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/DoubleSolenoid.cpp

@@ -0,0 +1,202 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DoubleSolenoid.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+#include <sstream>
+
+/**
+ * Constructor.
+ *
+ * Uses the default PCM ID of 0.
+ *
+ * @param forwardChannel The forward channel number on the PCM (0..7).
+ * @param reverseChannel The reverse channel number on the PCM (0..7).
+ */
+DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
+    : DoubleSolenoid(GetDefaultSolenoidModule(), forwardChannel,
+                     reverseChannel) {}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber   The CAN ID of the PCM.
+ * @param forwardChannel The forward channel on the PCM to control (0..7).
+ * @param reverseChannel The reverse channel on the PCM to control (0..7).
+ */
+DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel,
+                               uint32_t reverseChannel)
+    : SolenoidBase(moduleNumber),
+      m_forwardChannel(forwardChannel),
+      m_reverseChannel(reverseChannel) {
+  std::stringstream buf;
+  if (!CheckSolenoidModule(m_moduleNumber)) {
+    buf << "Solenoid Module " << m_moduleNumber;
+    wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
+    return;
+  }
+  if (!CheckSolenoidChannel(m_forwardChannel)) {
+    buf << "Solenoid Module " << m_forwardChannel;
+    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    return;
+  }
+  if (!CheckSolenoidChannel(m_reverseChannel)) {
+    buf << "Solenoid Module " << m_reverseChannel;
+    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    return;
+  }
+  Resource::CreateResourceObject(m_allocated, m_maxModules * m_maxPorts);
+
+  buf << "Solenoid " << m_forwardChannel << " (Module: " << m_moduleNumber
+      << ")";
+  if (m_allocated->Allocate(
+          m_moduleNumber * kSolenoidChannels + m_forwardChannel, buf.str()) ==
+      std::numeric_limits<uint32_t>::max()) {
+    CloneError(*m_allocated);
+    return;
+  }
+
+  buf << "Solenoid " << m_reverseChannel << " (Module: " << m_moduleNumber
+      << ")";
+  if (m_allocated->Allocate(
+          m_moduleNumber * kSolenoidChannels + m_reverseChannel, buf.str()) ==
+      std::numeric_limits<uint32_t>::max()) {
+    CloneError(*m_allocated);
+    return;
+  }
+
+  m_forwardMask = 1 << m_forwardChannel;
+  m_reverseMask = 1 << m_reverseChannel;
+  HALReport(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel,
+            m_moduleNumber);
+  HALReport(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel,
+            m_moduleNumber);
+  LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber,
+                                         m_forwardChannel, this);
+}
+
+/**
+ * Destructor.
+ */
+DoubleSolenoid::~DoubleSolenoid() {
+  if (CheckSolenoidModule(m_moduleNumber)) {
+    m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
+    m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
+  }
+  if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the value of a solenoid.
+ *
+ * @param value The value to set (Off, Forward or Reverse)
+ */
+void DoubleSolenoid::Set(Value value) {
+  if (StatusIsFatal()) return;
+  uint8_t rawValue = 0x00;
+
+  switch (value) {
+    case kOff:
+      rawValue = 0x00;
+      break;
+    case kForward:
+      rawValue = m_forwardMask;
+      break;
+    case kReverse:
+      rawValue = m_reverseMask;
+      break;
+  }
+
+  SolenoidBase::Set(rawValue, m_forwardMask | m_reverseMask, m_moduleNumber);
+}
+
+/**
+ * Read the current value of the solenoid.
+ *
+ * @return The current value of the solenoid.
+ */
+DoubleSolenoid::Value DoubleSolenoid::Get() const {
+  if (StatusIsFatal()) return kOff;
+  uint8_t value = GetAll(m_moduleNumber);
+
+  if (value & m_forwardMask) return kForward;
+  if (value & m_reverseMask) return kReverse;
+  return kOff;
+}
+/**
+ * Check if the forward solenoid is blacklisted.
+ *
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool DoubleSolenoid::IsFwdSolenoidBlackListed() const {
+  int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
+  return (blackList & m_forwardMask) ? 1 : 0;
+}
+/**
+ * Check if the reverse solenoid is blacklisted.
+ *
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
+  int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
+  return (blackList & m_reverseMask) ? 1 : 0;
+}
+
+void DoubleSolenoid::ValueChanged(ITable* source, llvm::StringRef key,
+                                  std::shared_ptr<nt::Value> value,
+                                  bool isNew) {
+  if (!value->IsString()) return;
+  Value lvalue = kOff;
+  if (value->GetString() == "Forward")
+    lvalue = kForward;
+  else if (value->GetString() == "Reverse")
+    lvalue = kReverse;
+  Set(lvalue);
+}
+
+void DoubleSolenoid::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutString(
+        "Value", (Get() == kForward ? "Forward"
+                                    : (Get() == kReverse ? "Reverse" : "Off")));
+  }
+}
+
+void DoubleSolenoid::StartLiveWindowMode() {
+  Set(kOff);
+  if (m_table != nullptr) {
+    m_table->AddTableListener("Value", this, true);
+  }
+}
+
+void DoubleSolenoid::StopLiveWindowMode() {
+  Set(kOff);
+  if (m_table != nullptr) {
+    m_table->RemoveTableListener(this);
+  }
+}
+
+std::string DoubleSolenoid::GetSmartDashboardType() const {
+  return "Double Solenoid";
+}
+
+void DoubleSolenoid::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> DoubleSolenoid::GetTable() const { return m_table; }