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/Compressor.cpp

@@ -0,0 +1,293 @@
+/*
+ * Compressor.cpp
+ */
+
+#include "Compressor.h"
+#include "WPIErrors.h"
+
+/**
+ * Constructor.
+ *
+ * @param module The PCM ID to use (0-62)
+ */
+Compressor::Compressor(uint8_t pcmID) {
+  m_pcm_pointer = initializeCompressor(pcmID);
+  SetClosedLoopControl(true);
+}
+
+/**
+ * Starts closed-loop control. Note that closed loop control is enabled by
+ * default.
+ */
+void Compressor::Start() { SetClosedLoopControl(true); }
+
+/**
+ * Stops closed-loop control. Note that closed loop control is enabled by
+ * default.
+ */
+void Compressor::Stop() { SetClosedLoopControl(false); }
+
+/**
+ * Check if compressor output is active.
+ *
+ * @return true if the compressor is on
+ */
+bool Compressor::Enabled() const {
+  int32_t status = 0;
+  bool value;
+
+  value = getCompressor(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Check if the pressure switch is triggered.
+ *
+ * @return true if pressure is low
+ */
+bool Compressor::GetPressureSwitchValue() const {
+  int32_t status = 0;
+  bool value;
+
+  value = getPressureSwitch(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Query how much current the compressor is drawing.
+ *
+ * @return The current through the compressor, in amps
+ */
+float Compressor::GetCompressorCurrent() const {
+  int32_t status = 0;
+  float value;
+
+  value = getCompressorCurrent(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Enables or disables automatically turning the compressor on when the
+ * pressure is low.
+ *
+ * @param on Set to true to enable closed loop control of the compressor. False
+ *           to disable.
+ */
+void Compressor::SetClosedLoopControl(bool on) {
+  int32_t status = 0;
+
+  setClosedLoopControl(m_pcm_pointer, on, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+}
+
+/**
+ * Returns true if the compressor will automatically turn on when the
+ * pressure is low.
+ *
+ * @return True if closed loop control of the compressor is enabled. False if
+ *         disabled.
+ */
+bool Compressor::GetClosedLoopControl() const {
+  int32_t status = 0;
+  bool value;
+
+  value = getClosedLoopControl(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Query if the compressor output has been disabled due to high current draw.
+ *
+ * @return true if PCM is in fault state : Compressor Drive is
+ *         disabled due to compressor current being too high.
+ */
+bool Compressor::GetCompressorCurrentTooHighFault() const {
+  int32_t status = 0;
+  bool value;
+
+  value = getCompressorCurrentTooHighFault(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Query if the compressor output has been disabled due to high current draw
+ * (sticky).
+ *
+ * A sticky fault will not clear on device reboot, it must be cleared through
+ * code or the webdash.
+ *
+ * @return true if PCM sticky fault is set : Compressor Drive is
+ *         disabled due to compressor current being too high.
+ */
+bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
+  int32_t status = 0;
+  bool value;
+
+  value = getCompressorCurrentTooHighStickyFault(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Query if the compressor output has been disabled due to a short circuit
+ * (sticky).
+ *
+ * A sticky fault will not clear on device reboot, it must be cleared through
+ * code or the webdash.
+ *
+ * @return true if PCM sticky fault is set : Compressor output
+ *         appears to be shorted.
+ */
+bool Compressor::GetCompressorShortedStickyFault() const {
+  int32_t status = 0;
+  bool value;
+
+  value = getCompressorShortedStickyFault(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Query if the compressor output has been disabled due to a short circuit.
+ *
+ * @return true if PCM is in fault state : Compressor output
+ *         appears to be shorted.
+ */
+bool Compressor::GetCompressorShortedFault() const {
+  int32_t status = 0;
+  bool value;
+
+  value = getCompressorShortedFault(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Query if the compressor output does not appear to be wired (sticky).
+ *
+ * A sticky fault will not clear on device reboot, it must be cleared through
+ * code or the webdash.
+ *
+ * @return true if PCM sticky fault is set : Compressor does not
+ *         appear to be wired, i.e. compressor is not drawing enough current.
+ */
+bool Compressor::GetCompressorNotConnectedStickyFault() const {
+  int32_t status = 0;
+  bool value;
+
+  value = getCompressorNotConnectedStickyFault(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Query if the compressor output does not appear to be wired.
+ *
+ * @return true if PCM is in fault state : Compressor does not
+ *         appear to be wired, i.e. compressor is not drawing enough current.
+ */
+bool Compressor::GetCompressorNotConnectedFault() const {
+  int32_t status = 0;
+  bool value;
+
+  value = getCompressorNotConnectedFault(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+
+  return value;
+}
+
+/**
+ * Clear ALL sticky faults inside PCM that Compressor is wired to.
+ *
+ * If a sticky fault is set, then it will be persistently cleared.  Compressor
+ * drive maybe momentarily disable while flags are being cleared. Care should
+ * be taken to not call this too frequently, otherwise normal compressor
+ * functionality may be prevented.
+ *
+ * If no sticky faults are set then this call will have no effect.
+ */
+void Compressor::ClearAllPCMStickyFaults() {
+  int32_t status = 0;
+
+  clearAllPCMStickyFaults(m_pcm_pointer, &status);
+
+  if (status) {
+    wpi_setWPIError(Timeout);
+  }
+}
+
+void Compressor::UpdateTable() {
+  if (m_table) {
+    m_table->PutBoolean("Enabled", Enabled());
+    m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
+  }
+}
+
+void Compressor::StartLiveWindowMode() {}
+
+void Compressor::StopLiveWindowMode() {}
+
+std::string Compressor::GetSmartDashboardType() const { return "Compressor"; }
+
+void Compressor::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> Compressor::GetTable() const { return m_table; }
+
+void Compressor::ValueChanged(ITable* source, llvm::StringRef key,
+                              std::shared_ptr<nt::Value> value, bool isNew) {
+  if (!value->IsBoolean()) return;
+  if (value->GetBoolean())
+    Start();
+  else
+    Stop();
+}