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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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171
hal/src/main/native/sim/AnalogInput.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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/AnalogInput.h"
#include "AnalogInternal.h"
#include "HAL/handles/HandlesInternal.h"
#include "MockData/AnalogInDataInternal.h"
#include "PortsInternal.h"
using namespace hal;
extern "C" {
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
int32_t* status) {
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
HAL_AnalogInputHandle handle = analogInputHandles.Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
// Initialize port structure
auto analog_port = analogInputHandles.Get(handle);
if (analog_port == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
analog_port->channel = static_cast<uint8_t>(channel);
if (HAL_IsAccumulatorChannel(handle, status)) {
analog_port->isAccumulator = true;
} else {
analog_port->isAccumulator = false;
}
SimAnalogInData[channel].SetInitialized(true);
SimAnalogInData[channel].SetAccumulatorInitialized(false);
return handle;
}
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle) {
auto port = analogInputHandles.Get(analogPortHandle);
// no status, so no need to check for a proper free.
analogInputHandles.Free(analogPortHandle);
if (port == nullptr) return;
SimAnalogInData[port->channel].SetInitialized(false);
SimAnalogInData[port->channel].SetAccumulatorInitialized(false);
}
HAL_Bool HAL_CheckAnalogModule(int32_t module) { return module == 1; }
HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) {
return channel < kNumAnalogInputs && channel >= 0;
}
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// No op
}
double HAL_GetAnalogSampleRate(int32_t* status) { return kDefaultSampleRate; }
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimAnalogInData[port->channel].SetAverageBits(bits);
}
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return SimAnalogInData[port->channel].GetAverageBits();
}
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimAnalogInData[port->channel].SetOversampleBits(bits);
}
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return SimAnalogInData[port->channel].GetOversampleBits();
}
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
double voltage = SimAnalogInData[port->channel].GetVoltage();
return HAL_GetAnalogVoltsToValue(analogPortHandle, voltage, status);
}
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
// No averaging supported
return HAL_GetAnalogValue(analogPortHandle, status);
}
int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
double voltage, int32_t* status) {
if (voltage > 5.0) {
voltage = 5.0;
*status = VOLTAGE_OUT_OF_RANGE;
}
if (voltage < 0.0) {
voltage = 0.0;
*status = VOLTAGE_OUT_OF_RANGE;
}
int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
int32_t value =
static_cast<int32_t>((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
return value;
}
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
}
return SimAnalogInData[port->channel].GetVoltage();
}
double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
}
// No averaging supported
double voltage = SimAnalogInData[port->channel].GetVoltage();
return voltage;
}
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
return 1220703;
}
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
return 0;
}
}