Move CameraServer and WPILib headers into their own folder

The old headers were moved into folders because doing so avoids polluting
the system include directories.

Folder names were also normalized to lowercase.

wpilibc/src/main/native/include/frc/SPI.h

@@ -0,0 +1,330 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <memory>
+
+#include <wpi/ArrayRef.h>
+#include <wpi/deprecated.h>
+
+#include "frc/ErrorBase.h"
+
+enum HAL_SPIPort : int32_t;
+
+namespace frc {
+
+class DigitalSource;
+
+/**
+ * SPI bus interface class.
+ *
+ * This class is intended to be used by sensor (and other SPI device) drivers.
+ * It probably should not be used directly.
+ *
+ */
+class SPI : public ErrorBase {
+ public:
+  enum Port { kOnboardCS0 = 0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
+
+  /**
+   * Constructor
+   *
+   * @param port the physical SPI port
+   */
+  explicit SPI(Port port);
+
+  ~SPI() override;
+
+  SPI(const SPI&) = delete;
+  SPI& operator=(const SPI&) = delete;
+
+  /**
+   * Configure the rate of the generated clock signal.
+   *
+   * The default value is 500,000Hz.
+   * The maximum value is 4,000,000Hz.
+   *
+   * @param hz The clock rate in Hertz.
+   */
+  void SetClockRate(double hz);
+
+  /**
+   * Configure the order that bits are sent and received on the wire
+   * to be most significant bit first.
+   */
+  void SetMSBFirst();
+
+  /**
+   * Configure the order that bits are sent and received on the wire
+   * to be least significant bit first.
+   */
+  void SetLSBFirst();
+
+  /**
+   * Configure that the data is stable on the leading edge and the data
+   * changes on the trailing edge.
+   */
+  void SetSampleDataOnLeadingEdge();
+
+  /**
+   * Configure that the data is stable on the trailing edge and the data
+   * changes on the leading edge.
+   */
+  void SetSampleDataOnTrailingEdge();
+
+  /**
+   * Configure that the data is stable on the falling edge and the data
+   * changes on the rising edge.
+   */
+  WPI_DEPRECATED("Use SetSampleDataOnTrailingEdge in most cases.")
+  void SetSampleDataOnFalling();
+
+  /**
+   * Configure that the data is stable on the rising edge and the data
+   * changes on the falling edge.
+   */
+  WPI_DEPRECATED("Use SetSampleDataOnLeadingEdge in most cases")
+  void SetSampleDataOnRising();
+
+  /**
+   * Configure the clock output line to be active low.
+   * This is sometimes called clock polarity high or clock idle high.
+   */
+  void SetClockActiveLow();
+
+  /**
+   * Configure the clock output line to be active high.
+   * This is sometimes called clock polarity low or clock idle low.
+   */
+  void SetClockActiveHigh();
+
+  /**
+   * Configure the chip select line to be active high.
+   */
+  void SetChipSelectActiveHigh();
+
+  /**
+   * Configure the chip select line to be active low.
+   */
+  void SetChipSelectActiveLow();
+
+  /**
+   * Write data to the slave device.  Blocks until there is space in the
+   * output FIFO.
+   *
+   * If not running in output only mode, also saves the data received
+   * on the MISO input during the transfer into the receive FIFO.
+   */
+  virtual int Write(uint8_t* data, int size);
+
+  /**
+   * Read a word from the receive FIFO.
+   *
+   * Waits for the current transfer to complete if the receive FIFO is empty.
+   *
+   * If the receive FIFO is empty, there is no active transfer, and initiate
+   * is false, errors.
+   *
+   * @param initiate If true, this function pushes "0" into the transmit buffer
+   *                 and initiates a transfer. If false, this function assumes
+   *                 that data is already in the receive FIFO from a previous
+   *                 write.
+   */
+  virtual int Read(bool initiate, uint8_t* dataReceived, int size);
+
+  /**
+   * Perform a simultaneous read/write transaction with the device
+   *
+   * @param dataToSend   The data to be written out to the device
+   * @param dataReceived Buffer to receive data from the device
+   * @param size         The length of the transaction, in bytes
+   */
+  virtual int Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size);
+
+  /**
+   * Initialize automatic SPI transfer engine.
+   *
+   * Only a single engine is available, and use of it blocks use of all other
+   * chip select usage on the same physical SPI port while it is running.
+   *
+   * @param bufferSize buffer size in bytes
+   */
+  void InitAuto(int bufferSize);
+
+  /**
+   * Frees the automatic SPI transfer engine.
+   */
+  void FreeAuto();
+
+  /**
+   * Set the data to be transmitted by the engine.
+   *
+   * Up to 16 bytes are configurable, and may be followed by up to 127 zero
+   * bytes.
+   *
+   * @param dataToSend data to send (maximum 16 bytes)
+   * @param zeroSize number of zeros to send after the data
+   */
+  void SetAutoTransmitData(wpi::ArrayRef<uint8_t> dataToSend, int zeroSize);
+
+  /**
+   * Start running the automatic SPI transfer engine at a periodic rate.
+   *
+   * InitAuto() and SetAutoTransmitData() must be called before calling this
+   * function.
+   *
+   * @param period period between transfers, in seconds (us resolution)
+   */
+  void StartAutoRate(double period);
+
+  /**
+   * Start running the automatic SPI transfer engine when a trigger occurs.
+   *
+   * InitAuto() and SetAutoTransmitData() must be called before calling this
+   * function.
+   *
+   * @param source digital source for the trigger (may be an analog trigger)
+   * @param rising trigger on the rising edge
+   * @param falling trigger on the falling edge
+   */
+  void StartAutoTrigger(DigitalSource& source, bool rising, bool falling);
+
+  /**
+   * Stop running the automatic SPI transfer engine.
+   */
+  void StopAuto();
+
+  /**
+   * Force the engine to make a single transfer.
+   */
+  void ForceAutoRead();
+
+  /**
+   * Read data that has been transferred by the automatic SPI transfer engine.
+   *
+   * Transfers may be made a byte at a time, so it's necessary for the caller
+   * to handle cases where an entire transfer has not been completed.
+   *
+   * Blocks until numToRead bytes have been read or timeout expires.
+   * May be called with numToRead=0 to retrieve how many bytes are available.
+   *
+   * @param buffer buffer where read bytes are stored
+   * @param numToRead number of bytes to read
+   * @param timeout timeout in seconds (ms resolution)
+   * @return Number of bytes remaining to be read
+   */
+  int ReadAutoReceivedData(uint8_t* buffer, int numToRead, double timeout);
+
+  /**
+   * Get the number of bytes dropped by the automatic SPI transfer engine due
+   * to the receive buffer being full.
+   *
+   * @return Number of bytes dropped
+   */
+  int GetAutoDroppedCount();
+
+  /**
+   * Initialize the accumulator.
+   *
+   * @param period    Time between reads
+   * @param cmd       SPI command to send to request data
+   * @param xferSize  SPI transfer size, in bytes
+   * @param validMask Mask to apply to received data for validity checking
+   * @param validData After valid_mask is applied, required matching value for
+   *                  validity checking
+   * @param dataShift Bit shift to apply to received data to get actual data
+   *                  value
+   * @param dataSize  Size (in bits) of data field
+   * @param isSigned  Is data field signed?
+   * @param bigEndian Is device big endian?
+   */
+  void InitAccumulator(double period, int cmd, int xferSize, int validMask,
+                       int validValue, int dataShift, int dataSize,
+                       bool isSigned, bool bigEndian);
+
+  /**
+   * Frees the accumulator.
+   */
+  void FreeAccumulator();
+
+  /**
+   * Resets the accumulator to zero.
+   */
+  void ResetAccumulator();
+
+  /**
+   * Set the center value of the accumulator.
+   *
+   * The center value is subtracted from each value before it is added to the
+   * accumulator. This is used for the center value of devices like gyros and
+   * accelerometers to make integration work and to take the device offset into
+   * account when integrating.
+   */
+  void SetAccumulatorCenter(int center);
+
+  /**
+   * Set the accumulator's deadband.
+   */
+  void SetAccumulatorDeadband(int deadband);
+
+  /**
+   * Read the last value read by the accumulator engine.
+   */
+  int GetAccumulatorLastValue() const;
+
+  /**
+   * Read the accumulated value.
+   *
+   * @return The 64-bit value accumulated since the last Reset().
+   */
+  int64_t GetAccumulatorValue() const;
+
+  /**
+   * Read the number of accumulated values.
+   *
+   * Read the count of the accumulated values since the accumulator was last
+   * Reset().
+   *
+   * @return The number of times samples from the channel were accumulated.
+   */
+  int64_t GetAccumulatorCount() const;
+
+  /**
+   * Read the average of the accumulated value.
+   *
+   * @return The accumulated average value (value / count).
+   */
+  double GetAccumulatorAverage() const;
+
+  /**
+   * Read the accumulated value and the number of accumulated values atomically.
+   *
+   * This function reads the value and count atomically.
+   * This can be used for averaging.
+   *
+   * @param value Pointer to the 64-bit accumulated output.
+   * @param count Pointer to the number of accumulation cycles.
+   */
+  void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
+
+ protected:
+  HAL_SPIPort m_port;
+  bool m_msbFirst = false;          // Default little-endian
+  bool m_sampleOnTrailing = false;  // Default data updated on falling edge
+  bool m_clk_idle_high = false;     // Default clock active high
+
+ private:
+  void Init();
+
+  class Accumulator;
+  std::unique_ptr<Accumulator> m_accum;
+};
+
+}  // namespace frc