Moves HAL cpp headers from root to HAL directory (#174)

Could not include the ctre and NetComm folders, as those would require
changing ctre dependancies. Also removes a duplicated FRCComm header
that was not needed.

hal/build.gradle

@@ -20,7 +20,7 @@ model {
                         includes = ["**/*.cpp"]
                     }
                     exportedHeaders {
-                        srcDirs = ["include", "lib/athena", "lib/athena/FRC_FPGA_ChipObject", "lib/shared"]
+                        srcDirs = ["include", "lib/athena/FRC_FPGA_ChipObject"]
                     }
                 }
             }

hal/lib/athena/FRC_NetworkCommunication/AICalibration.h

@@ -1,19 +1,19 @@
-
-#ifndef __AICalibration_h__
-#define __AICalibration_h__
-
-#include <stdint.h>
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-	uint32_t FRC_NetworkCommunication_nAICalibration_getLSBWeight(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
-	int32_t FRC_NetworkCommunication_nAICalibration_getOffset(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __AICalibration_h__
+
+#ifndef __AICalibration_h__
+#define __AICalibration_h__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+	uint32_t FRC_NetworkCommunication_nAICalibration_getLSBWeight(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
+	int32_t FRC_NetworkCommunication_nAICalibration_getOffset(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __AICalibration_h__

hal/lib/athena/FRC_NetworkCommunication/CANInterfacePlugin.h

@@ -1,82 +1,82 @@
-// CANInterfacePlugin.h
-//
-//  Defines the API for building a CAN Interface Plugin to support
-//    PWM-cable-free CAN motor control on FRC robots.  This allows you
-//    to connect any CAN interface to the secure Jaguar CAN driver.
-//
-
-#ifndef __CANInterfacePlugin_h__
-#define __CANInterfacePlugin_h__
-
-#include <stdint.h>
-
-#define CAN_IS_FRAME_REMOTE 0x80000000
-#define CAN_IS_FRAME_11BIT  0x40000000
-#define CAN_29BIT_MESSAGE_ID_MASK 0x1FFFFFFF
-#define CAN_11BIT_MESSAGE_ID_MASK 0x000007FF
-
-class CANInterfacePlugin
-{
-public:
-	CANInterfacePlugin() {}
-	virtual ~CANInterfacePlugin() {}
-
-	/**
-	 * This entry-point of the CANInterfacePlugin is passed a message that the driver needs to send to
-	 * a device on the CAN bus.
-	 * 
-	 * This function may be called from multiple contexts and must therefore be reentrant.
-	 * 
-	 * @param messageID The 29-bit CAN message ID in the lsbs.  The msb can indicate a remote frame.
-	 * @param data A pointer to a buffer containing between 0 and 8 bytes to send with the message.  May be NULL if dataSize is 0.
-	 * @param dataSize The number of bytes to send with the message.
-	 * @return Return any error code.  On success return 0.
-	 */
-	virtual int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize) = 0;
-
-	/**
-	 * This entry-point of the CANInterfacePlugin is passed buffers which should be populated with
-	 * any received messages from devices on the CAN bus.
-	 * 
-	 * This function is always called by a single task in the Jaguar driver, so it need not be reentrant.
-	 * 
-	 * This function is expected to block for some period of time waiting for a message from the CAN bus.
-	 * It may timeout periodically (returning non-zero to indicate no message was populated) to allow for
-	 * shutdown and unloading of the plugin.
-	 * 
-	 * @param messageID A reference to be populated with a received 29-bit CAN message ID in the lsbs.
-	 * @param data A pointer to a buffer of 8 bytes to be populated with data received with the message.
-	 * @param dataSize A reference to be populated with the size of the data received (0 - 8 bytes).
-	 * @return This should return 0 if a message was populated, non-0 if no message was not populated.
-	 */
-	virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
-
-#if defined(__linux)
-	/**
-	 * This entry-point of the CANInterfacePlugin returns status of the CAN bus.
-	 * 
-	 * This function may be called from multiple contexts and must therefore be reentrant.
-	 * 
-	 * This function will return detailed hardware status if available for diagnostics of the CAN interface.
-	 * 
-	 * @param busOffCount The number of times that sendMessage failed with a busOff error indicating that messages
-	 *  are not successfully transmitted on the bus.
-	 * @param txFullCount The number of times that sendMessage failed with a txFifoFull error indicating that messages
-	 *  are not successfully received by any CAN device.
-	 * @param receiveErrorCount The count of receive errors as reported by the CAN driver.
-	 * @param transmitErrorCount The count of transmit errors as reported by the CAN driver.
-	 * @return This should return 0 if all status was retrieved successfully or an error code if not.
-	 */
-	virtual int32_t getStatus(uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &receiveErrorCount, uint32_t &transmitErrorCount) {return 0;}
-#endif
-};
-
-/**
- * This function allows you to register a CANInterfacePlugin to provide access a CAN bus.
- * 
- * @param interface A pointer to an object that inherits from CANInterfacePlugin and implements
- * the pure virtual interface.  If NULL, unregister the current plugin.
- */
-void FRC_NetworkCommunication_CANSessionMux_registerInterface(CANInterfacePlugin* interface);
-
-#endif // __CANInterfacePlugin_h__
+// CANInterfacePlugin.h
+//
+//  Defines the API for building a CAN Interface Plugin to support
+//    PWM-cable-free CAN motor control on FRC robots.  This allows you
+//    to connect any CAN interface to the secure Jaguar CAN driver.
+//
+
+#ifndef __CANInterfacePlugin_h__
+#define __CANInterfacePlugin_h__
+
+#include <stdint.h>
+
+#define CAN_IS_FRAME_REMOTE 0x80000000
+#define CAN_IS_FRAME_11BIT  0x40000000
+#define CAN_29BIT_MESSAGE_ID_MASK 0x1FFFFFFF
+#define CAN_11BIT_MESSAGE_ID_MASK 0x000007FF
+
+class CANInterfacePlugin
+{
+public:
+	CANInterfacePlugin() {}
+	virtual ~CANInterfacePlugin() {}
+
+	/**
+	 * This entry-point of the CANInterfacePlugin is passed a message that the driver needs to send to
+	 * a device on the CAN bus.
+	 * 
+	 * This function may be called from multiple contexts and must therefore be reentrant.
+	 * 
+	 * @param messageID The 29-bit CAN message ID in the lsbs.  The msb can indicate a remote frame.
+	 * @param data A pointer to a buffer containing between 0 and 8 bytes to send with the message.  May be NULL if dataSize is 0.
+	 * @param dataSize The number of bytes to send with the message.
+	 * @return Return any error code.  On success return 0.
+	 */
+	virtual int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize) = 0;
+
+	/**
+	 * This entry-point of the CANInterfacePlugin is passed buffers which should be populated with
+	 * any received messages from devices on the CAN bus.
+	 * 
+	 * This function is always called by a single task in the Jaguar driver, so it need not be reentrant.
+	 * 
+	 * This function is expected to block for some period of time waiting for a message from the CAN bus.
+	 * It may timeout periodically (returning non-zero to indicate no message was populated) to allow for
+	 * shutdown and unloading of the plugin.
+	 * 
+	 * @param messageID A reference to be populated with a received 29-bit CAN message ID in the lsbs.
+	 * @param data A pointer to a buffer of 8 bytes to be populated with data received with the message.
+	 * @param dataSize A reference to be populated with the size of the data received (0 - 8 bytes).
+	 * @return This should return 0 if a message was populated, non-0 if no message was not populated.
+	 */
+	virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
+
+#if defined(__linux)
+	/**
+	 * This entry-point of the CANInterfacePlugin returns status of the CAN bus.
+	 * 
+	 * This function may be called from multiple contexts and must therefore be reentrant.
+	 * 
+	 * This function will return detailed hardware status if available for diagnostics of the CAN interface.
+	 * 
+	 * @param busOffCount The number of times that sendMessage failed with a busOff error indicating that messages
+	 *  are not successfully transmitted on the bus.
+	 * @param txFullCount The number of times that sendMessage failed with a txFifoFull error indicating that messages
+	 *  are not successfully received by any CAN device.
+	 * @param receiveErrorCount The count of receive errors as reported by the CAN driver.
+	 * @param transmitErrorCount The count of transmit errors as reported by the CAN driver.
+	 * @return This should return 0 if all status was retrieved successfully or an error code if not.
+	 */
+	virtual int32_t getStatus(uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &receiveErrorCount, uint32_t &transmitErrorCount) {return 0;}
+#endif
+};
+
+/**
+ * This function allows you to register a CANInterfacePlugin to provide access a CAN bus.
+ * 
+ * @param interface A pointer to an object that inherits from CANInterfacePlugin and implements
+ * the pure virtual interface.  If NULL, unregister the current plugin.
+ */
+void FRC_NetworkCommunication_CANSessionMux_registerInterface(CANInterfacePlugin* interface);
+
+#endif // __CANInterfacePlugin_h__

hal/lib/shared/FRC_NetworkCommunication/FRCComm.h

@@ -1,111 +0,0 @@
-/*************************************************************
- * 					NOTICE
- *
- * 	These are the only externally exposed functions to the
- *   NetworkCommunication library
- *
- * This is an implementation of FRC Spec for Comm Protocol
- * Revision 4.5, June 30, 2008
- *
- * Copyright (c) National Instruments 2008.  All Rights Reserved.
- *
- *************************************************************/
-
-//This file must compile on ALL PLATFORMS. Be very careful what you put in here.
-
-#ifndef __FRC_COMM_H__
-#define __FRC_COMM_H__
-
-#ifdef _WIN32
-	#ifdef USE_THRIFT
-		#define EXPORT_FUNC
-	#else
-		#define EXPORT_FUNC __declspec(dllexport) __cdecl
-	#endif
-#else
-	#include <stdint.h>
-	#include <pthread.h>
-	#define EXPORT_FUNC
-#endif
-
-#define ERR_FRCSystem_NetCommNotResponding -44049
-#define ERR_FRCSystem_NoDSConnection -44018
-
-enum AllianceStationID_t {
-	kAllianceStationID_red1,
-	kAllianceStationID_red2,
-	kAllianceStationID_red3,
-	kAllianceStationID_blue1,
-	kAllianceStationID_blue2,
-	kAllianceStationID_blue3,
-};
-
-enum MatchType_t {
-	kMatchType_none,
-	kMatchType_practice,
-	kMatchType_qualification,
-	kMatchType_elimination,
-};
-
-struct ControlWord_t {
-	uint32_t enabled : 1;
-	uint32_t autonomous : 1;
-	uint32_t test :1;
-	uint32_t eStop : 1;
-	uint32_t fmsAttached:1;
-	uint32_t dsAttached:1;
-	uint32_t control_reserved : 26;
-};
-
-struct JoystickAxes_t {
-	uint16_t count;
-	int16_t axes[1];
-};
-
-struct JoystickPOV_t {
-	uint16_t count;
-	int16_t povs[1];
-};
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-	int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
-#ifndef SIMULATION
-	void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
-#endif
-	int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength,
-			const char *userDataLow, int userDataLowLength, int wait_ms);
-	int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
-
-#ifdef SIMULATION
-	void EXPORT_FUNC setNewDataSem(HANDLE);
-#else
-	void EXPORT_FUNC setNewDataSem(pthread_cond_t *);
-#endif
-
-	// this uint32_t is really a LVRefNum
-	int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
-
-	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
-	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
-	int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
-	int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
-		uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, uint8_t *povCount);
-
-	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
-	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
-#ifdef __cplusplus
-}
-#endif
-
-#endif

wpilibc/athena/src/DriverStation.cpp

@@ -9,7 +9,7 @@
 #include <string.h>
 #include "AnalogInput.h"
 #include "FRC_NetworkCommunication/FRCComm.h"
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 #include "MotorSafetyHelper.h"
 #include "Timer.h"
 #include "Utility.h"

wpilibc/sim/src/DriverStation.cpp

@@ -11,7 +11,7 @@
 
 #include <boost/mem_fn.hpp>
 
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 #include "Timer.h"
 #include "Utility.h"
 #include "WPIErrors.h"

wpilibj/src/athena/cpp/lib/AnalogGyroJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_AnalogGyroJNI.h"
 

wpilibj/src/athena/cpp/lib/AnalogJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_AnalogJNI.h"
 

wpilibj/src/athena/cpp/lib/CANJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_can_CANJNI.h"
 

wpilibj/src/athena/cpp/lib/CompressorJNI.cpp

@@ -7,7 +7,7 @@
 
 #include "HAL/HAL.h"
 #include "HALUtil.h"
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 #include "edu_wpi_first_wpilibj_hal_CompressorJNI.h"
 
 extern "C" {

wpilibj/src/athena/cpp/lib/ConstantsJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_ConstantsJNI.h"
 

wpilibj/src/athena/cpp/lib/CounterJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_CounterJNI.h"
 

wpilibj/src/athena/cpp/lib/DIOJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_DIOJNI.h"
 

wpilibj/src/athena/cpp/lib/EncoderJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_EncoderJNI.h"
 

wpilibj/src/athena/cpp/lib/HAL.cpp

@@ -9,7 +9,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "HAL/HAL.h"
 #include "edu_wpi_first_wpilibj_hal_HAL.h"

wpilibj/src/athena/cpp/lib/HALUtil.cpp

@@ -16,7 +16,7 @@
 
 #include "FRC_NetworkCommunication/CANSessionMux.h"
 #include "HAL/HAL.h"
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 #include "edu_wpi_first_wpilibj_hal_HALUtil.h"
 
 // set the logging level

wpilibj/src/athena/cpp/lib/I2CJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_I2CJNI.h"
 

wpilibj/src/athena/cpp/lib/InterruptJNI.cpp

@@ -11,7 +11,7 @@
 #include <condition_variable>
 #include <mutex>
 #include <thread>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "HAL/Interrupts.h"
 #include "HALUtil.h"

wpilibj/src/athena/cpp/lib/JNIWrapper.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_JNIWrapper.h"
 

wpilibj/src/athena/cpp/lib/NotifierJNI.cpp

@@ -15,7 +15,7 @@
 #include <mutex>
 #include <thread>
 #include "HALUtil.h"
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 #include "SafeThread.h"
 #include "edu_wpi_first_wpilibj_hal_NotifierJNI.h"
 

wpilibj/src/athena/cpp/lib/PWMJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
 

wpilibj/src/athena/cpp/lib/PortsJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_PortsJNI.h"
 

wpilibj/src/athena/cpp/lib/RelayJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_RelayJNI.h"
 

wpilibj/src/athena/cpp/lib/SPIJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
 

wpilibj/src/athena/cpp/lib/SerialPortJNI.cpp

@@ -7,7 +7,7 @@
 
 #include <assert.h>
 #include <jni.h>
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_SerialPortJNI.h"
 

wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp

@@ -8,7 +8,7 @@
 #include <jni.h>
 #include "HAL/HAL.h"
 #include "HAL/handles/HandlesInternal.h"
-#include "Log.h"
+#include "HAL/cpp/Log.h"
 
 #include "edu_wpi_first_wpilibj_hal_SolenoidJNI.h"