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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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109
hal/src/main/native/sim/Relay.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* 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/Relay.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "MockData/RelayDataInternal.h"
#include "PortsInternal.h"
using namespace hal;
namespace {
struct Relay {
uint8_t channel;
bool fwd;
};
}
static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
HAL_HandleEnum::Relay>
relayHandles;
extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
int32_t* status) {
if (*status != 0) return HAL_kInvalidHandle;
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
if (!fwd) channel += kNumRelayHeaders; // add 4 to reverse channels
auto handle = relayHandles.Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = relayHandles.Get(handle);
if (port == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
if (!fwd) {
// Subtract number of headers to put channel in range
channel -= kNumRelayHeaders;
port->fwd = false; // set to reverse
SimRelayData[channel].SetInitializedReverse(true);
} else {
port->fwd = true; // set to forward
SimRelayData[channel].SetInitializedForward(true);
}
port->channel = static_cast<uint8_t>(channel);
return handle;
}
void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) {
auto port = relayHandles.Get(relayPortHandle);
relayHandles.Free(relayPortHandle);
if (port == nullptr) return;
if (port->fwd)
SimRelayData[port->channel].SetInitializedForward(false);
else
SimRelayData[port->channel].SetInitializedReverse(false);
}
HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
// roboRIO only has 4 headers, and the FPGA has
// seperate functions for forward and reverse,
// instead of seperate channel IDs
return channel < kNumRelayHeaders && channel >= 0;
}
void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
int32_t* status) {
auto port = relayHandles.Get(relayPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
if (port->fwd)
SimRelayData[port->channel].SetForward(on);
else
SimRelayData[port->channel].SetReverse(on);
}
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
auto port = relayHandles.Get(relayPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
}
if (port->fwd)
return SimRelayData[port->channel].GetForward();
else
return SimRelayData[port->channel].GetReverse();
}
}