmake.in Normal file
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include(CMakeFindDependencyMacro)
@WPIUTIL_DEP_REPLACE@
@NTCORE_DEP_REPLACE@
@CSCORE_DEP_REPLACE@
@CAMERASERVER_DEP_REPLACE@
@HAL_DEP_REPLACE@
@WPILIBC_DEP_REPLACE@
@WPIMATH_DEP_REPLACE@
@FILENAME_DEP_REPLACE@
include(${SELF_DIR}/romiVendordep.cmake)

21
romiVendordep/src/dev/java/edu/wpi/first/wpilibj/romi/DevMain.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.romi;
import edu.wpi.first.hal.HALUtil;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.RuntimeDetector;
public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}
private DevMain() {}
}

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romiVendordep/src/dev/native/cpp/main.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
int main() {}

150
romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/OnBoardIO.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.romi;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
/**
* This class represents the onboard IO of the Romi reference robot. This includes the pushbuttons
* and LEDs.
*
* <p>DIO 0 - Button A (input only) DIO 1 - Button B (input) or Green LED (output) DIO 2 - Button C
* (input) or Red LED (output) DIO 3 - Yellow LED (output only)
*/
public class OnBoardIO {
private final DigitalInput m_buttonA = new DigitalInput(0);
private final DigitalOutput m_yellowLed = new DigitalOutput(3);
// DIO 1
private final DigitalInput m_buttonB;
private final DigitalOutput m_greenLed;
// DIO 2
private final DigitalInput m_buttonC;
private final DigitalOutput m_redLed;
private static final double MESSAGE_INTERVAL = 1.0;
private double m_nextMessageTime;
public enum ChannelMode {
INPUT,
OUTPUT
}
/**
* Constructor.
*
* @param dio1 Mode for DIO 1 (input = Button B, output = green LED)
* @param dio2 Mode for DIO 2 (input = Button C, output = red LED)
*/
public OnBoardIO(ChannelMode dio1, ChannelMode dio2) {
if (dio1 == ChannelMode.INPUT) {
m_buttonB = new DigitalInput(1);
m_greenLed = null;
} else {
m_greenLed = new DigitalOutput(1);
m_buttonB = null;
}
if (dio2 == ChannelMode.INPUT) {
m_buttonC = new DigitalInput(2);
m_redLed = null;
} else {
m_redLed = new DigitalOutput(2);
m_buttonC = null;
}
}
/**
* Gets if the A button is pressed.
*
* @return Whether or not Button A is pressed
*/
public boolean getButtonAPressed() {
return m_buttonA.get();
}
/**
* Gets if the B button is pressed.
*
* @return Whether or not Button B is pressed
*/
public boolean getButtonBPressed() {
if (m_buttonB != null) {
return m_buttonB.get();
}
double currentTime = Timer.getFPGATimestamp();
if (currentTime > m_nextMessageTime) {
DriverStation.reportError("Button B was not configured", true);
m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
}
return false;
}
/**
* Gets if the C button is pressed.
*
* @return Whether or not Button C is pressed
*/
public boolean getButtonCPressed() {
if (m_buttonC != null) {
return m_buttonC.get();
}
double currentTime = Timer.getFPGATimestamp();
if (currentTime > m_nextMessageTime) {
DriverStation.reportError("Button C was not configured", true);
m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
}
return false;
}
/**
* Sets the green LED.
*
* @param value Set whether or not to turn the Green LED on
*/
public void setGreenLed(boolean value) {
if (m_greenLed != null) {
m_greenLed.set(value);
} else {
double currentTime = Timer.getFPGATimestamp();
if (currentTime > m_nextMessageTime) {
DriverStation.reportError("Green LED was not configured", true);
m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
}
}
}
/**
* Sets the red LED.
*
* @param value Set whether or not to turn the Red LED on
*/
public void setRedLed(boolean value) {
if (m_redLed != null) {
m_redLed.set(value);
} else {
double currentTime = Timer.getFPGATimestamp();
if (currentTime > m_nextMessageTime) {
DriverStation.reportError("Red LED was not configured", true);
m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
}
}
}
/**
* Sets the yellow LED.
*
* @param value Set whether or not to turn the Yellow LED on
*/
public void setYellowLed(boolean value) {
m_yellowLed.set(value);
}
}

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romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiGyro.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.romi;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
public class RomiGyro {
private final SimDevice m_simDevice;
private final SimDouble m_simRateX;
private final SimDouble m_simRateY;
private final SimDouble m_simRateZ;
private final SimDouble m_simAngleX;
private final SimDouble m_simAngleY;
private final SimDouble m_simAngleZ;
private double m_angleXOffset;
private double m_angleYOffset;
private double m_angleZOffset;
/** Create a new RomiGyro. */
public RomiGyro() {
m_simDevice = SimDevice.create("Gyro:RomiGyro");
if (m_simDevice != null) {
m_simDevice.createBoolean("init", Direction.kOutput, true);
m_simRateX = m_simDevice.createDouble("rate_x", Direction.kInput, 0.0);
m_simRateY = m_simDevice.createDouble("rate_y", Direction.kInput, 0.0);
m_simRateZ = m_simDevice.createDouble("rate_z", Direction.kInput, 0.0);
m_simAngleX = m_simDevice.createDouble("angle_x", Direction.kInput, 0.0);
m_simAngleY = m_simDevice.createDouble("angle_y", Direction.kInput, 0.0);
m_simAngleZ = m_simDevice.createDouble("angle_z", Direction.kInput, 0.0);
} else {
m_simRateX = null;
m_simRateY = null;
m_simRateZ = null;
m_simAngleX = null;
m_simAngleY = null;
m_simAngleZ = null;
}
}
/**
* Get the rate of turn in degrees-per-second around the X-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateX() {
if (m_simRateX != null) {
return m_simRateX.get();
}
return 0.0;
}
/**
* Get the rate of turn in degrees-per-second around the Y-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateY() {
if (m_simRateY != null) {
return m_simRateY.get();
}
return 0.0;
}
/**
* Get the rate of turn in degrees-per-second around the Z-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateZ() {
if (m_simRateZ != null) {
return m_simRateZ.get();
}
return 0.0;
}
/**
* Get the currently reported angle around the X-axis.
*
* @return current angle around X-axis in degrees
*/
public double getAngleX() {
if (m_simAngleX != null) {
return m_simAngleX.get() - m_angleXOffset;
}
return 0.0;
}
/**
* Get the currently reported angle around the X-axis.
*
* @return current angle around Y-axis in degrees
*/
public double getAngleY() {
if (m_simAngleY != null) {
return m_simAngleY.get() - m_angleYOffset;
}
return 0.0;
}
/**
* Get the currently reported angle around the Z-axis.
*
* @return current angle around Z-axis in degrees
*/
public double getAngleZ() {
if (m_simAngleZ != null) {
return m_simAngleZ.get() - m_angleZOffset;
}
return 0.0;
}
/** Reset the gyro angles to 0. */
public void reset() {
if (m_simAngleX != null) {
m_angleXOffset = m_simAngleX.get();
m_angleYOffset = m_simAngleY.get();
m_angleZOffset = m_simAngleZ.get();
}
}
public double getAngle() {
return getAngleZ();
}
public double getRate() {
return getRateZ();
}
/** Close out the SimDevice. */
public void close() {
if (m_simDevice != null) {
m_simDevice.close();
}
}
}

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romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiMotor.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.romi;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
/**
* RomiMotor.
*
* <p>A general use PWM motor controller representing the motors on a Romi robot
*/
public class RomiMotor extends PWMMotorController {
/** Common initialization code called by all constructors. */
protected void initRomiMotor() {
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
}
/**
* Constructor.
*
* @param channel The PWM channel that the RomiMotor is attached to. 0 is the left motor, 1 is the
* right.
*/
public RomiMotor(final int channel) {
super("Romi Motor", channel);
initRomiMotor();
}
}

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romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <frc/Errors.h>
#include <frc/Timer.h>
#include <frc/romi/OnBoardIO.h>
using namespace frc;
OnBoardIO::OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2) {
if (dio1 == ChannelMode::INPUT) {
m_buttonB = std::make_unique<frc::DigitalInput>(1);
} else {
m_greenLed = std::make_unique<frc::DigitalOutput>(1);
}
if (dio2 == ChannelMode::INPUT) {
m_buttonC = std::make_unique<frc::DigitalInput>(2);
} else {
m_redLed = std::make_unique<frc::DigitalOutput>(2);
}
}
bool OnBoardIO::GetButtonAPressed() {
return m_buttonA.Get();
}
bool OnBoardIO::GetButtonBPressed() {
if (m_buttonB) {
return m_buttonB->Get();
}
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "{}", "Button B was not configured");
m_nextMessageTime = currentTime + kMessageInterval;
}
return false;
}
bool OnBoardIO::GetButtonCPressed() {
if (m_buttonC) {
return m_buttonC->Get();
}
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "{}", "Button C was not configured");
m_nextMessageTime = currentTime + kMessageInterval;
}
return false;
}
void OnBoardIO::SetGreenLed(bool value) {
if (m_greenLed) {
m_greenLed->Set(value);
} else {
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "{}", "Green LED was not configured");
m_nextMessageTime = currentTime + kMessageInterval;
}
}
}
void OnBoardIO::SetRedLed(bool value) {
if (m_redLed) {
m_redLed->Set(value);
} else {
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "{}", "Red LED was not configured");
m_nextMessageTime = currentTime + kMessageInterval;
}
}
}
void OnBoardIO::SetYellowLed(bool value) {
m_yellowLed.Set(value);
}

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romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <frc/romi/RomiGyro.h>
using namespace frc;
RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simRateX =
m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
m_simRateY =
m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
m_simRateZ =
m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
m_simAngleX =
m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
m_simAngleY =
m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
m_simAngleZ =
m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
}
}
double RomiGyro::GetAngle() const {
return GetAngleZ();
}
double RomiGyro::GetRate() const {
return GetRateZ();
}
double RomiGyro::GetRateX() const {
if (m_simRateX) {
return m_simRateX.Get();
}
return 0.0;
}
double RomiGyro::GetRateY() const {
if (m_simRateY) {
return m_simRateY.Get();
}
return 0.0;
}
double RomiGyro::GetRateZ() const {
if (m_simRateZ) {
return m_simRateZ.Get();
}
return 0.0;
}
double RomiGyro::GetAngleX() const {
if (m_simAngleX) {
return m_simAngleX.Get() - m_angleXOffset;
}
return 0.0;
}
double RomiGyro::GetAngleY() const {
if (m_simAngleY) {
return m_simAngleY.Get() - m_angleYOffset;
}
return 0.0;
}
double RomiGyro::GetAngleZ() const {
if (m_simAngleZ) {
return m_simAngleZ.Get() - m_angleZOffset;
}
return 0.0;
}
void RomiGyro::Reset() {
if (m_simAngleX) {
m_angleXOffset = m_simAngleX.Get();
m_angleYOffset = m_simAngleY.Get();
m_angleZOffset = m_simAngleZ.Get();
}
}

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romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <frc/romi/RomiMotor.h>
using namespace frc;
RomiMotor::RomiMotor(int channel) : PWMMotorController("Romi Motor", channel) {
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
}

76
romiVendordep/src/main/native/include/frc/romi/OnBoardIO.h Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <memory>
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <units/time.h>
namespace frc {
/**
* This class represents the onboard IO of the Romi
* reference robot. This includes the pushbuttons and
* LEDs.
*
* <p>DIO 0 - Button A (input only)
* DIO 1 - Button B (input) or Green LED (output)
* DIO 2 - Button C (input) or Red LED (output)
* DIO 3 - Yellow LED (output only)
*/
class OnBoardIO {
public:
enum ChannelMode { INPUT, OUTPUT };
OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
static constexpr auto kMessageInterval = 1_s;
units::second_t m_nextMessageTime = 0_s;
/**
* Gets if the A button is pressed.
*/
bool GetButtonAPressed();
/**
* Gets if the B button is pressed.
*/
bool GetButtonBPressed();
/**
* Gets if the C button is pressed.
*/
bool GetButtonCPressed();
/**
* Sets the green LED.
*/
void SetGreenLed(bool value);
/**
* Sets the red LED.
*/
void SetRedLed(bool value);
/**
* Sets the yellow LED.
*/
void SetYellowLed(bool value);
private:
frc::DigitalInput m_buttonA{0};
frc::DigitalOutput m_yellowLed{3};
// DIO 1
std::unique_ptr<frc::DigitalInput> m_buttonB;
std::unique_ptr<frc::DigitalOutput> m_greenLed;
// DIO 2
std::unique_ptr<frc::DigitalInput> m_buttonC;
std::unique_ptr<frc::DigitalOutput> m_redLed;
};
} // namespace frc

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romiVendordep/src/main/native/include/frc/romi/RomiGyro.h Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <hal/SimDevice.h>
namespace frc {
/**
* Use a rate gyro to return the robots heading relative to a starting position.
*
* This class is for the Romi onboard gyro, and will only work in
* simulation/Romi mode. Only one instance of a RomiGyro is supported.
*/
class RomiGyro {
public:
RomiGyro();
/**
* Return the actual angle in degrees that the robot is currently facing.
*
* The angle is based on integration of the returned rate form the gyro.
* The angle is continuous, that is, it will continue from 360->361 degrees.
* This allows algorithms that wouldn't want to see a discontinuity in the
* gyro output as it sweeps from 360 to 0 on the second time around.
*
* @return the current heading of the robot in degrees.
*/
double GetAngle() const;
/**
* Return the rate of rotation of the gyro
*
* The rate is based on the most recent reading of the gyro.
*
* @return the current rate in degrees per second
*/
double GetRate() const;
/**
* Gets the rate of turn in degrees-per-second around the X-axis
*/
double GetRateX() const;
/**
* Gets the rate of turn in degrees-per-second around the Y-axis
*/
double GetRateY() const;
/**
* Gets the rate of turn in degrees-per-second around the Z-axis
*/
double GetRateZ() const;
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleX() const;
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleY() const;
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleZ() const;
/**
* Resets the gyro
*/
void Reset();
private:
hal::SimDevice m_simDevice;
hal::SimDouble m_simRateX;
hal::SimDouble m_simRateY;
hal::SimDouble m_simRateZ;
hal::SimDouble m_simAngleX;
hal::SimDouble m_simAngleY;
hal::SimDouble m_simAngleZ;
double m_angleXOffset = 0;
double m_angleYOffset = 0;
double m_angleZOffset = 0;
};
} // namespace frc

30
romiVendordep/src/main/native/include/frc/romi/RomiMotor.h Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <frc/motorcontrol/PWMMotorController.h>
namespace frc {
/**
* RomiMotor
*
* A general use PWM motor controller representing the motors on a Romi robot
*/
class RomiMotor : public PWMMotorController {
public:
/**
* Constructor for a RomiMotor.
*
* @param channel The PWM channel that the RomiMotor is attached to.
* 0 is left, 1 is right
*/
explicit RomiMotor(int channel);
RomiMotor(RomiMotor&&) = default;
RomiMotor& operator=(RomiMotor&&) = default;
};
} // namespace frc

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romiVendordep/src/test/native/cpp/main.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <gtest/gtest.h>
int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

2
settings.gradle
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@@ -49,6 +49,8 @@ include 'simulation:halsim_xrp'
include 'cameraserver' include 'cameraserver'
include 'cameraserver:multiCameraServer' include 'cameraserver:multiCameraServer'
include 'wpilibNewCommands' include 'wpilibNewCommands'
include 'romiVendordep'
include 'xrpVendordep'
include 'myRobot' include 'myRobot'
include 'docs' include 'docs'
include 'msvcruntime' include 'msvcruntime'

59
xrpVendordep/CMakeLists.txt Normal file
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project(xrpVendordep)
include(SubDirList)
include(CompileWarnings)
include(AddTest)
if (WITH_JAVA)
find_package(Java REQUIRED)
include(UseJava)
set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
add_jar(xrpVendordep_jar ${JAVA_SOURCES} INCLUDE_JARS hal_jar ntcore_jar cscore_jar cameraserver_jar wpimath_jar wpiutil_jar wpilibj_jar OUTPUT_NAME xrpVendordep)
get_property(xrpVendordep_JAR_FILE TARGET xrpVendordep_jar PROPERTY JAR_FILE)
install(FILES ${xrpVendordep_JAR_FILE} DESTINATION "${java_lib_dest}")
set_property(TARGET xrpVendordep_jar PROPERTY FOLDER "java")
if (WITH_FLAT_INSTALL)
set (xrpVendordep_config_dir ${wpilib_dest})
else()
set (xrpVendordep_config_dir share/xrpVendordep)
endif()
install(FILES xrpVendordep-config.cmake DESTINATION ${xrpVendordep_config_dir})
endif()
file(GLOB_RECURSE xrpVendordep_native_src src/main/native/cpp/*.cpp)
add_library(xrpVendordep ${xrpVendordep_native_src})
set_target_properties(xrpVendordep PROPERTIES DEBUG_POSTFIX "d")
set_property(TARGET xrpVendordep PROPERTY FOLDER "libraries")
target_compile_features(xrpVendordep PUBLIC cxx_std_20)
wpilib_target_warnings(xrpVendordep)
target_link_libraries(xrpVendordep wpilibc)
target_include_directories(xrpVendordep PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/xrpVendordep>)
install(TARGETS xrpVendordep EXPORT xrpVendordep DESTINATION "${main_lib_dest}")
install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/xrpVendordep")
if (FLAT_INSTALL_WPILIB)
set(xrpVendordep_config_dir ${wpilib_dest})
else()
set(xrpVendordep_config_dir share/xrpVendordep)
endif()
configure_file(xrpVendordep-config.cmake.in ${WPILIB_BINARY_DIR}/xrpVendordep-config.cmake)
install(FILES ${WPILIB_BINARY_DIR}/xrpVendordep-config.cmake DESTINATION ${xrpVendordep_config_dir})
install(EXPORT xrpVendordep DESTINATION ${xrpVendordep_config_dir})
if (WITH_TESTS)
wpilib_add_test(xrpVendordep src/test/native/cpp)
target_include_directories(xrpVendordep_test PRIVATE src/test/native/include)
target_link_libraries(xrpVendordep_test xrpVendordep gmock_main)
endif()

2
xrpVendordep/README.md Normal file
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# XRP-vendordep
WPILib XRP Vendordep

36
xrpVendordep/XRPVendordep.json Normal file
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{
"fileName": "XRPVendordep.json",
"name": "XRP-Vendordep",
"version": "1.0.0",
"uuid": "1571a1a5-ed3f-4f07-b7eb-b2beb17394e0",
"mavenUrls": [],
"jsonUrl": "",
"javaDependencies": [
{
"groupId": "edu.wpi.first.xrpVendordep",
"artifactId": "xrpVendordep-java",
"version": "wpilib"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "edu.wpi.first.xrpVendordep",
"artifactId": "xrpVendordep-cpp",
"version": "vendordep",
"libName": "xrpVendordep",
"headerClassifier": "headers",
"sourcesClassifier": "sources",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxarm32",
"linuxarm64",
"windowsx86-64",
"windowsx86",
"linuxx86-64",
"osxuniversal"
]
}
]
}

98
xrpVendordep/build.gradle Normal file
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ext {
nativeName = 'xrpVendordep'
devMain = 'edu.wpi.first.wpilibj.xrp.DevMain'
}
evaluationDependsOn(":ntcore")
evaluationDependsOn(":cscore")
evaluationDependsOn(":hal")
evaluationDependsOn(":wpimath")
evaluationDependsOn(":wpilibc")
evaluationDependsOn(":cameraserver")
evaluationDependsOn(":wpilibj")
apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
dependencies {
implementation project(":wpiutil")
implementation project(":wpinet")
implementation project(":ntcore")
implementation project(":cscore")
implementation project(":hal")
implementation project(":wpimath")
implementation project(":wpilibj")
}
nativeUtils.exportsConfigs {
// Main library is just default empty. This will export everything
xrpVendordep {
x64ExcludeSymbols = [
'_CT??_R0?AV_System_error',
'_CT??_R0?AVexception',
'_CT??_R0?AVfailure',
'_CT??_R0?AVruntime_error',
'_CT??_R0?AVsystem_error',
'_CTA5?AVfailure',
'_TI5?AVfailure',
'_CT??_R0?AVout_of_range',
'_CTA3?AVout_of_range',
'_TI3?AVout_of_range',
'_CT??_R0?AVbad_cast'
]
}
}
model {
components {}
binaries {
all {
if (!it.buildable || !(it instanceof NativeBinarySpec)) {
return
}
lib project: ":wpilibc", library: "wpilibc", linkage: "shared"
project(":ntcore").addNtcoreDependency(it, "shared")
project(":hal").addHalDependency(it, "shared")
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
if (it.component.name == "${nativeName}Dev") {
project(":ntcore").addNtcoreJniDependency(it)
lib project: ":wpinet", library: "wpinetJNIShared", linkage: "shared"
lib project: ":wpiutil", library: "wpiutilJNIShared", linkage: "shared"
lib project: ":wpimath", library: "wpimathJNIShared", linkage: "shared"
project(":hal").addHalJniDependency(it)
}
if (it instanceof GoogleTestTestSuiteBinarySpec) {
nativeUtils.useRequiredLibrary(it, "opencv_shared")
lib project: ":cscore", library: "cscore", linkage: "shared"
}
}
}
tasks {
def c = $.components
def found = false
def systemArch = getCurrentArch()
c.each {
if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
it.binaries.each {
if (!found) {
def arch = it.targetPlatform.name
if (arch == systemArch) {
def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + "lib"
found = true
}
}
}
}
}
}
}
test {
testLogging {
outputs.upToDateWhen {false}
showStandardStreams = true
}
}

21
xrpVendordep/src/dev/java/edu/wpi/first/wpilibj/xrp/DevMain.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.xrp;
import edu.wpi.first.hal.HALUtil;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.RuntimeDetector;
public final class DevMain {
/** Main entry point. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}
private DevMain() {}
}

5
xrpVendordep/src/dev/native/cpp/main.cpp Normal file
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@@ -0,0 +1,5 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
int main() {}

147
xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPGyro.java Normal file
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@@ -0,0 +1,147 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.xrp;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
public class XRPGyro {
private final SimDevice m_simDevice;
private final SimDouble m_simRateX;
private final SimDouble m_simRateY;
private final SimDouble m_simRateZ;
private final SimDouble m_simAngleX;
private final SimDouble m_simAngleY;
private final SimDouble m_simAngleZ;
private double m_angleXOffset;
private double m_angleYOffset;
private double m_angleZOffset;
/** Create a new XRPGyro. */
public XRPGyro() {
m_simDevice = SimDevice.create("Gyro:XRPGyro");
if (m_simDevice != null) {
m_simDevice.createBoolean("init", Direction.kOutput, true);
m_simRateX = m_simDevice.createDouble("rate_x", Direction.kInput, 0.0);
m_simRateY = m_simDevice.createDouble("rate_y", Direction.kInput, 0.0);
m_simRateZ = m_simDevice.createDouble("rate_z", Direction.kInput, 0.0);
m_simAngleX = m_simDevice.createDouble("angle_x", Direction.kInput, 0.0);
m_simAngleY = m_simDevice.createDouble("angle_y", Direction.kInput, 0.0);
m_simAngleZ = m_simDevice.createDouble("angle_z", Direction.kInput, 0.0);
} else {
m_simRateX = null;
m_simRateY = null;
m_simRateZ = null;
m_simAngleX = null;
m_simAngleY = null;
m_simAngleZ = null;
}
}
/**
* Get the rate of turn in degrees-per-second around the X-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateX() {
if (m_simRateX != null) {
return m_simRateX.get();
}
return 0.0;
}
/**
* Get the rate of turn in degrees-per-second around the Y-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateY() {
if (m_simRateY != null) {
return m_simRateY.get();
}
return 0.0;
}
/**
* Get the rate of turn in degrees-per-second around the Z-axis.
*
* @return rate of turn in degrees-per-second
*/
public double getRateZ() {
if (m_simRateZ != null) {
return m_simRateZ.get();
}
return 0.0;
}
/**
* Get the currently reported angle around the X-axis.
*
* @return current angle around X-axis in degrees
*/
public double getAngleX() {
if (m_simAngleX != null) {
return m_simAngleX.get() - m_angleXOffset;
}
return 0.0;
}
/**
* Get the currently reported angle around the X-axis.
*
* @return current angle around Y-axis in degrees
*/
public double getAngleY() {
if (m_simAngleY != null) {
return m_simAngleY.get() - m_angleYOffset;
}
return 0.0;
}
/**
* Get the currently reported angle around the Z-axis.
*
* @return current angle around Z-axis in degrees
*/
public double getAngleZ() {
if (m_simAngleZ != null) {
return m_simAngleZ.get() - m_angleZOffset;
}
return 0.0;
}
/** Reset the gyro angles to 0. */
public void reset() {
if (m_simAngleX != null) {
m_angleXOffset = m_simAngleX.get();
m_angleYOffset = m_simAngleY.get();
m_angleZOffset = m_simAngleZ.get();
}
}
public double getAngle() {
return getAngleZ();
}
public double getRate() {
return getRateZ();
}
/** Close out the SimDevice. */
public void close() {
if (m_simDevice != null) {
m_simDevice.close();
}
}
}

109
xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPMotor.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.xrp;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPMotor.
*
* <p>A SimDevice based motor controller representing the motors on an XRP robot
*/
public class XRPMotor implements MotorController {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPMotor device number. Should be 0-3");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPMotor " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(0, "motorL");
s_simDeviceNameMap.put(1, "motorR");
s_simDeviceNameMap.put(2, "motor3");
s_simDeviceNameMap.put(3, "motor4");
}
private final SimDouble m_simSpeed;
private final SimBoolean m_simInverted;
/** XRPMotor. */
public XRPMotor(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on the WS messages as type: "XRPMotor", device: <motor name>
String simDeviceName = "XRPMotor:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpMotorSimDevice = SimDevice.create(simDeviceName);
if (xrpMotorSimDevice != null) {
xrpMotorSimDevice.createBoolean("init", Direction.kOutput, true);
m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.kInput, false);
m_simSpeed = xrpMotorSimDevice.createDouble("speed", Direction.kOutput, 0.0);
} else {
m_simInverted = null;
m_simSpeed = null;
}
}
@Override
public void set(double speed) {
if (m_simSpeed != null) {
boolean invert = false;
if (m_simInverted != null) {
invert = m_simInverted.get();
}
m_simSpeed.set(invert ? -speed : speed);
}
}
@Override
public double get() {
if (m_simSpeed != null) {
return m_simSpeed.get();
}
return 0.0;
}
@Override
public void setInverted(boolean isInverted) {
if (m_simInverted != null) {
m_simInverted.set(isInverted);
}
}
@Override
public boolean getInverted() {
if (m_simInverted != null) {
return m_simInverted.get();
}
return false;
}
@Override
public void disable() {
set(0.0);
}
@Override
public void stopMotor() {
set(0.0);
}
}

41
xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPOnBoardIO.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.xrp;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
/**
* This class represents the onboard IO of the XRP Reference Robot. This includes the USER
* pushbutton and LED
*/
public class XRPOnBoardIO {
private final DigitalInput m_button = new DigitalInput(0);
private final DigitalOutput m_led = new DigitalOutput(1);
/** Constructor. */
public XRPOnBoardIO() {
// No need to do anything else. Unlike the Romi, there are no other configurable
// I/O ports
}
/**
* Gets if the USER button is pressed.
*
* @return True if the USER button is currently pressed.
*/
public boolean getUserButtonPressed() {
return m_button.get();
}
/**
* Sets the onboard LED.
*
* @param value True to activate LED, false otherwise.
*/
public void setLed(boolean value) {
m_led.set(value);
}
}

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xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPServo.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.xrp;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import java.util.HashMap;
import java.util.HashSet;
/**
* XRPServo.
*
* <p>A SimDevice based servo
*/
public class XRPServo {
private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
private static HashSet<Integer> s_registeredDevices = new HashSet<>();
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPServo device number. Should be 4-5");
}
if (s_registeredDevices.contains(deviceNum)) {
throw new IllegalArgumentException("XRPServo " + deviceNum + " already allocated");
}
s_registeredDevices.add(deviceNum);
}
static {
s_simDeviceNameMap.put(4, "servo1");
s_simDeviceNameMap.put(5, "servo2");
}
private final SimDouble m_simPosition;
/** XRPServo. */
public XRPServo(int deviceNum) {
checkDeviceAllocation(deviceNum);
// We want this to appear on WS as type: "XRPServo", device: <servo name>
String simDeviceName = "XRPServo:" + s_simDeviceNameMap.get(deviceNum);
SimDevice xrpServoSimDevice = SimDevice.create(simDeviceName);
if (xrpServoSimDevice != null) {
xrpServoSimDevice.createBoolean("init", Direction.kOutput, true);
// This should mimic PWM position [0.0, 1.0]
m_simPosition = xrpServoSimDevice.createDouble("position", Direction.kOutput, 0.5);
} else {
m_simPosition = null;
}
}
/**
* Set the servo angle.
*
* @param angle Desired angle in degrees
*/
public void setAngle(double angle) {
if (angle < 0.0) {
angle = 0.0;
}
if (angle > 180.0) {
angle = 180.0;
}
double pos = angle / 180.0;
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo angle.
*
* @return Current servo angle
*/
public double getAngle() {
if (m_simPosition != null) {
return m_simPosition.get() * 180.0;
}
return 90.0;
}
/**
* Set the servo position.
*
* @param pos Desired position (Between 0.0 and 1.0)
*/
public void setPosition(double pos) {
if (pos < 0.0) {
pos = 0.0;
}
if (pos > 1.0) {
pos = 1.0;
}
if (m_simPosition != null) {
m_simPosition.set(pos);
}
}
/**
* Get the servo position.
*
* @return Current servo position
*/
public double getPosition() {
if (m_simPosition != null) {
return m_simPosition.get();
}
return 0.5;
}
}

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/xrp/XRPGyro.h"
using namespace frc;
XRPGyro::XRPGyro() : m_simDevice("Gyro:XRPGyro") {
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simRateX =
m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
m_simRateY =
m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
m_simRateZ =
m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
m_simAngleX =
m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
m_simAngleY =
m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
m_simAngleZ =
m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
}
}
double XRPGyro::GetAngle() const {
return GetAngleZ();
}
double XRPGyro::GetRate() const {
return GetRateZ();
}
double XRPGyro::GetRateX() const {
if (m_simRateX) {
return m_simRateX.Get();
}
return 0.0;
}
double XRPGyro::GetRateY() const {
if (m_simRateY) {
return m_simRateY.Get();
}
return 0.0;
}
double XRPGyro::GetRateZ() const {
if (m_simRateZ) {
return m_simRateZ.Get();
}
return 0.0;
}
double XRPGyro::GetAngleX() const {
if (m_simAngleX) {
return m_simAngleX.Get() - m_angleXOffset;
}
return 0.0;
}
double XRPGyro::GetAngleY() const {
if (m_simAngleY) {
return m_simAngleY.Get() - m_angleYOffset;
}
return 0.0;
}
double XRPGyro::GetAngleZ() const {
if (m_simAngleZ) {
return m_simAngleZ.Get() - m_angleZOffset;
}
return 0.0;
}
void XRPGyro::Reset() {
if (m_simAngleX) {
m_angleXOffset = m_simAngleX.Get();
m_angleYOffset = m_simAngleY.Get();
m_angleZOffset = m_simAngleZ.Get();
}
}

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/xrp/XRPMotor.h"
#include <frc/Errors.h>
using namespace frc;
std::map<int, std::string> XRPMotor::s_simDeviceMap = {
{0, "motorL"}, {1, "motorR"}, {2, "motor3"}, {3, "motor4"}};
std::set<int> XRPMotor::s_registeredDevices = {};
void XRPMotor::CheckDeviceAllocation(int deviceNum) {
if (s_simDeviceMap.count(deviceNum) == 0) {
throw FRC_MakeError(frc::err::ChannelIndexOutOfRange, "Channel {}",
deviceNum);
}
if (s_registeredDevices.count(deviceNum) > 0) {
throw FRC_MakeError(frc::err::ResourceAlreadyAllocated, "Channel {}",
deviceNum);
}
s_registeredDevices.insert(deviceNum);
}
XRPMotor::XRPMotor(int deviceNum) {
CheckDeviceAllocation(deviceNum);
m_deviceName = "XRPMotor:" + s_simDeviceMap[deviceNum];
m_simDevice = hal::SimDevice(m_deviceName.c_str());
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simInverted =
m_simDevice.CreateBoolean("inverted", hal::SimDevice::kInput, false);
m_simSpeed =
m_simDevice.CreateDouble("speed", hal::SimDevice::kOutput, 0.0);
}
}
void XRPMotor::Set(double speed) {
if (m_simSpeed) {
bool invert = false;
if (m_simInverted) {
invert = m_simInverted.Get();
}
m_simSpeed.Set(invert ? -speed : speed);
}
}
double XRPMotor::Get() const {
if (m_simSpeed) {
return m_simSpeed.Get();
}
return 0.0;
}
void XRPMotor::SetInverted(bool isInverted) {
if (m_simInverted) {
m_simInverted.Set(isInverted);
}
}
bool XRPMotor::GetInverted() const {
if (m_simInverted) {
return m_simInverted.Get();
}
return false;
}
void XRPMotor::Disable() {
Set(0.0);
}
void XRPMotor::StopMotor() {
Set(0.0);
}
std::string XRPMotor::GetDescription() const {
return m_deviceName;
}

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/xrp/XRPOnBoardIO.h"
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <frc/Errors.h>
#include <frc/Timer.h>
using namespace frc;
bool XRPOnBoardIO::GetUserButtonPressed() {
return m_userButton.Get();
}
void XRPOnBoardIO::SetLed(bool value) {
m_led.Set(value);
}

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/xrp/XRPServo.h"
#include <frc/Errors.h>
using namespace frc;
std::map<int, std::string> XRPServo::s_simDeviceMap = {{4, "servo1"},
{5, "servo2"}};
std::set<int> XRPServo::s_registeredDevices = {};
void XRPServo::CheckDeviceAllocation(int deviceNum) {
if (s_simDeviceMap.count(deviceNum) == 0) {
throw FRC_MakeError(frc::err::ChannelIndexOutOfRange, "Channel {}",
deviceNum);
}
if (s_registeredDevices.count(deviceNum) > 0) {
throw FRC_MakeError(frc::err::ResourceAlreadyAllocated, "Channel {}",
deviceNum);
}
s_registeredDevices.insert(deviceNum);
}
XRPServo::XRPServo(int deviceNum) {
CheckDeviceAllocation(deviceNum);
m_deviceName = "XRPServo:" + s_simDeviceMap[deviceNum];
m_simDevice = hal::SimDevice(m_deviceName.c_str());
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simPosition =
m_simDevice.CreateDouble("position", hal::SimDevice::kOutput, 0.5);
}
}
void XRPServo::SetAngle(double angleDegrees) {
if (angleDegrees < 0.0) {
angleDegrees = 0.0;
}
if (angleDegrees > 180.0) {
angleDegrees = 180.0;
}
double pos = (angleDegrees / 180.0);
if (m_simPosition) {
m_simPosition.Set(pos);
}
}
double XRPServo::GetAngle() const {
if (m_simPosition) {
return m_simPosition.Get() * 180.0;
}
return 90.0;
}
void XRPServo::SetPosition(double pos) {
if (pos < 0.0) {
pos = 0.0;
}
if (pos > 1.0) {
pos = 1.0;
}
if (m_simPosition) {
m_simPosition.Set(pos);
}
}
double XRPServo::GetPosition() const {
if (m_simPosition) {
return m_simPosition.Get();
}
return 0.5;
}

91
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <hal/SimDevice.h>
namespace frc {
/**
* Use a rate gyro to return the robots heading relative to a starting position.
*
* This class is for the XRP onboard gyro, and will only work in
* simulation/XRP mode. Only one instance of a XRPGyro is supported.
*/
class XRPGyro {
public:
XRPGyro();
/**
* Return the actual angle in degrees that the robot is currently facing.
*
* The angle is based on integration of the returned rate form the gyro.
* The angle is continuous, that is, it will continue from 360->361 degrees.
* This allows algorithms that wouldn't want to see a discontinuity in the
* gyro output as it sweeps from 360 to 0 on the second time around.
*
* @return the current heading of the robot in degrees.
*/
double GetAngle() const;
/**
* Return the rate of rotation of the gyro
*
* The rate is based on the most recent reading of the gyro.
*
* @return the current rate in degrees per second
*/
double GetRate() const;
/**
* Gets the rate of turn in degrees-per-second around the X-axis
*/
double GetRateX() const;
/**
* Gets the rate of turn in degrees-per-second around the Y-axis
*/
double GetRateY() const;
/**
* Gets the rate of turn in degrees-per-second around the Z-axis
*/
double GetRateZ() const;
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleX() const;
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleY() const;
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleZ() const;
/**
* Resets the gyro
*/
void Reset();
private:
hal::SimDevice m_simDevice;
hal::SimDouble m_simRateX;
hal::SimDouble m_simRateY;
hal::SimDouble m_simRateZ;
hal::SimDouble m_simAngleX;
hal::SimDouble m_simAngleY;
hal::SimDouble m_simAngleZ;
double m_angleXOffset = 0;
double m_angleYOffset = 0;
double m_angleZOffset = 0;
};
} // namespace frc

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <frc/MotorSafety.h>
#include <frc/motorcontrol/MotorController.h>
#include <map>
#include <set>
#include <string>
#include <hal/SimDevice.h>
namespace frc {
class XRPMotor : public frc::MotorController, public frc::MotorSafety {
public:
explicit XRPMotor(int deviceNum);
void Set(double value) override;
double Get() const override;
void SetInverted(bool isInverted) override;
bool GetInverted() const override;
void Disable() override;
void StopMotor() override;
std::string GetDescription() const override;
private:
hal::SimDevice m_simDevice;
hal::SimDouble m_simSpeed;
hal::SimBoolean m_simInverted;
std::string m_deviceName;
static std::map<int, std::string> s_simDeviceMap;
static std::set<int> s_registeredDevices;
static void CheckDeviceAllocation(int deviceNum);
};
} // namespace frc

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <memory>
#include <units/time.h>
namespace frc {
/**
* This class represents the onboard IO of the XRP
* reference robot. This the USER push button and
* LED.
*
* <p>DIO 0 - USER Button (input only)
* DIO 1 - LED (output only)
*/
class XRPOnBoardIO {
public:
XRPOnBoardIO() {} // No need to do anything. No configurable IO
static constexpr auto kMessageInterval = 1_s;
units::second_t m_nextMessageTime = 0_s;
/**
* Gets if the USER button is pressed.
*/
bool GetUserButtonPressed();
/**
* Sets the yellow LED.
*/
void SetLed(bool value);
private:
frc::DigitalInput m_userButton{0};
frc::DigitalOutput m_led{1};
};
} // namespace frc

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xrpVendordep/src/main/native/include/frc/xrp/XRPServo.h Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <map>
#include <set>
#include <string>
#include <hal/SimDevice.h>
namespace frc {
class XRPServo {
public:
explicit XRPServo(int deviceNum);
void SetAngle(double angleDegrees);
double GetAngle() const;
void SetPosition(double position);
double GetPosition() const;
private:
hal::SimDevice m_simDevice;
hal::SimDouble m_simPosition;
std::string m_deviceName;
static std::map<int, std::string> s_simDeviceMap;
static std::set<int> s_registeredDevices;
static void CheckDeviceAllocation(int deviceNum);
};
} // namespace frc

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xrpVendordep/src/test/native/cpp/main.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <gtest/gtest.h>
int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

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xrpVendordep/xrpVendordep-config.cmake.in Normal file
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include(CMakeFindDependencyMacro)
@WPIUTIL_DEP_REPLACE@
@NTCORE_DEP_REPLACE@
@CSCORE_DEP_REPLACE@
@CAMERASERVER_DEP_REPLACE@
@HAL_DEP_REPLACE@
@WPILIBC_DEP_REPLACE@
@WPIMATH_DEP_REPLACE@
@FILENAME_DEP_REPLACE@
include(${SELF_DIR}/xrpVendordep.cmake)