mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
343
hal/src/main/native/athena/cpp/SerialHelper.cpp
Normal file
343
hal/src/main/native/athena/cpp/SerialHelper.cpp
Normal file
@@ -0,0 +1,343 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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/cpp/SerialHelper.h"
|
||||
|
||||
#include <algorithm>
|
||||
#include <cstdio>
|
||||
#include <cstring>
|
||||
|
||||
#include "../visa/visa.h"
|
||||
#include "HAL/Errors.h"
|
||||
#include "llvm/StringRef.h"
|
||||
|
||||
constexpr const char* OnboardResourceVISA = "ASRL1::INSTR";
|
||||
constexpr const char* MxpResourceVISA = "ASRL2::INSTR";
|
||||
|
||||
constexpr const char* OnboardResourceOS = "/dev/ttyS0";
|
||||
constexpr const char* MxpResourceOS = "/dev/ttyS1";
|
||||
|
||||
namespace hal {
|
||||
std::string SerialHelper::m_usbNames[2]{"", ""};
|
||||
|
||||
priority_mutex SerialHelper::m_nameMutex;
|
||||
|
||||
SerialHelper::SerialHelper() {
|
||||
viOpenDefaultRM(reinterpret_cast<ViSession*>(&m_resourceHandle));
|
||||
}
|
||||
|
||||
std::string SerialHelper::GetVISASerialPortName(HAL_SerialPort port,
|
||||
int32_t* status) {
|
||||
if (port == HAL_SerialPort::HAL_SerialPort_Onboard) {
|
||||
return OnboardResourceVISA;
|
||||
} else if (port == HAL_SerialPort::HAL_SerialPort_MXP) {
|
||||
return MxpResourceVISA;
|
||||
}
|
||||
|
||||
QueryHubPaths(status);
|
||||
|
||||
// If paths are empty or status error, return error
|
||||
if (*status != 0 || m_visaResource.empty() || m_osResource.empty() ||
|
||||
m_sortedHubPath.empty()) {
|
||||
*status = HAL_SERIAL_PORT_NOT_FOUND;
|
||||
return "";
|
||||
}
|
||||
|
||||
int32_t visaIndex = GetIndexForPort(port, status);
|
||||
if (visaIndex == -1) {
|
||||
*status = HAL_SERIAL_PORT_NOT_FOUND;
|
||||
return "";
|
||||
// Error
|
||||
} else {
|
||||
return m_visaResource[visaIndex].str();
|
||||
}
|
||||
}
|
||||
|
||||
std::string SerialHelper::GetOSSerialPortName(HAL_SerialPort port,
|
||||
int32_t* status) {
|
||||
if (port == HAL_SerialPort::HAL_SerialPort_Onboard) {
|
||||
return OnboardResourceOS;
|
||||
} else if (port == HAL_SerialPort::HAL_SerialPort_MXP) {
|
||||
return MxpResourceOS;
|
||||
}
|
||||
|
||||
QueryHubPaths(status);
|
||||
|
||||
// If paths are empty or status error, return error
|
||||
if (*status != 0 || m_visaResource.empty() || m_osResource.empty() ||
|
||||
m_sortedHubPath.empty()) {
|
||||
*status = HAL_SERIAL_PORT_NOT_FOUND;
|
||||
return "";
|
||||
}
|
||||
|
||||
int32_t osIndex = GetIndexForPort(port, status);
|
||||
if (osIndex == -1) {
|
||||
*status = HAL_SERIAL_PORT_NOT_FOUND;
|
||||
return "";
|
||||
// Error
|
||||
} else {
|
||||
return m_osResource[osIndex].str();
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<std::string> SerialHelper::GetVISASerialPortList(int32_t* status) {
|
||||
std::vector<std::string> retVec;
|
||||
|
||||
// Always add 2 onboard ports
|
||||
retVec.emplace_back(OnboardResourceVISA);
|
||||
retVec.emplace_back(MxpResourceVISA);
|
||||
|
||||
QueryHubPaths(status);
|
||||
|
||||
// If paths are empty or status error, return only onboard list
|
||||
if (*status != 0 || m_visaResource.empty() || m_osResource.empty() ||
|
||||
m_sortedHubPath.empty()) {
|
||||
*status = 0;
|
||||
return retVec;
|
||||
}
|
||||
|
||||
for (auto& i : m_visaResource) {
|
||||
retVec.emplace_back(i.str());
|
||||
}
|
||||
|
||||
return retVec;
|
||||
}
|
||||
|
||||
std::vector<std::string> SerialHelper::GetOSSerialPortList(int32_t* status) {
|
||||
std::vector<std::string> retVec;
|
||||
|
||||
// Always add 2 onboard ports
|
||||
retVec.emplace_back(OnboardResourceOS);
|
||||
retVec.emplace_back(MxpResourceOS);
|
||||
|
||||
QueryHubPaths(status);
|
||||
|
||||
// If paths are empty or status error, return only onboard list
|
||||
if (*status != 0 || m_visaResource.empty() || m_osResource.empty() ||
|
||||
m_sortedHubPath.empty()) {
|
||||
*status = 0;
|
||||
return retVec;
|
||||
}
|
||||
|
||||
for (auto& i : m_osResource) {
|
||||
retVec.emplace_back(i.str());
|
||||
}
|
||||
|
||||
return retVec;
|
||||
}
|
||||
|
||||
void SerialHelper::SortHubPathVector() {
|
||||
m_sortedHubPath.clear();
|
||||
m_sortedHubPath = m_unsortedHubPath;
|
||||
std::sort(m_sortedHubPath.begin(), m_sortedHubPath.end(),
|
||||
[](const llvm::SmallVectorImpl<char>& lhs,
|
||||
const llvm::SmallVectorImpl<char>& rhs) -> int {
|
||||
llvm::StringRef lhsRef(lhs.begin(), lhs.size());
|
||||
llvm::StringRef rhsRef(rhs.begin(), rhs.size());
|
||||
return lhsRef.compare(rhsRef);
|
||||
});
|
||||
}
|
||||
|
||||
void SerialHelper::CoiteratedSort(
|
||||
llvm::SmallVectorImpl<llvm::SmallString<16>>& vec) {
|
||||
llvm::SmallVector<llvm::SmallString<16>, 4> sortedVec;
|
||||
for (auto& str : m_sortedHubPath) {
|
||||
for (size_t i = 0; i < m_unsortedHubPath.size(); i++) {
|
||||
if (llvm::StringRef{m_unsortedHubPath[i].begin(),
|
||||
m_unsortedHubPath[i].size()}
|
||||
.equals(llvm::StringRef{str.begin(), str.size()})) {
|
||||
sortedVec.push_back(vec[i]);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
vec = sortedVec;
|
||||
}
|
||||
|
||||
void SerialHelper::QueryHubPaths(int32_t* status) {
|
||||
// VISA resource matching string
|
||||
const char* str = "?*";
|
||||
// Items needed for VISA
|
||||
ViUInt32 retCnt = 0;
|
||||
ViFindList viList = 0;
|
||||
ViChar desc[VI_FIND_BUFLEN];
|
||||
*status = viFindRsrc(m_resourceHandle, const_cast<char*>(str), &viList,
|
||||
&retCnt, desc);
|
||||
|
||||
if (*status < 0) {
|
||||
// Handle the bad status elsewhere
|
||||
// Note let positive statii (warnings) continue
|
||||
goto done;
|
||||
}
|
||||
// Status might be positive, so reset it to 0
|
||||
*status = 0;
|
||||
|
||||
// Storage buffers for Visa calls and system exec calls
|
||||
char osName[256];
|
||||
char execBuffer[128];
|
||||
|
||||
// Loop through all returned VISA objects.
|
||||
// Increment the internal VISA ptr every loop
|
||||
for (size_t i = 0; i < retCnt; i++, viFindNext(viList, desc)) {
|
||||
// Ignore any matches to the 2 onboard ports
|
||||
if (std::strcmp(OnboardResourceVISA, desc) == 0 ||
|
||||
std::strcmp(MxpResourceVISA, desc) == 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
// Open the resource, grab its interface name, and close it.
|
||||
ViSession vSession;
|
||||
*status = viOpen(m_resourceHandle, desc, VI_NULL, VI_NULL, &vSession);
|
||||
if (*status < 0) goto done;
|
||||
*status = 0;
|
||||
|
||||
*status = viGetAttribute(vSession, VI_ATTR_INTF_INST_NAME, &osName);
|
||||
// Ignore an error here, as we want to close the session on an error
|
||||
// Use a seperate close variable so we can check
|
||||
ViStatus closeStatus = viClose(vSession);
|
||||
if (*status < 0) goto done;
|
||||
if (closeStatus < 0) goto done;
|
||||
*status = 0;
|
||||
|
||||
// split until (/dev/
|
||||
llvm::StringRef devNameRef = llvm::StringRef{osName}.split("(/dev/").second;
|
||||
// String not found, continue
|
||||
if (devNameRef.equals("")) continue;
|
||||
|
||||
// Split at )
|
||||
llvm::StringRef matchString = devNameRef.split(')').first;
|
||||
if (matchString.equals(devNameRef)) continue;
|
||||
|
||||
// Run find using pipe to get a list of system accessors
|
||||
llvm::SmallString<128> val(
|
||||
"sh -c \"find /sys/devices/soc0 | grep amba | grep usb | grep ");
|
||||
val += matchString;
|
||||
val += "\"";
|
||||
|
||||
// Pipe code found on StackOverflow
|
||||
// http://stackoverflow.com/questions/478898/how-to-execute-a-command-and-get-output-of-command-within-c-using-posix
|
||||
|
||||
// Using std::string because this is guarenteed to be large
|
||||
std::string output = "";
|
||||
|
||||
std::shared_ptr<FILE> pipe(popen(val.c_str(), "r"), pclose);
|
||||
// Just check the next item on a pipe failure
|
||||
if (!pipe) continue;
|
||||
while (!feof(pipe.get())) {
|
||||
if (std::fgets(execBuffer, 128, pipe.get()) != 0) output += execBuffer;
|
||||
}
|
||||
|
||||
if (!output.empty()) {
|
||||
llvm::SmallVector<llvm::StringRef, 16> pathSplitVec;
|
||||
// Split output by line, grab first line, and split it into
|
||||
// individual directories
|
||||
llvm::StringRef{output}.split('\n').first.split(pathSplitVec, '/', -1,
|
||||
false);
|
||||
|
||||
// Find each individual item index
|
||||
|
||||
const char* usb1 = "usb1";
|
||||
const char* tty = "tty";
|
||||
|
||||
int findusb = -1;
|
||||
int findtty = -1;
|
||||
int findregex = -1;
|
||||
for (size_t i = 0; i < pathSplitVec.size(); i++) {
|
||||
if (findusb == -1 && pathSplitVec[i].equals(usb1)) {
|
||||
findusb = i;
|
||||
}
|
||||
if (findtty == -1 && pathSplitVec[i].equals(tty)) {
|
||||
findtty = i;
|
||||
}
|
||||
if (findregex == -1 && pathSplitVec[i].equals(matchString)) {
|
||||
findregex = i;
|
||||
}
|
||||
}
|
||||
|
||||
// Get the index for our device
|
||||
int hubIndex = findtty;
|
||||
if (findtty == -1) hubIndex = findregex;
|
||||
|
||||
int devStart = findusb + 1;
|
||||
|
||||
if (hubIndex < devStart) continue;
|
||||
|
||||
// Add our devices to our list
|
||||
m_unsortedHubPath.emplace_back(
|
||||
llvm::StringRef{pathSplitVec[hubIndex - 2]});
|
||||
m_visaResource.emplace_back(desc);
|
||||
m_osResource.emplace_back(
|
||||
llvm::StringRef{osName}.split("(").second.split(")").first);
|
||||
}
|
||||
}
|
||||
|
||||
SortHubPathVector();
|
||||
|
||||
CoiteratedSort(m_visaResource);
|
||||
CoiteratedSort(m_osResource);
|
||||
done:
|
||||
viClose(viList);
|
||||
}
|
||||
|
||||
int32_t SerialHelper::GetIndexForPort(HAL_SerialPort port, int32_t* status) {
|
||||
// Hold lock whenever we're using the names array
|
||||
std::lock_guard<hal::priority_mutex> lock(m_nameMutex);
|
||||
|
||||
std::string portString = m_usbNames[port - 2];
|
||||
|
||||
llvm::SmallVector<int32_t, 4> indices;
|
||||
|
||||
// If port has not been assigned, find the one to assign
|
||||
if (portString.empty()) {
|
||||
for (size_t i = 0; i < 2; i++) {
|
||||
// Remove all used ports
|
||||
auto idx = std::find(m_sortedHubPath.begin(), m_sortedHubPath.end(),
|
||||
m_usbNames[i]);
|
||||
if (idx != m_sortedHubPath.end()) {
|
||||
// found
|
||||
m_sortedHubPath.erase(idx);
|
||||
}
|
||||
if (m_usbNames[i] == "") {
|
||||
indices.push_back(i);
|
||||
}
|
||||
}
|
||||
|
||||
int32_t idx = -1;
|
||||
for (size_t i = 0; i < indices.size(); i++) {
|
||||
if (indices[i] == port - 2) {
|
||||
idx = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (idx == -1) {
|
||||
*status = HAL_SERIAL_PORT_NOT_FOUND;
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (idx >= static_cast<int32_t>(m_sortedHubPath.size())) {
|
||||
*status = HAL_SERIAL_PORT_NOT_FOUND;
|
||||
return -1;
|
||||
}
|
||||
|
||||
portString = m_sortedHubPath[idx].str();
|
||||
m_usbNames[port - 2] = portString;
|
||||
}
|
||||
|
||||
int retIndex = -1;
|
||||
|
||||
for (size_t i = 0; i < m_sortedHubPath.size(); i++) {
|
||||
if (m_sortedHubPath[i].equals(portString)) {
|
||||
retIndex = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return retIndex;
|
||||
}
|
||||
|
||||
} // namespace hal
|
||||
Reference in New Issue
Block a user