[hal, wpilib] Remove DigitalGlitchFilter (#7725)

wpilibc/src/main/native/include/frc/DigitalGlitchFilter.h

@@ -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.
-
-#pragma once
-
-#include <stdint.h>
-
-#include <array>
-
-#include <wpi/mutex.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
-
-#include "frc/DigitalSource.h"
-
-namespace frc {
-
-class Encoder;
-class Counter;
-
-/**
- * Class to enable glitch filtering on a set of digital inputs.
- *
- * This class will manage adding and removing digital inputs from a FPGA glitch
- * filter. The filter lets the user configure the time that an input must remain
- * high or low before it is classified as high or low.
- */
-class DigitalGlitchFilter : public wpi::Sendable,
-                            public wpi::SendableHelper<DigitalGlitchFilter> {
- public:
-  DigitalGlitchFilter();
-  ~DigitalGlitchFilter() override;
-
-  DigitalGlitchFilter(DigitalGlitchFilter&&) = default;
-  DigitalGlitchFilter& operator=(DigitalGlitchFilter&&) = default;
-
-  /**
-   * Assigns the DigitalSource to this glitch filter.
-   *
-   * @param input The DigitalSource to add.
-   */
-  void Add(DigitalSource* input);
-
-  /**
-   * Assigns the Encoder to this glitch filter.
-   *
-   * @param input The Encoder to add.
-   */
-  void Add(Encoder* input);
-
-  /**
-   * Assigns the Counter to this glitch filter.
-   *
-   * @param input The Counter to add.
-   */
-  void Add(Counter* input);
-
-  /**
-   * Removes a digital input from this filter.
-   *
-   * Removes the DigitalSource from this glitch filter and re-assigns it to
-   * the default filter.
-   *
-   * @param input The DigitalSource to remove.
-   */
-  void Remove(DigitalSource* input);
-
-  /**
-   * Removes an encoder from this filter.
-   *
-   * Removes the Encoder from this glitch filter and re-assigns it to
-   * the default filter.
-   *
-   * @param input The Encoder to remove.
-   */
-  void Remove(Encoder* input);
-
-  /**
-   * Removes a counter from this filter.
-   *
-   * Removes the Counter from this glitch filter and re-assigns it to
-   * the default filter.
-   *
-   * @param input The Counter to remove.
-   */
-  void Remove(Counter* input);
-
-  /**
-   * Sets the number of cycles that the input must not change state for.
-   *
-   * @param fpgaCycles The number of FPGA cycles.
-   */
-  void SetPeriodCycles(int fpgaCycles);
-
-  /**
-   * Sets the number of nanoseconds that the input must not change state for.
-   *
-   * @param nanoseconds The number of nanoseconds.
-   */
-  void SetPeriodNanoSeconds(uint64_t nanoseconds);
-
-  /**
-   * Gets the number of cycles that the input must not change state for.
-   *
-   * @return The number of cycles.
-   */
-  int GetPeriodCycles();
-
-  /**
-   * Gets the number of nanoseconds that the input must not change state for.
-   *
-   * @return The number of nanoseconds.
-   */
-  uint64_t GetPeriodNanoSeconds();
-
-  void InitSendable(wpi::SendableBuilder& builder) override;
-
- private:
-  int m_channelIndex;
-
-  // Sets the filter for the input to be the requested index. A value of 0
-  // disables the filter, and the filter value must be between 1 and 3,
-  // inclusive.
-  static void DoAdd(DigitalSource* input, int requested_index);
-
-  /**
-   * Allocates the next available filter index, or -1 if there are no filters
-   * available.
-   * @return the filter index
-   */
-  static int AllocateFilterIndex();
-
-  static wpi::mutex m_mutex;
-  static std::array<bool, 3> m_filterAllocated;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/DigitalInput.h

@@ -12,8 +12,6 @@
 
 namespace frc {
 
-class DigitalGlitchFilter;
-
 /**
  * Class to read a digital input.
  *
@@ -81,8 +79,6 @@ class DigitalInput : public DigitalSource,
  private:
   int m_channel;
   hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
-
-  friend class DigitalGlitchFilter;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/Encoder.h

@@ -17,7 +17,6 @@
 namespace frc {
 
 class DigitalSource;
-class DigitalGlitchFilter;
 
 /**
  * Class to read quad encoders.
@@ -375,8 +374,6 @@ class Encoder : public CounterBase,
   std::shared_ptr<DigitalSource> m_bSource;  // The B phase of the quad encoder
   std::shared_ptr<DigitalSource> m_indexSource = nullptr;
   hal::Handle<HAL_EncoderHandle, HAL_FreeEncoder> m_encoder;
-
-  friend class DigitalGlitchFilter;
 };
 
 }  // namespace frc