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
2026-06-20 00:51:42 +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/sim/DigitalInternal.cpp
+++ b/hal/src/main/native/sim/DigitalInternal.cpp
@@ -0,0 +1,81 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DigitalInternal.h"
+
+#include "ConstantsInternal.h"
+#include "HAL/AnalogTrigger.h"
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "PortsInternal.h"
+
+namespace hal {
+
+bool digitalSystemsInitialized = false;
+
+DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
+                      kNumDigitalChannels + kNumPWMHeaders>
+    digitalChannelHandles;
+
+/**
+ * Map DIO channel numbers from their physical number (10 to 26) to their
+ * position in the bit field.
+ */
+int32_t remapMXPChannel(int32_t channel) { return channel - 10; }
+
+int32_t remapMXPPWMChannel(int32_t channel) {
+  if (channel < 14) {
+    return channel - 10;  // first block of 4 pwms (MXP 0-3)
+  } else {
+    return channel - 6;  // block of PWMs after SPI
+  }
+}
+
+/**
+ * remap the digital source channel and set the module.
+ * If it's an analog trigger, determine the module from the high order routing
+ * channel else do normal digital input remapping based on channel number
+ * (MXP)
+ */
+bool remapDigitalSource(HAL_Handle digitalSourceHandle,
+                        HAL_AnalogTriggerType analogTriggerType,
+                        uint8_t& channel, uint8_t& module,
+                        bool& analogTrigger) {
+  if (isHandleType(digitalSourceHandle, HAL_HandleEnum::AnalogTrigger)) {
+    // If handle passed, index is not negative
+    int32_t index = getHandleIndex(digitalSourceHandle);
+    channel = (index << 2) + analogTriggerType;
+    module = channel >> 4;
+    analogTrigger = true;
+    return true;
+  } else if (isHandleType(digitalSourceHandle, HAL_HandleEnum::DIO)) {
+    int32_t index = getHandleIndex(digitalSourceHandle);
+    if (index >= kNumDigitalHeaders) {
+      channel = remapMXPChannel(index);
+      module = 1;
+    } else {
+      channel = index;
+      module = 0;
+    }
+    analogTrigger = false;
+    return true;
+  } else {
+    return false;
+  }
+}
+
+int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status) {
+  auto digital = digitalChannelHandles.Get(handle, HAL_HandleEnum::DIO);
+  if (digital == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return -1;
+  }
+
+  return digital->channel;
+}
+}  // namespace hal