Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Changes HAL Headers to be C compliant. (#171)

Browse Source
This commit is contained in:
Thad House
2016-07-12 21:53:06 -07:00
committed by Peter Johnson
parent 1b1ee7f9f3
commit edf5ecd4a0
26 changed files with 117 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
hal/include/HAL/Accelerometer.h
View File

@@ -15,10 +15,14 @@ enum HAL_AccelerometerRange {
HAL_AccelerometerRange_k8G = 2,
};
#ifdef __cplusplus
extern "C" {
void HAL_SetAccelerometerActive(HAL_Bool);
void HAL_SetAccelerometerRange(HAL_AccelerometerRange);
double HAL_GetAccelerometerX();
double HAL_GetAccelerometerY();
double HAL_GetAccelerometerZ();
#endif
void HAL_SetAccelerometerActive(HAL_Bool active);
void HAL_SetAccelerometerRange(HAL_AccelerometerRange range);
double HAL_GetAccelerometerX(void);
double HAL_GetAccelerometerY(void);
double HAL_GetAccelerometerZ(void);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/AnalogAccumulator.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
void HAL_InitAccumulator(HAL_AnalogInputHandle analog_port_handle,
@@ -28,4 +30,6 @@ int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analog_port_handle,
int64_t* value, int64_t* count, int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/AnalogGyro.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle handle,
int32_t* status);
void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status);
@@ -30,4 +32,6 @@ double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status);
double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status);
double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/AnalogInput.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle port_handle,
int32_t* status);
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analog_port_handle);
@@ -42,4 +44,6 @@ int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/AnalogOutput.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
HAL_PortHandle port_handle, int32_t* status);
void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analog_output_handle);
@@ -20,4 +22,6 @@ void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle,
double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle,
int32_t* status);
HAL_Bool HAL_CheckAnalogOutputChannel(int32_t pin);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/AnalogTrigger.h
View File

@@ -18,7 +18,9 @@ enum HAL_AnalogTriggerType {
HAL_Trigger_kFallingPulse = 3
};
#ifdef __cplusplus
extern "C" {
#endif
HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
HAL_AnalogInputHandle port_handle, int32_t* index, int32_t* status);
void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analog_trigger_handle,
@@ -40,4 +42,6 @@ HAL_Bool HAL_GetAnalogTriggerTriggerState(
HAL_Bool HAL_GetAnalogTriggerOutput(
HAL_AnalogTriggerHandle analog_trigger_handle, HAL_AnalogTriggerType type,
int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Compressor.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_CompressorHandle HAL_InitializeCompressor(int32_t module, int32_t* status);
HAL_Bool HAL_CheckCompressorModule(int32_t module);
@@ -40,4 +42,6 @@ HAL_Bool HAL_GetCompressorNotConnectedStickyFault(
HAL_CompressorHandle compressor_handle, int32_t* status);
HAL_Bool HAL_GetCompressorNotConnectedFault(
HAL_CompressorHandle compressor_handle, int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Constants.h
View File

@@ -9,6 +9,10 @@
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
int32_t HAL_GetSystemClockTicksPerMicrosecond(void);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Counter.h
View File

@@ -19,7 +19,9 @@ enum HAL_Counter_Mode {
HAL_Counter_kExternalDirection = 3
};
#ifdef __cplusplus
extern "C" {
#endif
HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
int32_t* status);
void HAL_FreeCounter(HAL_CounterHandle counter_handle, int32_t* status);
@@ -68,4 +70,6 @@ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counter_handle,
int32_t* status);
void HAL_SetCounterReverseDirection(HAL_CounterHandle counter_handle,
HAL_Bool reverseDirection, int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/DIO.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle,
int32_t input, int32_t* status);
void HAL_FreeDIOPort(HAL_DigitalHandle dio_port_handle);
@@ -38,4 +40,6 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dio_port_handle,
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status);
void HAL_SetFilterPeriod(int32_t filter_index, int64_t value, int32_t* status);
int64_t HAL_GetFilterPeriod(int32_t filter_index, int32_t* status);
#ifdef __cplusplus
}
#endif

6
hal/include/HAL/Encoder.h
View File

@@ -12,7 +12,6 @@
#include "HAL/AnalogTrigger.h"
#include "HAL/Types.h"
extern "C" {
enum HAL_EncoderIndexingType {
HAL_kResetWhileHigh,
HAL_kResetWhileLow,
@@ -25,6 +24,9 @@ enum HAL_EncoderEncodingType {
HAL_Encoder_k4X
};
#ifdef __cplusplus
extern "C" {
#endif
HAL_EncoderHandle HAL_InitializeEncoder(
HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
@@ -73,4 +75,6 @@ double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle,
HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
HAL_EncoderHandle encoder_handle, int32_t* status);
#ifdef __cplusplus
}
#endif

24
hal/include/HAL/HAL.h
View File

@@ -103,7 +103,9 @@ struct HAL_JoystickDescriptor {
uint8_t povCount;
};
#ifdef __cplusplus
extern "C" {
#endif
HAL_PortHandle HAL_GetPort(int32_t pin);
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t pin);
const char* HAL_GetErrorMessage(int32_t code);
@@ -136,18 +138,26 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble);
float HAL_GetMatchTime(int32_t* status);
void HAL_WaitForDSData();
void HAL_WaitForDSData(void);
HAL_Bool HAL_GetSystemActive(int32_t* status);
HAL_Bool HAL_GetBrownedOut(int32_t* status);
int32_t HAL_Initialize(int32_t mode = 0);
void HAL_ObserveUserProgramStarting();
void HAL_ObserveUserProgramDisabled();
void HAL_ObserveUserProgramAutonomous();
void HAL_ObserveUserProgramTeleop();
void HAL_ObserveUserProgramTest();
int32_t HAL_Initialize(int32_t mode);
void HAL_ObserveUserProgramStarting(void);
void HAL_ObserveUserProgramDisabled(void);
void HAL_ObserveUserProgramAutonomous(void);
void HAL_ObserveUserProgramTeleop(void);
void HAL_ObserveUserProgramTest(void);
// ifdef's definition is to allow for default parameters in C++.
#ifdef __cplusplus
int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
int32_t context = 0, const char* feature = nullptr);
#else
int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
const char* feature);
#endif
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/I2C.h
View File

@@ -9,7 +9,9 @@
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
void HAL_InitializeI2C(int32_t port, int32_t* status);
int32_t HAL_TransactionI2C(int32_t port, int32_t deviceAddress,
uint8_t* dataToSend, int32_t sendSize,
@@ -19,4 +21,6 @@ int32_t HAL_WriteI2C(int32_t port, int32_t deviceAddress, uint8_t* dataToSend,
int32_t HAL_ReadI2C(int32_t port, int32_t deviceAddress, uint8_t* buffer,
int32_t count);
void HAL_CloseI2C(int32_t port);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Interrupts.h
View File

@@ -12,7 +12,9 @@
#include "HAL/AnalogTrigger.h"
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask,
void* param);
@@ -40,4 +42,6 @@ void HAL_AttachInterruptHandler(HAL_InterruptHandle interrupt_handle,
void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interrupt_handle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Notifier.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_NotifierHandle HAL_InitializeNotifier(void (*process)(uint64_t, void*),
void* param, int32_t* status);
void HAL_CleanNotifier(HAL_NotifierHandle notifier_handle, int32_t* status);
@@ -19,4 +21,6 @@ void* HAL_GetNotifierParam(HAL_NotifierHandle notifier_handle, int32_t* status);
void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifier_handle,
uint64_t triggerTime, int32_t* status);
void HAL_StopNotifierAlarm(HAL_NotifierHandle notifier_handle, int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/PDP.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
void HAL_InitializePDP(int32_t module, int32_t* status);
HAL_Bool HAL_CheckPDPModule(int32_t module);
double HAL_GetPDPTemperature(int32_t module, int32_t* status);
@@ -23,4 +25,6 @@ double HAL_GetPDPTotalPower(int32_t module, int32_t* status);
double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status);
void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status);
void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/PWM.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle,
int32_t* status);
void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status);
@@ -47,4 +49,6 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status);
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle,
int32_t squelchMask, int32_t* status);
int32_t HAL_GetLoopTiming(int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Ports.h
View File

@@ -9,7 +9,9 @@
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
int32_t HAL_GetNumAccumulators(void);
int32_t HAL_GetNumAnalogTriggers(void);
int32_t HAL_GetNumAnalogInputs(void);
@@ -29,4 +31,6 @@ int32_t HAL_GetNumSolenoidPins(void);
int32_t HAL_GetNumPDPModules(void);
int32_t HAL_GetNumPDPChannels(void);
int32_t HAL_GetNumCanTalons(void);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Power.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
double HAL_GetVinVoltage(int32_t* status);
double HAL_GetVinCurrent(int32_t* status);
double HAL_GetUserVoltage6V(int32_t* status);
@@ -26,4 +28,6 @@ double HAL_GetUserVoltage3V3(int32_t* status);
double HAL_GetUserCurrent3V3(int32_t* status);
HAL_Bool HAL_GetUserActive3V3(int32_t* status);
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Relay.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle port_handle,
HAL_Bool fwd, int32_t* status);
void HAL_FreeRelayPort(HAL_RelayHandle relay_port_handle);
@@ -21,4 +23,6 @@ HAL_Bool HAL_CheckRelayChannel(int32_t pin);
void HAL_SetRelay(HAL_RelayHandle relay_port_handle, HAL_Bool on,
int32_t* status);
HAL_Bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/SPI.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
void HAL_InitializeSPI(int32_t port, int32_t* status);
int32_t HAL_TransactionSPI(int32_t port, uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size);
@@ -42,4 +44,6 @@ int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status);
double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status);
void HAL_GetSPIAccumulatorOutput(int32_t port, int64_t* value, int64_t* count,
int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/SerialPort.h
View File

@@ -9,7 +9,9 @@
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
void HAL_InitializeSerialPort(int32_t port, int32_t* status);
void HAL_SetSerialBaudRate(int32_t port, int32_t baud, int32_t* status);
void HAL_SetSerialDataBits(int32_t port, int32_t bits, int32_t* status);
@@ -31,4 +33,6 @@ int32_t HAL_WriteSerial(int32_t port, const char* buffer, int32_t count,
void HAL_FlushSerial(int32_t port, int32_t* status);
void HAL_ClearSerial(int32_t port, int32_t* status);
void HAL_CloseSerial(int32_t port, int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Solenoid.h
View File

@@ -11,7 +11,9 @@
#include "HAL/Types.h"
#ifdef __cplusplus
extern "C" {
#endif
HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle port_handle,
int32_t* status);
void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoid_port_handle);
@@ -26,4 +28,6 @@ int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status);
HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status);
HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status);
void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status);
#ifdef __cplusplus
}
#endif

4
hal/include/HAL/Task.h
View File

@@ -24,7 +24,9 @@ typedef int STATUS;
typedef pthread_t* TASK;
#ifdef __cplusplus
extern "C" {
#endif
// Note: These constants used to be declared extern and were defined in
// Task.cpp. This caused issues with the JNI bindings for java, and so the
// instantiations were moved here.
@@ -33,4 +35,6 @@ const int32_t HAL_TaskLib_ILLEGAL_PRIORITY = 22; // 22 is EINVAL
STATUS HAL_VerifyTaskID(TASK task);
STATUS HAL_SetTaskPriority(TASK task, int priority); // valid priority [1..99]
STATUS HAL_GetTaskPriority(TASK task, int* priority);
#ifdef __cplusplus
}
#endif

2
wpilibc/athena/include/RobotBase.h
View File

@@ -17,7 +17,7 @@ class DriverStation;
#define START_ROBOT_CLASS(_ClassName_) \
int main() { \
if (!HAL_Initialize()) { \
if (!HAL_Initialize(0)) { \
std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl; \
return -1; \
} \

2
wpilibcIntegrationTests/src/TestEnvironment.cpp
View File

@@ -21,7 +21,7 @@ class TestEnvironment : public testing::Environment {
if (m_alreadySetUp) return;
m_alreadySetUp = true;
if (!HAL_Initialize()) {
if (!HAL_Initialize(0)) {
std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl;
exit(-1);
}