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/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -0,0 +1,639 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DriverStation.h"
+
+#include <chrono>
+
+#include "AnalogInput.h"
+#include "HAL/HAL.h"
+#include "HAL/Power.h"
+#include "HAL/cpp/Log.h"
+#include "MotorSafetyHelper.h"
+#include "Timer.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+#include "llvm/SmallString.h"
+
+using namespace frc;
+
+const double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
+
+const int DriverStation::kJoystickPorts;
+
+DriverStation::~DriverStation() {
+  m_isRunning = false;
+  m_dsThread.join();
+}
+
+/**
+ * Return a pointer to the singleton DriverStation.
+ *
+ * @return Pointer to the DS instance
+ */
+DriverStation& DriverStation::GetInstance() {
+  static DriverStation instance;
+  return instance;
+}
+
+/**
+ * Report an error to the DriverStation messages window.
+ *
+ * The error is also printed to the program console.
+ */
+void DriverStation::ReportError(llvm::StringRef error) {
+  llvm::SmallString<128> temp;
+  HAL_SendError(1, 1, 0, error.c_str(temp), "", "", 1);
+}
+
+/**
+ * Report a warning to the DriverStation messages window.
+ *
+ * The warning is also printed to the program console.
+ */
+void DriverStation::ReportWarning(llvm::StringRef error) {
+  llvm::SmallString<128> temp;
+  HAL_SendError(0, 1, 0, error.c_str(temp), "", "", 1);
+}
+
+/**
+ * Report an error to the DriverStation messages window.
+ *
+ * The error is also printed to the program console.
+ */
+void DriverStation::ReportError(bool is_error, int32_t code,
+                                llvm::StringRef error, llvm::StringRef location,
+                                llvm::StringRef stack) {
+  llvm::SmallString<128> errorTemp;
+  llvm::SmallString<128> locationTemp;
+  llvm::SmallString<128> stackTemp;
+  HAL_SendError(is_error, code, 0, error.c_str(errorTemp),
+                location.c_str(locationTemp), stack.c_str(stackTemp), 1);
+}
+
+/**
+ * Get the value of the axis on a joystick.
+ *
+ * This depends on the mapping of the joystick connected to the specified port.
+ *
+ * @param stick The joystick to read.
+ * @param axis  The analog axis value to read from the joystick.
+ * @return The value of the axis on the joystick.
+ */
+double DriverStation::GetStickAxis(int stick, int axis) {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }
+  std::unique_lock<hal::priority_mutex> lock(m_joystickDataMutex);
+  if (axis >= m_joystickAxes[stick].count) {
+    // Unlock early so error printing isn't locked.
+    m_joystickDataMutex.unlock();
+    lock.release();
+    if (axis >= HAL_kMaxJoystickAxes)
+      wpi_setWPIError(BadJoystickAxis);
+    else
+      ReportJoystickUnpluggedWarning(
+          "Joystick Axis missing, check if all controllers are plugged in");
+    return 0.0;
+  }
+
+  return m_joystickAxes[stick].axes[axis];
+}
+
+/**
+ * Get the state of a POV on the joystick.
+ *
+ * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
+ */
+int DriverStation::GetStickPOV(int stick, int pov) {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return -1;
+  }
+  std::unique_lock<hal::priority_mutex> lock(m_joystickDataMutex);
+  if (pov >= m_joystickPOVs[stick].count) {
+    // Unlock early so error printing isn't locked.
+    lock.unlock();
+    if (pov >= HAL_kMaxJoystickPOVs)
+      wpi_setWPIError(BadJoystickAxis);
+    else
+      ReportJoystickUnpluggedWarning(
+          "Joystick POV missing, check if all controllers are plugged in");
+    return -1;
+  }
+
+  return m_joystickPOVs[stick].povs[pov];
+}
+
+/**
+ * The state of the buttons on the joystick.
+ *
+ * @param stick The joystick to read.
+ * @return The state of the buttons on the joystick.
+ */
+int DriverStation::GetStickButtons(int stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }
+  std::lock_guard<hal::priority_mutex> lock(m_joystickDataMutex);
+  return m_joystickButtons[stick].buttons;
+}
+
+/**
+ * The state of one joystick button. Button indexes begin at 1.
+ *
+ * @param stick  The joystick to read.
+ * @param button The button index, beginning at 1.
+ * @return The state of the joystick button.
+ */
+bool DriverStation::GetStickButton(int stick, int button) {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return false;
+  }
+  if (button == 0) {
+    ReportJoystickUnpluggedError(
+        "ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
+    return false;
+  }
+  std::unique_lock<hal::priority_mutex> lock(m_joystickDataMutex);
+  if (button > m_joystickButtons[stick].count) {
+    // Unlock early so error printing isn't locked.
+    lock.unlock();
+    ReportJoystickUnpluggedWarning(
+        "Joystick Button missing, check if all controllers are "
+        "plugged in");
+    return false;
+  }
+
+  return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
+}
+
+/**
+ * Returns the number of axes on a given joystick port.
+ *
+ * @param stick The joystick port number
+ * @return The number of axes on the indicated joystick
+ */
+int DriverStation::GetStickAxisCount(int stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }
+  std::lock_guard<hal::priority_mutex> lock(m_joystickDataMutex);
+  return m_joystickAxes[stick].count;
+}
+
+/**
+ * Returns the number of POVs on a given joystick port.
+ *
+ * @param stick The joystick port number
+ * @return The number of POVs on the indicated joystick
+ */
+int DriverStation::GetStickPOVCount(int stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }
+  std::lock_guard<hal::priority_mutex> lock(m_joystickDataMutex);
+  return m_joystickPOVs[stick].count;
+}
+
+/**
+ * Returns the number of buttons on a given joystick port.
+ *
+ * @param stick The joystick port number
+ * @return The number of buttons on the indicated joystick
+ */
+int DriverStation::GetStickButtonCount(int stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return 0;
+  }
+  std::lock_guard<hal::priority_mutex> lock(m_joystickDataMutex);
+  return m_joystickButtons[stick].count;
+}
+
+/**
+ * Returns a boolean indicating if the controller is an xbox controller.
+ *
+ * @param stick The joystick port number
+ * @return A boolean that is true if the controller is an xbox controller.
+ */
+bool DriverStation::GetJoystickIsXbox(int stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return false;
+  }
+  std::lock_guard<hal::priority_mutex> lock(m_joystickDataMutex);
+  return static_cast<bool>(m_joystickDescriptor[stick].isXbox);
+}
+
+/**
+ * Returns the type of joystick at a given port.
+ *
+ * @param stick The joystick port number
+ * @return The HID type of joystick at the given port
+ */
+int DriverStation::GetJoystickType(int stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return -1;
+  }
+  std::lock_guard<hal::priority_mutex> lock(m_joystickDataMutex);
+  return static_cast<int>(m_joystickDescriptor[stick].type);
+}
+
+/**
+ * Returns the name of the joystick at the given port.
+ *
+ * @param stick The joystick port number
+ * @return The name of the joystick at the given port
+ */
+std::string DriverStation::GetJoystickName(int stick) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+  }
+  std::lock_guard<hal::priority_mutex> lock(m_joystickDataMutex);
+  std::string retVal(m_joystickDescriptor[stick].name);
+  return retVal;
+}
+
+/**
+ * Returns the types of Axes on a given joystick port.
+ *
+ * @param stick The joystick port number and the target axis
+ * @return What type of axis the axis is reporting to be
+ */
+int DriverStation::GetJoystickAxisType(int stick, int axis) const {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return -1;
+  }
+  std::lock_guard<hal::priority_mutex> lock(m_joystickDataMutex);
+  return m_joystickDescriptor[stick].axisTypes[axis];
+}
+
+/**
+ * Check if the DS has enabled the robot.
+ *
+ * @return True if the robot is enabled and the DS is connected
+ */
+bool DriverStation::IsEnabled() const {
+  HAL_ControlWord controlWord;
+  UpdateControlWord(false, controlWord);
+  return controlWord.enabled && controlWord.dsAttached;
+}
+
+/**
+ * Check if the robot is disabled.
+ *
+ * @return True if the robot is explicitly disabled or the DS is not connected
+ */
+bool DriverStation::IsDisabled() const {
+  HAL_ControlWord controlWord;
+  UpdateControlWord(false, controlWord);
+  return !(controlWord.enabled && controlWord.dsAttached);
+}
+
+/**
+ * Check if the DS is commanding autonomous mode.
+ *
+ * @return True if the robot is being commanded to be in autonomous mode
+ */
+bool DriverStation::IsAutonomous() const {
+  HAL_ControlWord controlWord;
+  UpdateControlWord(false, controlWord);
+  return controlWord.autonomous;
+}
+
+/**
+ * Check if the DS is commanding teleop mode.
+ *
+ * @return True if the robot is being commanded to be in teleop mode
+ */
+bool DriverStation::IsOperatorControl() const {
+  HAL_ControlWord controlWord;
+  UpdateControlWord(false, controlWord);
+  return !(controlWord.autonomous || controlWord.test);
+}
+
+/**
+ * Check if the DS is commanding test mode.
+ *
+ * @return True if the robot is being commanded to be in test mode
+ */
+bool DriverStation::IsTest() const {
+  HAL_ControlWord controlWord;
+  UpdateControlWord(false, controlWord);
+  return controlWord.test;
+}
+
+/**
+ * Check if the DS is attached.
+ *
+ * @return True if the DS is connected to the robot
+ */
+bool DriverStation::IsDSAttached() const {
+  HAL_ControlWord controlWord;
+  UpdateControlWord(false, controlWord);
+  return controlWord.dsAttached;
+}
+
+/**
+ * Has a new control packet from the driver station arrived since the last time
+ * this function was called?
+ *
+ * Warning: If you call this function from more than one place at the same time,
+ * you will not get the intended behavior.
+ *
+ * @return True if the control data has been updated since the last call.
+ */
+bool DriverStation::IsNewControlData() const { return HAL_IsNewControlData(); }
+
+/**
+ * Is the driver station attached to a Field Management System?
+ *
+ * @return True if the robot is competing on a field being controlled by a Field
+ *         Management System
+ */
+bool DriverStation::IsFMSAttached() const {
+  HAL_ControlWord controlWord;
+  UpdateControlWord(false, controlWord);
+  return controlWord.fmsAttached;
+}
+
+/**
+ * Check if the FPGA outputs are enabled.
+ *
+ * The outputs may be disabled if the robot is disabled or e-stopped, the
+ * watchdog has expired, or if the roboRIO browns out.
+ *
+ * @return True if the FPGA outputs are enabled.
+ */
+bool DriverStation::IsSysActive() const {
+  int32_t status = 0;
+  bool retVal = HAL_GetSystemActive(&status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Check if the system is browned out.
+ *
+ * @return True if the system is browned out
+ */
+bool DriverStation::IsBrownedOut() const {
+  int32_t status = 0;
+  bool retVal = HAL_GetBrownedOut(&status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Return the alliance that the driver station says it is on.
+ *
+ * This could return kRed or kBlue.
+ *
+ * @return The Alliance enum (kRed, kBlue or kInvalid)
+ */
+DriverStation::Alliance DriverStation::GetAlliance() const {
+  int32_t status = 0;
+  auto allianceStationID = HAL_GetAllianceStation(&status);
+  switch (allianceStationID) {
+    case HAL_AllianceStationID_kRed1:
+    case HAL_AllianceStationID_kRed2:
+    case HAL_AllianceStationID_kRed3:
+      return kRed;
+    case HAL_AllianceStationID_kBlue1:
+    case HAL_AllianceStationID_kBlue2:
+    case HAL_AllianceStationID_kBlue3:
+      return kBlue;
+    default:
+      return kInvalid;
+  }
+}
+
+/**
+ * Return the driver station location on the field.
+ *
+ * This could return 1, 2, or 3.
+ *
+ * @return The location of the driver station (1-3, 0 for invalid)
+ */
+int DriverStation::GetLocation() const {
+  int32_t status = 0;
+  auto allianceStationID = HAL_GetAllianceStation(&status);
+  switch (allianceStationID) {
+    case HAL_AllianceStationID_kRed1:
+    case HAL_AllianceStationID_kBlue1:
+      return 1;
+    case HAL_AllianceStationID_kRed2:
+    case HAL_AllianceStationID_kBlue2:
+      return 2;
+    case HAL_AllianceStationID_kRed3:
+    case HAL_AllianceStationID_kBlue3:
+      return 3;
+    default:
+      return 0;
+  }
+}
+
+/**
+ * Wait until a new packet comes from the driver station.
+ *
+ * This blocks on a semaphore, so the waiting is efficient.
+ *
+ * This is a good way to delay processing until there is new driver station data
+ * to act on.
+ */
+void DriverStation::WaitForData() { WaitForData(0); }
+
+/**
+ * Wait until a new packet comes from the driver station, or wait for a timeout.
+ *
+ * If the timeout is less then or equal to 0, wait indefinitely.
+ *
+ * Timeout is in milliseconds
+ *
+ * This blocks on a semaphore, so the waiting is efficient.
+ *
+ * This is a good way to delay processing until there is new driver station data
+ * to act on.
+ *
+ * @param timeout Timeout time in seconds
+ *
+ * @return true if new data, otherwise false
+ */
+bool DriverStation::WaitForData(double timeout) {
+  return static_cast<bool>(HAL_WaitForDSDataTimeout(timeout));
+}
+
+/**
+ * Return the approximate match time.
+ *
+ * The FMS does not send an official match time to the robots, but does send an
+ * approximate match time.  The value will count down the time remaining in the
+ * current period (auto or teleop).
+ *
+ * Warning: This is not an official time (so it cannot be used to dispute ref
+ * calls or guarantee that a function will trigger before the match ends).
+ *
+ * The Practice Match function of the DS approximates the behaviour seen on the
+ * field.
+ *
+ * @return Time remaining in current match period (auto or teleop)
+ */
+double DriverStation::GetMatchTime() const {
+  int32_t status;
+  return HAL_GetMatchTime(&status);
+}
+
+/**
+ * Read the battery voltage.
+ *
+ * @return The battery voltage in Volts.
+ */
+double DriverStation::GetBatteryVoltage() const {
+  int32_t status = 0;
+  double voltage = HAL_GetVinVoltage(&status);
+  wpi_setErrorWithContext(status, "getVinVoltage");
+
+  return voltage;
+}
+
+/**
+ * Copy data from the DS task for the user.
+ *
+ * If no new data exists, it will just be returned, otherwise
+ * the data will be copied from the DS polling loop.
+ */
+void DriverStation::GetData() {
+  // Get the status of all of the joysticks, and save to the cache
+  for (uint8_t stick = 0; stick < kJoystickPorts; stick++) {
+    HAL_GetJoystickAxes(stick, &m_joystickAxesCache[stick]);
+    HAL_GetJoystickPOVs(stick, &m_joystickPOVsCache[stick]);
+    HAL_GetJoystickButtons(stick, &m_joystickButtonsCache[stick]);
+    HAL_GetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]);
+  }
+  // Force a control word update, to make sure the data is the newest.
+  HAL_ControlWord controlWord;
+  UpdateControlWord(true, controlWord);
+  // Obtain a write lock on the data, swap the cached data into the
+  // main data arrays
+  std::lock_guard<hal::priority_mutex> lock(m_joystickDataMutex);
+  m_joystickAxes.swap(m_joystickAxesCache);
+  m_joystickPOVs.swap(m_joystickPOVsCache);
+  m_joystickButtons.swap(m_joystickButtonsCache);
+  m_joystickDescriptor.swap(m_joystickDescriptorCache);
+}
+
+/**
+ * DriverStation constructor.
+ *
+ * This is only called once the first time GetInstance() is called
+ */
+DriverStation::DriverStation() {
+  m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
+  m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
+  m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
+  m_joystickDescriptor =
+      std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
+  m_joystickAxesCache = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
+  m_joystickPOVsCache = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
+  m_joystickButtonsCache =
+      std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
+  m_joystickDescriptorCache =
+      std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
+
+  // All joysticks should default to having zero axes, povs and buttons, so
+  // uninitialized memory doesn't get sent to speed controllers.
+  for (unsigned int i = 0; i < kJoystickPorts; i++) {
+    m_joystickAxes[i].count = 0;
+    m_joystickPOVs[i].count = 0;
+    m_joystickButtons[i].count = 0;
+    m_joystickDescriptor[i].isXbox = 0;
+    m_joystickDescriptor[i].type = -1;
+    m_joystickDescriptor[i].name[0] = '\0';
+
+    m_joystickAxesCache[i].count = 0;
+    m_joystickPOVsCache[i].count = 0;
+    m_joystickButtonsCache[i].count = 0;
+    m_joystickDescriptorCache[i].isXbox = 0;
+    m_joystickDescriptorCache[i].type = -1;
+    m_joystickDescriptorCache[i].name[0] = '\0';
+  }
+
+  m_dsThread = std::thread(&DriverStation::Run, this);
+}
+
+/**
+ * Reports errors related to unplugged joysticks
+ * Throttles the errors so that they don't overwhelm the DS
+ */
+void DriverStation::ReportJoystickUnpluggedError(llvm::StringRef message) {
+  double currentTime = Timer::GetFPGATimestamp();
+  if (currentTime > m_nextMessageTime) {
+    ReportError(message);
+    m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
+  }
+}
+
+/**
+ * Reports errors related to unplugged joysticks.
+ *
+ * Throttles the errors so that they don't overwhelm the DS.
+ */
+void DriverStation::ReportJoystickUnpluggedWarning(llvm::StringRef message) {
+  double currentTime = Timer::GetFPGATimestamp();
+  if (currentTime > m_nextMessageTime) {
+    ReportWarning(message);
+    m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
+  }
+}
+
+void DriverStation::Run() {
+  m_isRunning = true;
+  int period = 0;
+  while (m_isRunning) {
+    HAL_WaitForDSData();
+    GetData();
+
+    if (++period >= 4) {
+      MotorSafetyHelper::CheckMotors();
+      period = 0;
+    }
+    if (m_userInDisabled) HAL_ObserveUserProgramDisabled();
+    if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous();
+    if (m_userInTeleop) HAL_ObserveUserProgramTeleop();
+    if (m_userInTest) HAL_ObserveUserProgramTest();
+  }
+}
+
+/**
+ * Gets ControlWord data from the cache. If 50ms has passed, or the force
+ * parameter is set, the cached data is updated. Otherwise the data is just
+ * copied from the cache.
+ *
+ * @param force True to force an update to the cache, otherwise update if 50ms
+ * have passed.
+ * @param controlWord Structure to put the return control word data into.
+ */
+void DriverStation::UpdateControlWord(bool force,
+                                      HAL_ControlWord& controlWord) const {
+  auto now = std::chrono::steady_clock::now();
+  std::lock_guard<hal::priority_mutex> lock(m_controlWordMutex);
+  // Update every 50 ms or on force.
+  if ((now - m_lastControlWordUpdate > std::chrono::milliseconds(50)) ||
+      force) {
+    HAL_GetControlWord(&m_controlWordCache);
+    m_lastControlWordUpdate = now;
+  }
+  controlWord = m_controlWordCache;
+}