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/DigitalInput.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalInput.cpp
@@ -0,0 +1,124 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 "DigitalInput.h"
+
+#include <limits>
+
+#include "HAL/DIO.h"
+#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;
+
+/**
+ * Create an instance of a Digital Input class.
+ *
+ * Creates a digital input given a channel.
+ *
+ * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
+ */
+DigitalInput::DigitalInput(int channel) {
+  llvm::SmallString<32> str;
+  llvm::raw_svector_ostream buf(str);
+
+  if (!CheckDigitalChannel(channel)) {
+    buf << "Digital Channel " << channel;
+    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    m_channel = std::numeric_limits<int>::max();
+    return;
+  }
+  m_channel = channel;
+
+  int32_t status = 0;
+  m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status);
+  if (status != 0) {
+    wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(),
+                                 channel, HAL_GetErrorMessage(status));
+    m_handle = HAL_kInvalidHandle;
+    m_channel = std::numeric_limits<int>::max();
+    return;
+  }
+
+  LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this);
+  HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel);
+}
+
+/**
+ * Free resources associated with the Digital Input class.
+ */
+DigitalInput::~DigitalInput() {
+  if (StatusIsFatal()) return;
+  if (m_interrupt != HAL_kInvalidHandle) {
+    int32_t status = 0;
+    HAL_CleanInterrupts(m_interrupt, &status);
+    // ignore status, as an invalid handle just needs to be ignored.
+    m_interrupt = HAL_kInvalidHandle;
+  }
+
+  HAL_FreeDIOPort(m_handle);
+}
+
+/**
+ * Get the value from a digital input channel.
+ *
+ * Retrieve the value of a single digital input channel from the FPGA.
+ */
+bool DigitalInput::Get() const {
+  if (StatusIsFatal()) return false;
+  int32_t status = 0;
+  bool value = HAL_GetDIO(m_handle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return value;
+}
+
+/**
+ * @return The GPIO channel number that this object represents.
+ */
+int DigitalInput::GetChannel() const { return m_channel; }
+
+/**
+ * @return The HAL Handle to the specified source.
+ */
+HAL_Handle DigitalInput::GetPortHandleForRouting() const { return m_handle; }
+
+/**
+ * Is source an AnalogTrigger
+ */
+bool DigitalInput::IsAnalogTrigger() const { return false; }
+
+/**
+ * @return The type of analog trigger output to be used. 0 for Digitals
+ */
+AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
+  return (AnalogTriggerType)0;
+}
+
+void DigitalInput::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutBoolean("Value", Get());
+  }
+}
+
+void DigitalInput::StartLiveWindowMode() {}
+
+void DigitalInput::StopLiveWindowMode() {}
+
+std::string DigitalInput::GetSmartDashboardType() const {
+  return "DigitalInput";
+}
+
+void DigitalInput::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> DigitalInput::GetTable() const { return m_table; }