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
2026-06-19 00:41:43 +00:00 · 2017-08-18 21:35:53 -07:00
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
--- a/wpilibc/src/main/native/cpp/AnalogOutput.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogOutput.cpp
@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 "AnalogOutput.h"
+
+#include <limits>
+
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+#include "llvm/SmallString.h"
+#include "llvm/raw_ostream.h"
+
+using namespace frc;
+
+/**
+ * Construct an analog output on the given channel.
+ *
+ * All analog outputs are located on the MXP port.
+ *
+ * @param channel The channel number on the roboRIO to represent.
+ */
+AnalogOutput::AnalogOutput(int channel) {
+  llvm::SmallString<32> str;
+  llvm::raw_svector_ostream buf(str);
+  buf << "analog output " << channel;
+
+  if (!SensorBase::CheckAnalogOutputChannel(channel)) {
+    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    m_channel = std::numeric_limits<int>::max();
+    m_port = HAL_kInvalidHandle;
+    return;
+  }
+
+  m_channel = channel;
+
+  HAL_PortHandle port = HAL_GetPort(m_channel);
+  int32_t status = 0;
+  m_port = HAL_InitializeAnalogOutputPort(port, &status);
+  if (status != 0) {
+    wpi_setErrorWithContextRange(status, 0, HAL_GetNumAnalogOutputs(), channel,
+                                 HAL_GetErrorMessage(status));
+    m_channel = std::numeric_limits<int>::max();
+    m_port = HAL_kInvalidHandle;
+    return;
+  }
+
+  LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
+  HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
+}
+
+/**
+ * Destructor.
+ *
+ * Frees analog output resource.
+ */
+AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); }
+
+/**
+ * Get the channel of this AnalogOutput.
+ */
+int AnalogOutput::GetChannel() { return m_channel; }
+
+/**
+ * Set the value of the analog output.
+ *
+ * @param voltage The output value in Volts, from 0.0 to +5.0
+ */
+void AnalogOutput::SetVoltage(double voltage) {
+  int32_t status = 0;
+  HAL_SetAnalogOutput(m_port, voltage, &status);
+
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Get the voltage of the analog output
+ *
+ * @return The value in Volts, from 0.0 to +5.0
+ */
+double AnalogOutput::GetVoltage() const {
+  int32_t status = 0;
+  double voltage = HAL_GetAnalogOutput(m_port, &status);
+
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+  return voltage;
+}
+
+void AnalogOutput::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutNumber("Value", GetVoltage());
+  }
+}
+
+void AnalogOutput::StartLiveWindowMode() {}
+
+void AnalogOutput::StopLiveWindowMode() {}
+
+std::string AnalogOutput::GetSmartDashboardType() const {
+  return "Analog Output";
+}
+
+void AnalogOutput::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> AnalogOutput::GetTable() const { return m_table; }