Renamed folders for consistency, using sim/athena/shared schema (#27)

Rename the following folders:
hal/lib/Athena -> hal/lib/athena
hal/lib/Desktop -> hal/lib/sim
hal/lib/Shared -> hal/lib/shared
wpilibc/Athena -> wpilibc/athena
wpilibc/simulation -> wpilibc/sim

Windows users may need to run gradlew clean after updating.

wpilibc/athena/src/AnalogTrigger.cpp

@@ -0,0 +1,175 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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 "AnalogTrigger.h"
+
+#include "AnalogInput.h"
+#include "HAL/Port.h"
+#include "Resource.h"
+#include "WPIErrors.h"
+
+#include <memory>
+
+/**
+ * Constructor for an analog trigger given a channel number.
+ *
+ * @param channel The channel number on the roboRIO to represent. 0-3 are
+ *                on-board 4-7 are on the MXP port.
+ */
+AnalogTrigger::AnalogTrigger(int32_t channel) {
+  void* port = getPort(channel);
+  int32_t status = 0;
+  uint32_t index = 0;
+  m_trigger = initializeAnalogTrigger(port, &index, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  freePort(port);
+  m_index = index;
+
+  HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel);
+}
+
+/**
+ * Construct an analog trigger given an analog input.
+ *
+ * This should be used in the case of sharing an analog channel between the
+ * trigger and an analog input object.
+ *
+ * @param channel The pointer to the existing AnalogInput object
+ */
+AnalogTrigger::AnalogTrigger(AnalogInput* input)
+    : AnalogTrigger(input->GetChannel()) {}
+
+AnalogTrigger::~AnalogTrigger() {
+  int32_t status = 0;
+  cleanAnalogTrigger(m_trigger, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Set the upper and lower limits of the analog trigger.
+ *
+ * The limits are given in ADC codes.  If oversampling is used, the units must
+ * be scaled appropriately.
+ *
+ * @param lower The lower limit of the trigger in ADC codes (12-bit values).
+ * @param upper The upper limit of the trigger in ADC codes (12-bit values).
+ */
+void AnalogTrigger::SetLimitsRaw(int32_t lower, int32_t upper) {
+  if (StatusIsFatal()) return;
+  int32_t status = 0;
+  setAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Set the upper and lower limits of the analog trigger.
+ *
+ * The limits are given as floating point voltage values.
+ *
+ * @param lower The lower limit of the trigger in Volts.
+ * @param upper The upper limit of the trigger in Volts.
+ */
+void AnalogTrigger::SetLimitsVoltage(float lower, float upper) {
+  if (StatusIsFatal()) return;
+  int32_t status = 0;
+  setAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure the analog trigger to use the averaged vs. raw values.
+ *
+ * If the value is true, then the averaged value is selected for the analog
+ * trigger, otherwise the immediate value is used.
+ *
+ * @param useAveragedValue If true, use the Averaged value, otherwise use the
+ *                         instantaneous reading
+ */
+void AnalogTrigger::SetAveraged(bool useAveragedValue) {
+  if (StatusIsFatal()) return;
+  int32_t status = 0;
+  setAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Configure the analog trigger to use a filtered value.
+ *
+ * The analog trigger will operate with a 3 point average rejection filter. This
+ * is designed to help with 360 degree pot applications for the period where
+ * the pot crosses through zero.
+ *
+ * @param useFilteredValue If true, use the 3 point rejection filter, otherwise
+ *                         use the unfiltered value
+ */
+void AnalogTrigger::SetFiltered(bool useFilteredValue) {
+  if (StatusIsFatal()) return;
+  int32_t status = 0;
+  setAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Return the index of the analog trigger.
+ *
+ * This is the FPGA index of this analog trigger instance.
+ *
+ * @return The index of the analog trigger.
+ */
+uint32_t AnalogTrigger::GetIndex() const {
+  if (StatusIsFatal()) return std::numeric_limits<uint32_t>::max();
+  return m_index;
+}
+
+/**
+ * Return the InWindow output of the analog trigger.
+ *
+ * True if the analog input is between the upper and lower limits.
+ *
+ * @return True if the analog input is between the upper and lower limits.
+ */
+bool AnalogTrigger::GetInWindow() {
+  if (StatusIsFatal()) return false;
+  int32_t status = 0;
+  bool result = getAnalogTriggerInWindow(m_trigger, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  return result;
+}
+
+/**
+ * Return the TriggerState output of the analog trigger.
+ *
+ * True if above upper limit.
+ * False if below lower limit.
+ * If in Hysteresis, maintain previous state.
+ *
+ * @return True if above upper limit. False if below lower limit. If in
+ *         Hysteresis, maintain previous state.
+ */
+bool AnalogTrigger::GetTriggerState() {
+  if (StatusIsFatal()) return false;
+  int32_t status = 0;
+  bool result = getAnalogTriggerTriggerState(m_trigger, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  return result;
+}
+
+/**
+ * Creates an AnalogTriggerOutput object.
+ *
+ * Gets an output object that can be used for routing.
+ * Caller is responsible for deleting the AnalogTriggerOutput object.
+ *
+ * @param type An enum of the type of output object to create.
+ * @return A pointer to a new AnalogTriggerOutput object.
+ */
+std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
+    AnalogTriggerType type) const {
+  if (StatusIsFatal()) return nullptr;
+  return std::shared_ptr<AnalogTriggerOutput>(
+      new AnalogTriggerOutput(*this, type), NullDeleter<AnalogTriggerOutput>());
+}