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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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226
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* 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 "DoubleSolenoid.h"
#include "HAL/HAL.h"
#include "HAL/Ports.h"
#include "HAL/Solenoid.h"
#include "LiveWindow/LiveWindow.h"
#include "WPIErrors.h"
#include "llvm/SmallString.h"
#include "llvm/raw_ostream.h"
using namespace frc;
/**
* Constructor.
*
* Uses the default PCM ID of 0.
*
* @param forwardChannel The forward channel number on the PCM (0..7).
* @param reverseChannel The reverse channel number on the PCM (0..7).
*/
DoubleSolenoid::DoubleSolenoid(int forwardChannel, int reverseChannel)
: DoubleSolenoid(GetDefaultSolenoidModule(), forwardChannel,
reverseChannel) {}
/**
* Constructor.
*
* @param moduleNumber The CAN ID of the PCM.
* @param forwardChannel The forward channel on the PCM to control (0..7).
* @param reverseChannel The reverse channel on the PCM to control (0..7).
*/
DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
int reverseChannel)
: SolenoidBase(moduleNumber),
m_forwardChannel(forwardChannel),
m_reverseChannel(reverseChannel) {
llvm::SmallString<32> str;
llvm::raw_svector_ostream buf(str);
if (!CheckSolenoidModule(m_moduleNumber)) {
buf << "Solenoid Module " << m_moduleNumber;
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
return;
}
if (!CheckSolenoidChannel(m_forwardChannel)) {
buf << "Solenoid Module " << m_forwardChannel;
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
return;
}
if (!CheckSolenoidChannel(m_reverseChannel)) {
buf << "Solenoid Module " << m_reverseChannel;
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
return;
}
int32_t status = 0;
m_forwardHandle = HAL_InitializeSolenoidPort(
HAL_GetPortWithModule(moduleNumber, m_forwardChannel), &status);
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
forwardChannel, HAL_GetErrorMessage(status));
m_forwardHandle = HAL_kInvalidHandle;
m_reverseHandle = HAL_kInvalidHandle;
return;
}
m_reverseHandle = HAL_InitializeSolenoidPort(
HAL_GetPortWithModule(moduleNumber, m_reverseChannel), &status);
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
reverseChannel, HAL_GetErrorMessage(status));
// free forward solenoid
HAL_FreeSolenoidPort(m_forwardHandle);
m_forwardHandle = HAL_kInvalidHandle;
m_reverseHandle = HAL_kInvalidHandle;
return;
}
m_forwardMask = 1 << m_forwardChannel;
m_reverseMask = 1 << m_reverseChannel;
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel,
m_moduleNumber);
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel,
m_moduleNumber);
LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber,
m_forwardChannel, this);
}
/**
* Destructor.
*/
DoubleSolenoid::~DoubleSolenoid() {
HAL_FreeSolenoidPort(m_forwardHandle);
HAL_FreeSolenoidPort(m_reverseHandle);
if (m_table != nullptr) m_table->RemoveTableListener(this);
}
/**
* Set the value of a solenoid.
*
* @param value The value to set (Off, Forward or Reverse)
*/
void DoubleSolenoid::Set(Value value) {
if (StatusIsFatal()) return;
bool forward = false;
bool reverse = false;
switch (value) {
case kOff:
forward = false;
reverse = false;
break;
case kForward:
forward = true;
reverse = false;
break;
case kReverse:
forward = false;
reverse = true;
break;
}
int fstatus = 0;
HAL_SetSolenoid(m_forwardHandle, forward, &fstatus);
int rstatus = 0;
HAL_SetSolenoid(m_reverseHandle, reverse, &rstatus);
wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus));
wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus));
}
/**
* Read the current value of the solenoid.
*
* @return The current value of the solenoid.
*/
DoubleSolenoid::Value DoubleSolenoid::Get() const {
if (StatusIsFatal()) return kOff;
int fstatus = 0;
int rstatus = 0;
bool valueForward = HAL_GetSolenoid(m_forwardHandle, &fstatus);
bool valueReverse = HAL_GetSolenoid(m_reverseHandle, &rstatus);
wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus));
wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus));
if (valueForward) return kForward;
if (valueReverse) return kReverse;
return kOff;
}
/**
* Check if the forward solenoid is blacklisted.
*
* If a solenoid is shorted, it is added to the blacklist and
* disabled until power cycle, or until faults are cleared.
* @see ClearAllPCMStickyFaults()
*
* @return If solenoid is disabled due to short.
*/
bool DoubleSolenoid::IsFwdSolenoidBlackListed() const {
int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
return (blackList & m_forwardMask) ? 1 : 0;
}
/**
* Check if the reverse solenoid is blacklisted.
*
* If a solenoid is shorted, it is added to the blacklist and
* disabled until power cycle, or until faults are cleared.
* @see ClearAllPCMStickyFaults()
*
* @return If solenoid is disabled due to short.
*/
bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
return (blackList & m_reverseMask) ? 1 : 0;
}
void DoubleSolenoid::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value,
bool isNew) {
if (!value->IsString()) return;
Value lvalue = kOff;
if (value->GetString() == "Forward")
lvalue = kForward;
else if (value->GetString() == "Reverse")
lvalue = kReverse;
Set(lvalue);
}
void DoubleSolenoid::UpdateTable() {
if (m_table != nullptr) {
m_table->PutString(
"Value", (Get() == kForward ? "Forward"
: (Get() == kReverse ? "Reverse" : "Off")));
}
}
void DoubleSolenoid::StartLiveWindowMode() {
Set(kOff);
if (m_table != nullptr) {
m_table->AddTableListener("Value", this, true);
}
}
void DoubleSolenoid::StopLiveWindowMode() {
Set(kOff);
if (m_table != nullptr) {
m_table->RemoveTableListener(this);
}
}
std::string DoubleSolenoid::GetSmartDashboardType() const {
return "Double Solenoid";
}
void DoubleSolenoid::InitTable(std::shared_ptr<ITable> subTable) {
m_table = subTable;
UpdateTable();
}
std::shared_ptr<ITable> DoubleSolenoid::GetTable() const { return m_table; }