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/SensorBase.cpp

@@ -0,0 +1,185 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "SensorBase.h"
+
+#include "HAL/HAL.hpp"
+#include "HAL/Port.h"
+#include "NetworkCommunication/LoadOut.h"
+#include "WPIErrors.h"
+
+const uint32_t SensorBase::kDigitalChannels;
+const uint32_t SensorBase::kAnalogInputs;
+const uint32_t SensorBase::kSolenoidChannels;
+const uint32_t SensorBase::kSolenoidModules;
+const uint32_t SensorBase::kPwmChannels;
+const uint32_t SensorBase::kRelayChannels;
+const uint32_t SensorBase::kPDPChannels;
+const uint32_t SensorBase::kChassisSlots;
+SensorBase* SensorBase::m_singletonList = nullptr;
+
+static bool portsInitialized = false;
+void* SensorBase::m_digital_ports[kDigitalChannels];
+void* SensorBase::m_relay_ports[kRelayChannels];
+void* SensorBase::m_pwm_ports[kPwmChannels];
+
+/**
+ * Creates an instance of the sensor base and gets an FPGA handle
+ */
+SensorBase::SensorBase() {
+  if (!portsInitialized) {
+    for (uint32_t i = 0; i < kDigitalChannels; i++) {
+      void* port = getPort(i);
+      int32_t status = 0;
+      m_digital_ports[i] = initializeDigitalPort(port, &status);
+      wpi_setErrorWithContext(status, getHALErrorMessage(status));
+      freePort(port);
+    }
+
+    for (uint32_t i = 0; i < kRelayChannels; i++) {
+      void* port = getPort(i);
+      int32_t status = 0;
+      m_relay_ports[i] = initializeDigitalPort(port, &status);
+      wpi_setErrorWithContext(status, getHALErrorMessage(status));
+      freePort(port);
+    }
+
+    for (uint32_t i = 0; i < kPwmChannels; i++) {
+      void* port = getPort(i);
+      int32_t status = 0;
+      m_pwm_ports[i] = initializeDigitalPort(port, &status);
+      wpi_setErrorWithContext(status, getHALErrorMessage(status));
+      freePort(port);
+    }
+  }
+}
+
+/**
+ * Add sensor to the singleton list.
+ *
+ * Add this sensor to the list of singletons that need to be deleted when
+ * the robot program exits. Each of the sensors on this list are singletons,
+ * that is they aren't allocated directly with new, but instead are allocated
+ * by the static GetInstance method. As a result, they are never deleted when
+ * the program exits. Consequently these sensors may still be holding onto
+ * resources and need to have their destructors called at the end of the
+ * program.
+ */
+void SensorBase::AddToSingletonList() {
+  m_nextSingleton = m_singletonList;
+  m_singletonList = this;
+}
+
+/**
+ * Delete all the singleton classes on the list.
+ *
+ * All the classes that were allocated as singletons need to be deleted so
+ * their resources can be freed.
+ */
+void SensorBase::DeleteSingletons() {
+  for (SensorBase* next = m_singletonList; next != nullptr;) {
+    SensorBase* tmp = next;
+    next = next->m_nextSingleton;
+    delete tmp;
+  }
+  m_singletonList = nullptr;
+}
+
+/**
+ * Check that the solenoid module number is valid.
+ *
+ * @return Solenoid module is valid and present
+ */
+bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber) {
+  if (moduleNumber < 64) return true;
+  return false;
+}
+
+/**
+ * Check that the digital channel number is valid.
+ *
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are 1-based.
+ *
+ * @return Digital channel is valid
+ */
+bool SensorBase::CheckDigitalChannel(uint32_t channel) {
+  if (channel < kDigitalChannels) return true;
+  return false;
+}
+
+/**
+ * Check that the digital channel number is valid.
+ *
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are 1-based.
+ *
+ * @return Relay channel is valid
+ */
+bool SensorBase::CheckRelayChannel(uint32_t channel) {
+  if (channel < kRelayChannels) return true;
+  return false;
+}
+
+/**
+ * Check that the digital channel number is valid.
+ *
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are 1-based.
+ *
+ * @return PWM channel is valid
+ */
+bool SensorBase::CheckPWMChannel(uint32_t channel) {
+  if (channel < kPwmChannels) return true;
+  return false;
+}
+
+/**
+ * Check that the analog input number is value.
+ *
+ * Verify that the analog input number is one of the legal channel numbers.
+ * Channel numbers are 0-based.
+ *
+ * @return Analog channel is valid
+ */
+bool SensorBase::CheckAnalogInput(uint32_t channel) {
+  if (channel < kAnalogInputs) return true;
+  return false;
+}
+
+/**
+ * Check that the analog output number is valid.
+ *
+ * Verify that the analog output number is one of the legal channel numbers.
+ * Channel numbers are 0-based.
+ *
+ * @return Analog channel is valid
+ */
+bool SensorBase::CheckAnalogOutput(uint32_t channel) {
+  if (channel < kAnalogOutputs) return true;
+  return false;
+}
+
+/**
+ * Verify that the solenoid channel number is within limits.
+ *
+ * @return Solenoid channel is valid
+ */
+bool SensorBase::CheckSolenoidChannel(uint32_t channel) {
+  if (channel < kSolenoidChannels) return true;
+  return false;
+}
+
+/**
+ * Verify that the power distribution channel number is within limits.
+ *
+ * @return PDP channel is valid
+ */
+bool SensorBase::CheckPDPChannel(uint32_t channel) {
+  if (channel < kPDPChannels) return true;
+  return false;
+}