Update to 2018_v4 image and new build system. (#598)

* Revert "Force OpenCV to 3.1.0 (#602)" This reverts commit 50ed55e8e2. * Removes Simulation * Removes old build system * Removes old gtest * Adds new gmock and gtest * Updates to new ni-libraries * removes MyRobot (to be replaced) * moves files to new location * Adds new sim backend and new test executables * updates .styleguide and .gitignore * Changes cpp WPILibVersion to a function MSVC throws an AV with the old version. * Disables USBCamera on all systems except for linux * 2018 NI Libraries * New build system
2026-07-02 02:51:42 +00:00 · 2017-08-18 21:35:53 -07:00
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
--- a/hal/src/main/native/athena/Solenoid.cpp
+++ b/hal/src/main/native/athena/Solenoid.cpp
@@ -0,0 +1,154 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Solenoid.h"
+
+#include "FRC_NetworkCommunication/LoadOut.h"
+#include "HAL/ChipObject.h"
+#include "HAL/Errors.h"
+#include "HAL/Ports.h"
+#include "HAL/handles/HandlesInternal.h"
+#include "HAL/handles/IndexedHandleResource.h"
+#include "PCMInternal.h"
+#include "PortsInternal.h"
+#include "ctre/PCM.h"
+
+namespace {
+struct Solenoid {
+  uint8_t module;
+  uint8_t channel;
+};
+}
+
+using namespace hal;
+
+static IndexedHandleResource<HAL_SolenoidHandle, Solenoid,
+                             kNumPCMModules * kNumSolenoidChannels,
+                             HAL_HandleEnum::Solenoid>
+    solenoidHandles;
+
+extern "C" {
+
+HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
+                                              int32_t* status) {
+  int16_t channel = getPortHandleChannel(portHandle);
+  int16_t module = getPortHandleModule(portHandle);
+  if (channel == InvalidHandleIndex) {
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+
+  // initializePCM will check the module
+  if (!HAL_CheckSolenoidChannel(channel)) {
+    *status = RESOURCE_OUT_OF_RANGE;
+    return HAL_kInvalidHandle;
+  }
+
+  initializePCM(module, status);
+  if (*status != 0) {
+    return HAL_kInvalidHandle;
+  }
+
+  auto handle =
+      solenoidHandles.Allocate(module * kNumSolenoidChannels + channel, status);
+  if (*status != 0) {
+    return HAL_kInvalidHandle;
+  }
+  auto solenoidPort = solenoidHandles.Get(handle);
+  if (solenoidPort == nullptr) {  // would only occur on thread issues
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+  solenoidPort->module = static_cast<uint8_t>(module);
+  solenoidPort->channel = static_cast<uint8_t>(channel);
+
+  return handle;
+}
+
+void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoidPortHandle) {
+  solenoidHandles.Free(solenoidPortHandle);
+}
+
+HAL_Bool HAL_CheckSolenoidModule(int32_t module) {
+  return module < kNumPCMModules && module >= 0;
+}
+
+HAL_Bool HAL_CheckSolenoidChannel(int32_t channel) {
+  return channel < kNumSolenoidChannels && channel >= 0;
+}
+
+HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoidPortHandle,
+                         int32_t* status) {
+  auto port = solenoidHandles.Get(solenoidPortHandle);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+  bool value;
+
+  *status = PCM_modules[port->module]->GetSolenoid(port->channel, value);
+
+  return value;
+}
+
+int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status) {
+  if (!checkPCMInit(module, status)) return 0;
+  uint8_t value;
+
+  *status = PCM_modules[module]->GetAllSolenoids(value);
+
+  return value;
+}
+
+void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value,
+                     int32_t* status) {
+  auto port = solenoidHandles.Get(solenoidPortHandle);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  *status = PCM_modules[port->module]->SetSolenoid(port->channel, value);
+}
+
+void HAL_SetAllSolenoids(int32_t module, int32_t state, int32_t* status) {
+  if (!checkPCMInit(module, status)) return;
+
+  *status = PCM_modules[module]->SetAllSolenoids(state);
+}
+
+int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status) {
+  if (!checkPCMInit(module, status)) return 0;
+  uint8_t value;
+
+  *status = PCM_modules[module]->GetSolenoidBlackList(value);
+
+  return value;
+}
+HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status) {
+  if (!checkPCMInit(module, status)) return 0;
+  bool value;
+
+  *status = PCM_modules[module]->GetSolenoidStickyFault(value);
+
+  return value;
+}
+HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status) {
+  if (!checkPCMInit(module, status)) return false;
+  bool value;
+
+  *status = PCM_modules[module]->GetSolenoidFault(value);
+
+  return value;
+}
+void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status) {
+  if (!checkPCMInit(module, status)) return;
+
+  *status = PCM_modules[module]->ClearStickyFaults();
+}
+
+}  // extern "C"