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

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* 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
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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230
hal/src/main/native/athena/ctre/PDP.cpp Normal file
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#include "ctre/PDP.h"
#include "FRC_NetworkCommunication/CANSessionMux.h" //CAN Comm
#include <string.h> // memset
#define STATUS_1 0x8041400
#define STATUS_2 0x8041440
#define STATUS_3 0x8041480
#define STATUS_ENERGY 0x8041740
#define CONTROL_1 0x08041C00 /* PDP_Control_ClearStats */
#define EXPECTED_RESPONSE_TIMEOUT_MS (50)
#define GET_STATUS1() CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS2() CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS3() CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
#define GET_STATUS_ENERGY() CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
/* encoder/decoders */
typedef struct _PdpStatus1_t{
unsigned chan1_h8:8;
unsigned chan2_h6:6;
unsigned chan1_l2:2;
unsigned chan3_h4:4;
unsigned chan2_l4:4;
unsigned chan4_h2:2;
unsigned chan3_l6:6;
unsigned chan4_l8:8;
unsigned chan5_h8:8;
unsigned chan6_h6:6;
unsigned chan5_l2:2;
unsigned reserved4:4;
unsigned chan6_l4:4;
}PdpStatus1_t;
typedef struct _PdpStatus2_t{
unsigned chan7_h8:8;
unsigned chan8_h6:6;
unsigned chan7_l2:2;
unsigned chan9_h4:4;
unsigned chan8_l4:4;
unsigned chan10_h2:2;
unsigned chan9_l6:6;
unsigned chan10_l8:8;
unsigned chan11_h8:8;
unsigned chan12_h6:6;
unsigned chan11_l2:2;
unsigned reserved4:4;
unsigned chan12_l4:4;
}PdpStatus2_t;
typedef struct _PdpStatus3_t{
unsigned chan13_h8:8;
unsigned chan14_h6:6;
unsigned chan13_l2:2;
unsigned chan15_h4:4;
unsigned chan14_l4:4;
unsigned chan16_h2:2;
unsigned chan15_l6:6;
unsigned chan16_l8:8;
unsigned internalResBattery_mOhms:8;
unsigned busVoltage:8;
unsigned temp:8;
}PdpStatus3_t;
typedef struct _PDP_Status_Energy_t {
unsigned TmeasMs_likelywillbe20ms_:8;
unsigned TotalCurrent_125mAperunit_h8:8;
unsigned Power_125mWperunit_h4:4;
unsigned TotalCurrent_125mAperunit_l4:4;
unsigned Power_125mWperunit_m8:8;
unsigned Energy_125mWPerUnitXTmeas_h4:4;
unsigned Power_125mWperunit_l4:4;
unsigned Energy_125mWPerUnitXTmeas_mh8:8;
unsigned Energy_125mWPerUnitXTmeas_ml8:8;
unsigned Energy_125mWPerUnitXTmeas_l8:8;
} PDP_Status_Energy_t ;
PDP::PDP(UINT8 deviceNumber): CtreCanNode(deviceNumber)
{
RegisterRx(STATUS_1 | deviceNumber );
RegisterRx(STATUS_2 | deviceNumber );
RegisterRx(STATUS_3 | deviceNumber );
}
/* PDP D'tor
*/
PDP::~PDP()
{
}
CTR_Code PDP::GetChannelCurrent(UINT8 idx, double &current)
{
CTR_Code retval = CTR_InvalidParamValue;
uint32_t raw = 0;
if(idx <= 5){
GET_STATUS1();
retval = rx.err;
switch(idx){
case 0: raw = ((uint32_t)rx->chan1_h8 << 2) | rx->chan1_l2; break;
case 1: raw = ((uint32_t)rx->chan2_h6 << 4) | rx->chan2_l4; break;
case 2: raw = ((uint32_t)rx->chan3_h4 << 6) | rx->chan3_l6; break;
case 3: raw = ((uint32_t)rx->chan4_h2 << 8) | rx->chan4_l8; break;
case 4: raw = ((uint32_t)rx->chan5_h8 << 2) | rx->chan5_l2; break;
case 5: raw = ((uint32_t)rx->chan6_h6 << 4) | rx->chan6_l4; break;
default: retval = CTR_InvalidParamValue; break;
}
}else if(idx <= 11){
GET_STATUS2();
retval = rx.err;
switch(idx){
case 6: raw = ((uint32_t)rx->chan7_h8 << 2) | rx->chan7_l2; break;
case 7: raw = ((uint32_t)rx->chan8_h6 << 4) | rx->chan8_l4; break;
case 8: raw = ((uint32_t)rx->chan9_h4 << 6) | rx->chan9_l6; break;
case 9: raw = ((uint32_t)rx->chan10_h2 << 8) | rx->chan10_l8; break;
case 10: raw = ((uint32_t)rx->chan11_h8 << 2) | rx->chan11_l2; break;
case 11: raw = ((uint32_t)rx->chan12_h6 << 4) | rx->chan12_l4; break;
default: retval = CTR_InvalidParamValue; break;
}
}else if(idx <= 15){
GET_STATUS3();
retval = rx.err;
switch(idx){
case 12: raw = ((uint32_t)rx->chan13_h8 << 2) | rx->chan13_l2; break;
case 13: raw = ((uint32_t)rx->chan14_h6 << 4) | rx->chan14_l4; break;
case 14: raw = ((uint32_t)rx->chan15_h4 << 6) | rx->chan15_l6; break;
case 15: raw = ((uint32_t)rx->chan16_h2 << 8) | rx->chan16_l8; break;
default: retval = CTR_InvalidParamValue; break;
}
}
/* convert to amps */
current = (double)raw * 0.125; /* 7.3 fixed pt value in Amps */
/* signal caller with success */
return retval;
}
CTR_Code PDP::GetVoltage(double &voltage)
{
GET_STATUS3();
uint32_t raw = rx->busVoltage;
voltage = (double)raw * 0.05 + 4.0; /* 50mV per unit plus 4V. */;
return rx.err;
}
CTR_Code PDP::GetTemperature(double &tempC)
{
GET_STATUS3();
uint32_t raw = rx->temp;
tempC = (double)raw * 1.03250836957542 - 67.8564500484966;
return rx.err;
}
CTR_Code PDP::GetTotalCurrent(double &currentAmps)
{
GET_STATUS_ENERGY();
uint32_t raw;
raw = rx->TotalCurrent_125mAperunit_h8;
raw <<= 4;
raw |= rx->TotalCurrent_125mAperunit_l4;
currentAmps = 0.125 * raw;
return rx.err;
}
CTR_Code PDP::GetTotalPower(double &powerWatts)
{
GET_STATUS_ENERGY();
uint32_t raw;
raw = rx->Power_125mWperunit_h4;
raw <<= 8;
raw |= rx->Power_125mWperunit_m8;
raw <<= 4;
raw |= rx->Power_125mWperunit_l4;
powerWatts = 0.125 * raw;
return rx.err;
}
CTR_Code PDP::GetTotalEnergy(double &energyJoules)
{
GET_STATUS_ENERGY();
uint32_t raw;
raw = rx->Energy_125mWPerUnitXTmeas_h4;
raw <<= 8;
raw |= rx->Energy_125mWPerUnitXTmeas_mh8;
raw <<= 8;
raw |= rx->Energy_125mWPerUnitXTmeas_ml8;
raw <<= 8;
raw |= rx->Energy_125mWPerUnitXTmeas_l8;
energyJoules = 0.125 * raw; /* mW integrated every TmeasMs */
energyJoules *= 0.001; /* convert from mW to W */
energyJoules *= rx->TmeasMs_likelywillbe20ms_; /* multiplied by TmeasMs = joules */
return rx.err;
}
/* Clear sticky faults.
* @Return - CTR_Code - Error code (if any)
*/
CTR_Code PDP::ClearStickyFaults()
{
int32_t status = 0;
uint8_t pdpControl[] = { 0x80 }; /* only bit set is ClearStickyFaults */
FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1 | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
if(status)
return CTR_TxFailed;
return CTR_OKAY;
}
/* Reset Energy Signals
* @Return - CTR_Code - Error code (if any)
*/
CTR_Code PDP::ResetEnergy()
{
int32_t status = 0;
uint8_t pdpControl[] = { 0x40 }; /* only bit set is ResetEnergy */
FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1 | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
if(status)
return CTR_TxFailed;
return CTR_OKAY;
}
//------------------ C interface --------------------------------------------//
extern "C" {
void * c_PDP_Init(void)
{
return new PDP();
}
CTR_Code c_GetChannelCurrent(void * handle,UINT8 idx, double *status)
{
return ((PDP*)handle)-> GetChannelCurrent(idx,*status);
}
CTR_Code c_GetVoltage(void * handle,double *status)
{
return ((PDP*)handle)-> GetVoltage(*status);
}
CTR_Code c_GetTemperature(void * handle,double *status)
{
return ((PDP*)handle)-> GetTemperature(*status);
}
void c_SetDeviceNumber_PDP(void * handle,UINT8 deviceNumber)
{
}
}