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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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200
wpilibc/src/main/native/cpp/InterruptableSensorBase.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 "InterruptableSensorBase.h"
#include "HAL/HAL.h"
#include "Utility.h"
#include "WPIErrors.h"
using namespace frc;
/**
* Request one of the 8 interrupts asynchronously on this digital input.
*
* Request interrupts in asynchronous mode where the user's interrupt handler
* will be called when the interrupt fires. Users that want control over the
* thread priority should use the synchronous method with their own spawned
* thread. The default is interrupt on rising edges only.
*/
void InterruptableSensorBase::RequestInterrupts(
HAL_InterruptHandlerFunction handler, void* param) {
if (StatusIsFatal()) return;
wpi_assert(m_interrupt == HAL_kInvalidHandle);
AllocateInterrupts(false);
if (StatusIsFatal()) return; // if allocate failed, out of interrupts
int32_t status = 0;
HAL_RequestInterrupts(
m_interrupt, GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(GetAnalogTriggerTypeForRouting()),
&status);
SetUpSourceEdge(true, false);
HAL_AttachInterruptHandler(m_interrupt, handler, param, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
/**
* Request one of the 8 interrupts synchronously on this digital input.
*
* Request interrupts in synchronous mode where the user program will have to
* explicitly wait for the interrupt to occur using WaitForInterrupt.
* The default is interrupt on rising edges only.
*/
void InterruptableSensorBase::RequestInterrupts() {
if (StatusIsFatal()) return;
wpi_assert(m_interrupt == HAL_kInvalidHandle);
AllocateInterrupts(true);
if (StatusIsFatal()) return; // if allocate failed, out of interrupts
int32_t status = 0;
HAL_RequestInterrupts(
m_interrupt, GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(GetAnalogTriggerTypeForRouting()),
&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
SetUpSourceEdge(true, false);
}
void InterruptableSensorBase::AllocateInterrupts(bool watcher) {
wpi_assert(m_interrupt == HAL_kInvalidHandle);
// Expects the calling leaf class to allocate an interrupt index.
int32_t status = 0;
m_interrupt = HAL_InitializeInterrupts(watcher, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
/**
* Cancel interrupts on this device.
*
* This deallocates all the chipobject structures and disables any interrupts.
*/
void InterruptableSensorBase::CancelInterrupts() {
if (StatusIsFatal()) return;
wpi_assert(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;
}
/**
* In synchronous mode, wait for the defined interrupt to occur.
*
* You should <b>NOT</b> attempt to read the sensor from another thread while
* waiting for an interrupt. This is not threadsafe, and can cause memory
* corruption
*
* @param timeout Timeout in seconds
* @param ignorePrevious If true, ignore interrupts that happened before
* WaitForInterrupt was called.
* @return What interrupts fired
*/
InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
double timeout, bool ignorePrevious) {
if (StatusIsFatal()) return InterruptableSensorBase::kTimeout;
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
int result;
result = HAL_WaitForInterrupt(m_interrupt, timeout, ignorePrevious, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
// Rising edge result is the interrupt bit set in the byte 0xFF
// Falling edge result is the interrupt bit set in the byte 0xFF00
// Set any bit set to be true for that edge, and AND the 2 results
// together to match the existing enum for all interrupts
int32_t rising = (result & 0xFF) ? 0x1 : 0x0;
int32_t falling = ((result & 0xFF00) ? 0x0100 : 0x0);
return static_cast<WaitResult>(falling | rising);
}
/**
* Enable interrupts to occur on this input.
*
* Interrupts are disabled when the RequestInterrupt call is made. This gives
* time to do the setup of the other options before starting to field
* interrupts.
*/
void InterruptableSensorBase::EnableInterrupts() {
if (StatusIsFatal()) return;
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
HAL_EnableInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
/**
* Disable Interrupts without without deallocating structures.
*/
void InterruptableSensorBase::DisableInterrupts() {
if (StatusIsFatal()) return;
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
HAL_DisableInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
/**
* Return the timestamp for the rising interrupt that occurred most recently.
*
* This is in the same time domain as GetClock().
* The rising-edge interrupt should be enabled with
* {@link #DigitalInput.SetUpSourceEdge}
*
* @return Timestamp in seconds since boot.
*/
double InterruptableSensorBase::ReadRisingTimestamp() {
if (StatusIsFatal()) return 0.0;
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
double timestamp = HAL_ReadInterruptRisingTimestamp(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return timestamp;
}
/**
* Return the timestamp for the falling interrupt that occurred most recently.
*
* This is in the same time domain as GetClock().
* The falling-edge interrupt should be enabled with
* {@link #DigitalInput.SetUpSourceEdge}
*
* @return Timestamp in seconds since boot.
*/
double InterruptableSensorBase::ReadFallingTimestamp() {
if (StatusIsFatal()) return 0.0;
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
double timestamp = HAL_ReadInterruptFallingTimestamp(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return timestamp;
}
/**
* Set which edge to trigger interrupts on
*
* @param risingEdge true to interrupt on rising edge
* @param fallingEdge true to interrupt on falling edge
*/
void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge,
bool fallingEdge) {
if (StatusIsFatal()) return;
if (m_interrupt == HAL_kInvalidHandle) {
wpi_setWPIErrorWithContext(
NullParameter,
"You must call RequestInterrupts before SetUpSourceEdge");
return;
}
if (m_interrupt != HAL_kInvalidHandle) {
int32_t status = 0;
HAL_SetInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
}