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Adds capabilities to support certain HAL functionality from LabVIEW (#382)

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They can only include HAL/LV/HAL.h, HAL/cpp/*.h, and HAL/handles/*.h.
Nothing else will work properly.
This commit is contained in:
Thad House
2016-12-02 00:32:01 -08:00
committed by Peter Johnson
parent 351ff5eb48
commit bff67887fd
5 changed files with 66 additions and 24 deletions
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21
hal/lib/athena/FRCDriverStation.cpp
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@@ -5,13 +5,14 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <chrono>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <limits>
#include "FRC_NetworkCommunication/FRCComm.h"
#include "HAL/HAL.h"
#include "HAL/DriverStation.h"
#include "HAL/cpp/priority_condition_variable.h"
#include "HAL/cpp/priority_mutex.h"
@@ -41,16 +42,24 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
static constexpr int KEEP_MSGS = 5;
std::lock_guard<priority_mutex> lock(msgMutex);
static std::string prevMsg[KEEP_MSGS];
static uint64_t prevMsgTime[KEEP_MSGS] = {0, 0, 0};
static std::chrono::time_point<std::chrono::steady_clock>
prevMsgTime[KEEP_MSGS];
static bool initialized = false;
if (!initialized) {
for (int i = 0; i < KEEP_MSGS; i++) {
prevMsgTime[i] =
std::chrono::steady_clock::now() - std::chrono::seconds(2);
}
initialized = true;
}
int32_t status = 0;
uint64_t curTime = HAL_GetFPGATime(&status);
auto curTime = std::chrono::steady_clock::now();
int i;
for (i = 0; i < KEEP_MSGS; ++i) {
if (prevMsg[i] == details) break;
}
int retval = 0;
if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= 1000000) {
if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= std::chrono::seconds(1)) {
retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
details, location, callStack);
if (printMsg) {
@@ -66,7 +75,7 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
if (i == KEEP_MSGS) {
// replace the oldest one
i = 0;
uint64_t first = prevMsgTime[0];
auto first = prevMsgTime[0];
for (int j = 1; j < KEEP_MSGS; ++j) {
if (prevMsgTime[j] < first) {
first = prevMsgTime[j];