[hal, wpilib] Remove DigitalGlitchFilter (#7725)

2026-06-19 00:41:43 +00:00 · 2025-01-23 21:44:18 -08:00
parent 5a6c895b87
commit e2b6beb28a
10 changed files with 0 additions and 722 deletions
--- a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
@@ -1,138 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/DigitalGlitchFilter.h"
-
-#include <algorithm>
-#include <array>
-#include <utility>
-
-#include <hal/Constants.h>
-#include <hal/DIO.h>
-#include <hal/FRCUsageReporting.h>
-#include <wpi/sendable/SendableRegistry.h>
-
-#include "frc/Counter.h"
-#include "frc/Encoder.h"
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
-
-using namespace frc;
-
-std::array<bool, 3> DigitalGlitchFilter::m_filterAllocated = {
-    {false, false, false}};
-wpi::mutex DigitalGlitchFilter::m_mutex;
-
-DigitalGlitchFilter::DigitalGlitchFilter() {
-  m_channelIndex = AllocateFilterIndex();
-  if (m_channelIndex < 0) {
-    throw FRC_MakeError(err::NoAvailableResources,
-                        "No filters available to allocate.");
-  }
-  HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
-             m_channelIndex + 1);
-  wpi::SendableRegistry::AddLW(this, "DigitalGlitchFilter", m_channelIndex);
-}
-
-DigitalGlitchFilter::~DigitalGlitchFilter() {
-  if (m_channelIndex >= 0) {
-    std::scoped_lock lock(m_mutex);
-    m_filterAllocated[m_channelIndex] = false;
-  }
-}
-
-int DigitalGlitchFilter::AllocateFilterIndex() {
-  std::scoped_lock lock{m_mutex};
-  auto filter =
-      std::find(m_filterAllocated.begin(), m_filterAllocated.end(), false);
-
-  if (filter == m_filterAllocated.end()) {
-    return -1;
-  }
-  *filter = true;
-  return std::distance(m_filterAllocated.begin(), filter);
-}
-
-void DigitalGlitchFilter::Add(DigitalSource* input) {
-  DoAdd(input, m_channelIndex + 1);
-}
-
-void DigitalGlitchFilter::DoAdd(DigitalSource* input, int requestedIndex) {
-  // Some sources from Counters and Encoders are null. By pushing the check
-  // here, we catch the issue more generally.
-  if (input) {
-    // We don't support GlitchFilters on AnalogTriggers.
-    if (input->IsAnalogTrigger()) {
-      throw FRC_MakeError(
-          -1, "Analog Triggers not supported for DigitalGlitchFilters");
-    }
-    int32_t status = 0;
-    HAL_SetFilterSelect(input->GetPortHandleForRouting(), requestedIndex,
-                        &status);
-    FRC_CheckErrorStatus(status, "requested index {}", requestedIndex);
-
-    // Validate that we set it correctly.
-    int actualIndex =
-        HAL_GetFilterSelect(input->GetPortHandleForRouting(), &status);
-    FRC_CheckErrorStatus(status, "requested index {}", requestedIndex);
-    FRC_AssertMessage(actualIndex == requestedIndex,
-                      "HAL_SetFilterSelect({}) failed -> {}", requestedIndex,
-                      actualIndex);
-  }
-}
-
-void DigitalGlitchFilter::Add(Encoder* input) {
-  Add(input->m_aSource.get());
-  Add(input->m_bSource.get());
-}
-
-void DigitalGlitchFilter::Add(Counter* input) {
-  Add(input->m_upSource.get());
-  Add(input->m_downSource.get());
-}
-
-void DigitalGlitchFilter::Remove(DigitalSource* input) {
-  DoAdd(input, 0);
-}
-
-void DigitalGlitchFilter::Remove(Encoder* input) {
-  Remove(input->m_aSource.get());
-  Remove(input->m_bSource.get());
-}
-
-void DigitalGlitchFilter::Remove(Counter* input) {
-  Remove(input->m_upSource.get());
-  Remove(input->m_downSource.get());
-}
-
-void DigitalGlitchFilter::SetPeriodCycles(int fpgaCycles) {
-  int32_t status = 0;
-  HAL_SetFilterPeriod(m_channelIndex, fpgaCycles, &status);
-  FRC_CheckErrorStatus(status, "Channel {}", m_channelIndex);
-}
-
-void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) {
-  int32_t status = 0;
-  int fpgaCycles =
-      nanoseconds * HAL_GetSystemClockTicksPerMicrosecond() / 4 / 1000;
-  HAL_SetFilterPeriod(m_channelIndex, fpgaCycles, &status);
-  FRC_CheckErrorStatus(status, "Channel {}", m_channelIndex);
-}
-
-int DigitalGlitchFilter::GetPeriodCycles() {
-  int32_t status = 0;
-  int fpgaCycles = HAL_GetFilterPeriod(m_channelIndex, &status);
-  FRC_CheckErrorStatus(status, "Channel {}", m_channelIndex);
-  return fpgaCycles;
-}
-
-uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() {
-  int32_t status = 0;
-  int fpgaCycles = HAL_GetFilterPeriod(m_channelIndex, &status);
-  FRC_CheckErrorStatus(status, "Channel {}", m_channelIndex);
-  return static_cast<uint64_t>(fpgaCycles) * 1000L /
-         static_cast<uint64_t>(HAL_GetSystemClockTicksPerMicrosecond() / 4);
-}
-
-void DigitalGlitchFilter::InitSendable(wpi::SendableBuilder&) {}