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Moves the HAL priority_ custom types to the hal namespace (#532)

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There is a shim for backwards compatibility, just like the frc namespace.
As with the frc namespace, the library compiles without the shim.
This commit is contained in:
Thad House
2017-05-11 21:25:22 -07:00
committed by Peter Johnson
parent 16e71eac43
commit efec0c5cc3
47 changed files with 250 additions and 223 deletions
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52
wpilibc/athena/src/PIDController.cpp
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@@ -90,7 +90,7 @@ void PIDController::Calculate() {
PIDOutput* pidOutput;
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
pidInput = m_pidInput;
pidOutput = m_pidOutput;
enabled = m_enabled;
@@ -100,7 +100,7 @@ void PIDController::Calculate() {
if (pidOutput == nullptr) return;
if (enabled) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
double input = pidInput->PIDGet();
double result;
PIDOutput* pidOutput;
@@ -197,7 +197,7 @@ double PIDController::CalculateFeedForward() {
*/
void PIDController::SetPID(double p, double i, double d) {
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_P = p;
m_I = i;
m_D = d;
@@ -222,7 +222,7 @@ void PIDController::SetPID(double p, double i, double d) {
*/
void PIDController::SetPID(double p, double i, double d, double f) {
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_P = p;
m_I = i;
m_D = d;
@@ -243,7 +243,7 @@ void PIDController::SetPID(double p, double i, double d, double f) {
* @return proportional coefficient
*/
double PIDController::GetP() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
return m_P;
}
@@ -253,7 +253,7 @@ double PIDController::GetP() const {
* @return integral coefficient
*/
double PIDController::GetI() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
return m_I;
}
@@ -263,7 +263,7 @@ double PIDController::GetI() const {
* @return differential coefficient
*/
double PIDController::GetD() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
return m_D;
}
@@ -273,7 +273,7 @@ double PIDController::GetD() const {
* @return Feed forward coefficient
*/
double PIDController::GetF() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
return m_F;
}
@@ -285,7 +285,7 @@ double PIDController::GetF() const {
* @return the latest calculated output
*/
double PIDController::Get() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
return m_result;
}
@@ -299,7 +299,7 @@ double PIDController::Get() const {
* @param continuous true turns on continuous, false turns off continuous
*/
void PIDController::SetContinuous(bool continuous) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_continuous = continuous;
}
@@ -311,7 +311,7 @@ void PIDController::SetContinuous(bool continuous) {
*/
void PIDController::SetInputRange(double minimumInput, double maximumInput) {
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_minimumInput = minimumInput;
m_maximumInput = maximumInput;
}
@@ -326,7 +326,7 @@ void PIDController::SetInputRange(double minimumInput, double maximumInput) {
* @param maximumOutput the maximum value to write to the output
*/
void PIDController::SetOutputRange(double minimumOutput, double maximumOutput) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_minimumOutput = minimumOutput;
m_maximumOutput = maximumOutput;
}
@@ -340,7 +340,7 @@ void PIDController::SetOutputRange(double minimumOutput, double maximumOutput) {
*/
void PIDController::SetSetpoint(double setpoint) {
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
if (m_maximumInput > m_minimumInput) {
if (setpoint > m_maximumInput)
@@ -369,7 +369,7 @@ void PIDController::SetSetpoint(double setpoint) {
* @return the current setpoint
*/
double PIDController::GetSetpoint() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
return m_setpoint;
}
@@ -379,7 +379,7 @@ double PIDController::GetSetpoint() const {
* @return the change in setpoint over time
*/
double PIDController::GetDeltaSetpoint() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
return (m_setpoint - m_prevSetpoint) / m_setpointTimer.Get();
}
@@ -391,7 +391,7 @@ double PIDController::GetDeltaSetpoint() const {
double PIDController::GetError() const {
double setpoint = GetSetpoint();
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
return GetContinuousError(setpoint - m_pidInput->PIDGet());
}
}
@@ -422,7 +422,7 @@ PIDSourceType PIDController::GetPIDSourceType() const {
double PIDController::GetAvgError() const {
double avgError = 0;
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
// Don't divide by zero.
if (m_buf.size()) avgError = m_bufTotal / m_buf.size();
}
@@ -436,7 +436,7 @@ double PIDController::GetAvgError() const {
* @param percentage error which is tolerable
*/
void PIDController::SetTolerance(double percent) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_toleranceType = kPercentTolerance;
m_tolerance = percent;
}
@@ -448,7 +448,7 @@ void PIDController::SetTolerance(double percent) {
* @param percentage error which is tolerable
*/
void PIDController::SetAbsoluteTolerance(double absTolerance) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_toleranceType = kAbsoluteTolerance;
m_tolerance = absTolerance;
}
@@ -460,7 +460,7 @@ void PIDController::SetAbsoluteTolerance(double absTolerance) {
* @param percentage error which is tolerable
*/
void PIDController::SetPercentTolerance(double percent) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_toleranceType = kPercentTolerance;
m_tolerance = percent;
}
@@ -476,7 +476,7 @@ void PIDController::SetPercentTolerance(double percent) {
* @param bufLength Number of previous cycles to average. Defaults to 1.
*/
void PIDController::SetToleranceBuffer(int bufLength) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_bufLength = bufLength;
// Cut the buffer down to size if needed.
@@ -498,7 +498,7 @@ void PIDController::SetToleranceBuffer(int bufLength) {
* This will return false until at least one input value has been computed.
*/
bool PIDController::OnTarget() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
if (m_buf.size() == 0) return false;
double error = GetAvgError();
switch (m_toleranceType) {
@@ -521,7 +521,7 @@ bool PIDController::OnTarget() const {
*/
void PIDController::Enable() {
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_enabled = true;
}
@@ -535,7 +535,7 @@ void PIDController::Enable() {
*/
void PIDController::Disable() {
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_pidOutput->PIDWrite(0);
m_enabled = false;
}
@@ -549,7 +549,7 @@ void PIDController::Disable() {
* Return true if PIDController is enabled.
*/
bool PIDController::IsEnabled() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
return m_enabled;
}
@@ -559,7 +559,7 @@ bool PIDController::IsEnabled() const {
void PIDController::Reset() {
Disable();
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
m_prevError = 0;
m_totalError = 0;
m_result = 0;