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Remove large HAL headers from wpilibc headers (#1386)

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Now only includes the types in the wpilib headers.
Should immensely clean up intellisense.

Closes #1383
This commit is contained in:
Thad House
2018-10-29 12:49:17 -07:00
committed by Peter Johnson
parent f774e47c80
commit f0b0965f9b
48 changed files with 466 additions and 355 deletions
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1
hal/src/main/native/athena/AnalogInput.cpp
View File

@@ -14,7 +14,6 @@
#include "HALInitializer.h"
#include "PortsInternal.h"
#include "hal/AnalogAccumulator.h"
#include "hal/HAL.h"
#include "hal/handles/HandlesInternal.h"
namespace hal {

38
hal/src/main/native/include/hal/CANAPI.h
View File

@@ -9,6 +9,7 @@
#include <stdint.h>
#include "hal/CANAPITypes.h"
#include "hal/Types.h"
/**
@@ -17,43 +18,6 @@
* @{
*/
// clang-format off
/**
* The CAN device type.
*
* Teams should use HAL_CAN_Dev_kMiscellaneous
*/
HAL_ENUM(HAL_CANDeviceType) {
HAL_CAN_Dev_kBroadcast = 0,
HAL_CAN_Dev_kRobotController = 1,
HAL_CAN_Dev_kMotorController = 2,
HAL_CAN_Dev_kRelayController = 3,
HAL_CAN_Dev_kGyroSensor = 4,
HAL_CAN_Dev_kAccelerometer = 5,
HAL_CAN_Dev_kUltrasonicSensor = 6,
HAL_CAN_Dev_kGearToothSensor = 7,
HAL_CAN_Dev_kPowerDistribution = 8,
HAL_CAN_Dev_kPneumatics = 9,
HAL_CAN_Dev_kMiscellaneous = 10,
HAL_CAN_Dev_kFirmwareUpdate = 31
};
/**
* The CAN manufacturer ID.
*
* Teams should use HAL_CAN_Man_kTeamUse.
*/
HAL_ENUM(HAL_CANManufacturer) {
HAL_CAN_Man_kBroadcast = 0,
HAL_CAN_Man_kNI = 1,
HAL_CAN_Man_kLM = 2,
HAL_CAN_Man_kDEKA = 3,
HAL_CAN_Man_kCTRE = 4,
HAL_CAN_Man_kMS = 7,
HAL_CAN_Man_kTeamUse = 8,
};
// clang-format on
#ifdef __cplusplus
extern "C" {
#endif

56
hal/src/main/native/include/hal/CANAPITypes.h Normal file
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@@ -0,0 +1,56 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
#include "hal/Types.h"
/**
* @defgroup hal_canapi CAN API Functions
* @ingroup hal_capi
* @{
*/
// clang-format off
/**
* The CAN device type.
*
* Teams should use HAL_CAN_Dev_kMiscellaneous
*/
HAL_ENUM(HAL_CANDeviceType) {
HAL_CAN_Dev_kBroadcast = 0,
HAL_CAN_Dev_kRobotController = 1,
HAL_CAN_Dev_kMotorController = 2,
HAL_CAN_Dev_kRelayController = 3,
HAL_CAN_Dev_kGyroSensor = 4,
HAL_CAN_Dev_kAccelerometer = 5,
HAL_CAN_Dev_kUltrasonicSensor = 6,
HAL_CAN_Dev_kGearToothSensor = 7,
HAL_CAN_Dev_kPowerDistribution = 8,
HAL_CAN_Dev_kPneumatics = 9,
HAL_CAN_Dev_kMiscellaneous = 10,
HAL_CAN_Dev_kFirmwareUpdate = 31
};
/**
* The CAN manufacturer ID.
*
* Teams should use HAL_CAN_Man_kTeamUse.
*/
HAL_ENUM(HAL_CANManufacturer) {
HAL_CAN_Man_kBroadcast = 0,
HAL_CAN_Man_kNI = 1,
HAL_CAN_Man_kLM = 2,
HAL_CAN_Man_kDEKA = 3,
HAL_CAN_Man_kCTRE = 4,
HAL_CAN_Man_kMS = 7,
HAL_CAN_Man_kTeamUse = 8,
};
// clang-format on
/** @} */

92
hal/src/main/native/include/hal/DriverStation.h
View File

@@ -9,6 +9,7 @@
#include <stdint.h>
#include "hal/DriverStationTypes.h"
#include "hal/Types.h"
/**
@@ -17,97 +18,6 @@
* @{
*/
#define HAL_IO_CONFIG_DATA_SIZE 32
#define HAL_SYS_STATUS_DATA_SIZE 44
#define HAL_USER_STATUS_DATA_SIZE \
(984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
struct HAL_ControlWord {
uint32_t enabled : 1;
uint32_t autonomous : 1;
uint32_t test : 1;
uint32_t eStop : 1;
uint32_t fmsAttached : 1;
uint32_t dsAttached : 1;
uint32_t control_reserved : 26;
};
typedef struct HAL_ControlWord HAL_ControlWord;
// clang-format off
HAL_ENUM(HAL_AllianceStationID) {
HAL_AllianceStationID_kRed1,
HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3,
HAL_AllianceStationID_kBlue1,
HAL_AllianceStationID_kBlue2,
HAL_AllianceStationID_kBlue3,
};
HAL_ENUM(HAL_MatchType) {
HAL_kMatchType_none,
HAL_kMatchType_practice,
HAL_kMatchType_qualification,
HAL_kMatchType_elimination,
};
// clang-format on
/* The maximum number of axes that will be stored in a single HALJoystickAxes
* struct. This is used for allocating buffers, not bounds checking, since
* there are usually less axes in practice.
*/
#define HAL_kMaxJoystickAxes 12
#define HAL_kMaxJoystickPOVs 12
#define HAL_kMaxJoysticks 6
struct HAL_JoystickAxes {
int16_t count;
float axes[HAL_kMaxJoystickAxes];
};
typedef struct HAL_JoystickAxes HAL_JoystickAxes;
struct HAL_JoystickPOVs {
int16_t count;
int16_t povs[HAL_kMaxJoystickPOVs];
};
typedef struct HAL_JoystickPOVs HAL_JoystickPOVs;
struct HAL_JoystickButtons {
uint32_t buttons;
uint8_t count;
};
typedef struct HAL_JoystickButtons HAL_JoystickButtons;
struct HAL_JoystickDescriptor {
uint8_t isXbox;
uint8_t type;
char name[256];
uint8_t axisCount;
uint8_t axisTypes[HAL_kMaxJoystickAxes];
uint8_t buttonCount;
uint8_t povCount;
};
typedef struct HAL_JoystickDescriptor HAL_JoystickDescriptor;
struct HAL_MatchInfo {
char eventName[64];
HAL_MatchType matchType;
uint16_t matchNumber;
uint8_t replayNumber;
uint8_t gameSpecificMessage[64];
uint16_t gameSpecificMessageSize;
};
typedef struct HAL_MatchInfo HAL_MatchInfo;
#ifdef __cplusplus
extern "C" {
#endif

110
hal/src/main/native/include/hal/DriverStationTypes.h Normal file
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@@ -0,0 +1,110 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
#include "hal/Types.h"
/**
* @defgroup hal_driverstation Driver Station Functions
* @ingroup hal_capi
* @{
*/
#define HAL_IO_CONFIG_DATA_SIZE 32
#define HAL_SYS_STATUS_DATA_SIZE 44
#define HAL_USER_STATUS_DATA_SIZE \
(984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
struct HAL_ControlWord {
uint32_t enabled : 1;
uint32_t autonomous : 1;
uint32_t test : 1;
uint32_t eStop : 1;
uint32_t fmsAttached : 1;
uint32_t dsAttached : 1;
uint32_t control_reserved : 26;
};
typedef struct HAL_ControlWord HAL_ControlWord;
// clang-format off
HAL_ENUM(HAL_AllianceStationID) {
HAL_AllianceStationID_kRed1,
HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3,
HAL_AllianceStationID_kBlue1,
HAL_AllianceStationID_kBlue2,
HAL_AllianceStationID_kBlue3,
};
HAL_ENUM(HAL_MatchType) {
HAL_kMatchType_none,
HAL_kMatchType_practice,
HAL_kMatchType_qualification,
HAL_kMatchType_elimination,
};
// clang-format on
/* The maximum number of axes that will be stored in a single HALJoystickAxes
* struct. This is used for allocating buffers, not bounds checking, since
* there are usually less axes in practice.
*/
#define HAL_kMaxJoystickAxes 12
#define HAL_kMaxJoystickPOVs 12
#define HAL_kMaxJoysticks 6
struct HAL_JoystickAxes {
int16_t count;
float axes[HAL_kMaxJoystickAxes];
};
typedef struct HAL_JoystickAxes HAL_JoystickAxes;
struct HAL_JoystickPOVs {
int16_t count;
int16_t povs[HAL_kMaxJoystickPOVs];
};
typedef struct HAL_JoystickPOVs HAL_JoystickPOVs;
struct HAL_JoystickButtons {
uint32_t buttons;
uint8_t count;
};
typedef struct HAL_JoystickButtons HAL_JoystickButtons;
struct HAL_JoystickDescriptor {
uint8_t isXbox;
uint8_t type;
char name[256];
uint8_t axisCount;
uint8_t axisTypes[HAL_kMaxJoystickAxes];
uint8_t buttonCount;
uint8_t povCount;
};
typedef struct HAL_JoystickDescriptor HAL_JoystickDescriptor;
struct HAL_MatchInfo {
char eventName[64];
HAL_MatchType matchType;
uint16_t matchNumber;
uint8_t replayNumber;
uint8_t gameSpecificMessage[64];
uint16_t gameSpecificMessageSize;
};
typedef struct HAL_MatchInfo HAL_MatchInfo;
/** @} */

171
hal/src/main/native/include/hal/HAL.h
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@@ -39,177 +39,8 @@
#endif // HAL_USE_LABVIEW
#include "hal/Types.h"
#include "hal/HALBase.h"
#ifdef __cplusplus
#include "hal/FRCUsageReporting.h"
#endif
/**
* @defgroup hal_capi WPILib HAL API
* Hardware Abstraction Layer to hardware or simulator
* @{
*/
// clang-format off
HAL_ENUM(HAL_RuntimeType) { HAL_Athena, HAL_Mock };
// clang-format on
#ifdef __cplusplus
extern "C" {
#endif
/**
* Gets the error message for a specific status code.
*
* @param code the status code
* @return the error message for the code. This does not need to be freed.
*/
const char* HAL_GetErrorMessage(int32_t code);
/**
* Returns the FPGA Version number.
*
* For now, expect this to be competition year.
*
* @return FPGA Version number.
*/
int32_t HAL_GetFPGAVersion(int32_t* status);
/**
* Returns the FPGA Revision number.
*
* The format of the revision is 3 numbers.
* The 12 most significant bits are the Major Revision.
* the next 8 bits are the Minor Revision.
* The 12 least significant bits are the Build Number.
*
* @return FPGA Revision number.
*/
int64_t HAL_GetFPGARevision(int32_t* status);
HAL_RuntimeType HAL_GetRuntimeType(void);
/**
* Gets the state of the "USER" button on the roboRIO.
*
* @return true if the button is currently pressed down
*/
HAL_Bool HAL_GetFPGAButton(int32_t* status);
/**
* Gets if the system outputs are currently active
*
* @return true if the system outputs are active, false if disabled
*/
HAL_Bool HAL_GetSystemActive(int32_t* status);
/**
* Gets if the system is in a browned out state.
*
* @return true if the system is in a low voltage brown out, false otherwise
*/
HAL_Bool HAL_GetBrownedOut(int32_t* status);
/**
* The base HAL initialize function. Useful if you need to ensure the DS and
* base HAL functions (the ones above this declaration in HAL.h) are properly
* initialized. For normal programs and executables, please use HAL_Initialize.
*
* This is mainly expected to be use from libraries that are expected to be used
* from LabVIEW, as it handles its own initialization for objects.
*/
void HAL_BaseInitialize(int32_t* status);
#ifndef HAL_USE_LABVIEW
/**
* Gets a port handle for a specific channel.
*
* The created handle does not need to be freed.
*
* @param channel the channel number
* @return the created port
*/
HAL_PortHandle HAL_GetPort(int32_t channel);
/**
* Gets a port handle for a specific channel and module.
*
* This is expected to be used for PCMs, as the roboRIO does not work with
* modules anymore.
*
* The created handle does not need to be freed.
*
* @param module the module number
* @param channel the channel number
* @return the created port
*/
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
/**
* Reads the microsecond-resolution timer on the FPGA.
*
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
uint64_t HAL_GetFPGATime(int32_t* status);
/**
* Call this to start up HAL. This is required for robot programs.
*
* This must be called before any other HAL functions. Failure to do so will
* result in undefined behavior, and likely segmentation faults. This means that
* any statically initialized variables in a program MUST call this function in
* their constructors if they want to use other HAL calls.
*
* The common parameters are 500 for timeout and 0 for mode.
*
* This function is safe to call from any thread, and as many times as you wish.
* It internally guards from any reentrancy.
*
* The applicable modes are:
* 0: Try to kill an existing HAL from another program, if not successful,
* error.
* 1: Force kill a HAL from another program.
* 2: Just warn if another hal exists and cannot be killed. Will likely result
* in undefined behavior.
*
* @param timeout the initialization timeout (ms)
* @param mode the initialization mode (see remarks)
* @return true if initialization was successful, otherwise false.
*/
HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
// ifdef's definition is to allow for default parameters in C++.
#ifdef __cplusplus
/**
* Reports a hardware usage to the HAL.
*
* @param resource the used resource
* @param instanceNumber the instance of the resource
* @param context a user specified context index
* @param feature a user specified feature string
* @return the index of the added value in NetComm
*/
int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
int32_t context = 0, const char* feature = nullptr);
#else
/**
* Reports a hardware usage to the HAL.
*
* @param resource the used resource
* @param instanceNumber the instance of the resource
* @param context a user specified context index
* @param feature a user specified feature string
* @return the index of the added value in NetComm
*/
int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
const char* feature);
#endif
#endif // HAL_USE_LABVIEW
#ifdef __cplusplus
} // extern "C"
#endif
/** @} */

182
hal/src/main/native/include/hal/HALBase.h Normal file
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@@ -0,0 +1,182 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
#include "hal/Types.h"
/**
* @defgroup hal_capi WPILib HAL API
* Hardware Abstraction Layer to hardware or simulator
* @{
*/
// clang-format off
HAL_ENUM(HAL_RuntimeType) { HAL_Athena, HAL_Mock };
// clang-format on
#ifdef __cplusplus
extern "C" {
#endif
/**
* Gets the error message for a specific status code.
*
* @param code the status code
* @return the error message for the code. This does not need to be freed.
*/
const char* HAL_GetErrorMessage(int32_t code);
/**
* Returns the FPGA Version number.
*
* For now, expect this to be competition year.
*
* @return FPGA Version number.
*/
int32_t HAL_GetFPGAVersion(int32_t* status);
/**
* Returns the FPGA Revision number.
*
* The format of the revision is 3 numbers.
* The 12 most significant bits are the Major Revision.
* the next 8 bits are the Minor Revision.
* The 12 least significant bits are the Build Number.
*
* @return FPGA Revision number.
*/
int64_t HAL_GetFPGARevision(int32_t* status);
HAL_RuntimeType HAL_GetRuntimeType(void);
/**
* Gets the state of the "USER" button on the roboRIO.
*
* @return true if the button is currently pressed down
*/
HAL_Bool HAL_GetFPGAButton(int32_t* status);
/**
* Gets if the system outputs are currently active
*
* @return true if the system outputs are active, false if disabled
*/
HAL_Bool HAL_GetSystemActive(int32_t* status);
/**
* Gets if the system is in a browned out state.
*
* @return true if the system is in a low voltage brown out, false otherwise
*/
HAL_Bool HAL_GetBrownedOut(int32_t* status);
/**
* The base HAL initialize function. Useful if you need to ensure the DS and
* base HAL functions (the ones above this declaration in HAL.h) are properly
* initialized. For normal programs and executables, please use HAL_Initialize.
*
* This is mainly expected to be use from libraries that are expected to be used
* from LabVIEW, as it handles its own initialization for objects.
*/
void HAL_BaseInitialize(int32_t* status);
#ifndef HAL_USE_LABVIEW
/**
* Gets a port handle for a specific channel.
*
* The created handle does not need to be freed.
*
* @param channel the channel number
* @return the created port
*/
HAL_PortHandle HAL_GetPort(int32_t channel);
/**
* Gets a port handle for a specific channel and module.
*
* This is expected to be used for PCMs, as the roboRIO does not work with
* modules anymore.
*
* The created handle does not need to be freed.
*
* @param module the module number
* @param channel the channel number
* @return the created port
*/
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
/**
* Reads the microsecond-resolution timer on the FPGA.
*
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
uint64_t HAL_GetFPGATime(int32_t* status);
/**
* Call this to start up HAL. This is required for robot programs.
*
* This must be called before any other HAL functions. Failure to do so will
* result in undefined behavior, and likely segmentation faults. This means that
* any statically initialized variables in a program MUST call this function in
* their constructors if they want to use other HAL calls.
*
* The common parameters are 500 for timeout and 0 for mode.
*
* This function is safe to call from any thread, and as many times as you wish.
* It internally guards from any reentrancy.
*
* The applicable modes are:
* 0: Try to kill an existing HAL from another program, if not successful,
* error.
* 1: Force kill a HAL from another program.
* 2: Just warn if another hal exists and cannot be killed. Will likely result
* in undefined behavior.
*
* @param timeout the initialization timeout (ms)
* @param mode the initialization mode (see remarks)
* @return true if initialization was successful, otherwise false.
*/
HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
// ifdef's definition is to allow for default parameters in C++.
#ifdef __cplusplus
/**
* Reports a hardware usage to the HAL.
*
* @param resource the used resource
* @param instanceNumber the instance of the resource
* @param context a user specified context index
* @param feature a user specified feature string
* @return the index of the added value in NetComm
*/
int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
int32_t context = 0, const char* feature = nullptr);
#else
/**
* Reports a hardware usage to the HAL.
*
* @param resource the used resource
* @param instanceNumber the instance of the resource
* @param context a user specified context index
* @param feature a user specified feature string
* @return the index of the added value in NetComm
*/
int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
const char* feature);
#endif
#endif // HAL_USE_LABVIEW
#ifdef __cplusplus
} // extern "C"
#endif
/** @} */

5
hal/src/main/native/include/hal/I2C.h
View File

@@ -9,6 +9,7 @@
#include <stdint.h>
#include "hal/I2CTypes.h"
#include "hal/Types.h"
/**
@@ -17,10 +18,6 @@
* @{
*/
// clang-format off
HAL_ENUM(HAL_I2CPort) { HAL_I2C_kInvalid = -1, HAL_I2C_kOnboard, HAL_I2C_kMXP };
// clang-format on
#ifdef __cplusplus
extern "C" {
#endif

24
hal/src/main/native/include/hal/I2CTypes.h Normal file
View File

@@ -0,0 +1,24 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
#include "hal/Types.h"
/**
* @defgroup hal_i2c I2C Functions
* @ingroup hal_capi
* @{
*/
// clang-format off
HAL_ENUM(HAL_I2CPort) { HAL_I2C_kInvalid = -1, HAL_I2C_kOnboard, HAL_I2C_kMXP };
// clang-format on
/** @} */

12
hal/src/main/native/include/hal/SPI.h
View File

@@ -10,6 +10,7 @@
#include <stdint.h>
#include "hal/AnalogTrigger.h"
#include "hal/SPITypes.h"
#include "hal/Types.h"
/**
@@ -18,17 +19,6 @@
* @{
*/
// clang-format off
HAL_ENUM(HAL_SPIPort) {
HAL_SPI_kInvalid = -1,
HAL_SPI_kOnboardCS0,
HAL_SPI_kOnboardCS1,
HAL_SPI_kOnboardCS2,
HAL_SPI_kOnboardCS3,
HAL_SPI_kMXP
};
// clang-format on
#ifdef __cplusplus
extern "C" {
#endif

30
hal/src/main/native/include/hal/SPITypes.h Normal file
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@@ -0,0 +1,30 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
#include "hal/Types.h"
/**
* @defgroup hal_spi SPI Functions
* @ingroup hal_capi
* @{
*/
// clang-format off
HAL_ENUM(HAL_SPIPort) {
HAL_SPI_kInvalid = -1,
HAL_SPI_kOnboardCS0,
HAL_SPI_kOnboardCS1,
HAL_SPI_kOnboardCS2,
HAL_SPI_kOnboardCS3,
HAL_SPI_kMXP
};
// clang-format on
/** @} */

3
hal/src/main/native/include/mockdata/AccelerometerData.h
View File

@@ -10,7 +10,8 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Accelerometer.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/AnalogGyroData.h
View File

@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/AnalogInData.h
View File

@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/AnalogOutData.h
View File

@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/AnalogTriggerData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
enum HALSIM_AnalogTriggerMode : int32_t {
HALSIM_AnalogTriggerUnassigned,

2
hal/src/main/native/include/mockdata/CanData.h
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@@ -11,7 +11,7 @@
#include "HAL_Value.h"
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
typedef void (*HAL_CAN_SendMessageCallback)(const char* name, void* param,
uint32_t messageID,

2
hal/src/main/native/include/mockdata/DIOData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/DigitalPWMData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

4
hal/src/main/native/include/mockdata/DriverStationData.h
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@@ -10,8 +10,8 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/DriverStation.h"
#include "hal/HAL.h"
#include "hal/DriverStationTypes.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/EncoderData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/I2CData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/PCMData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/PDPData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/PWMData.h
View File

@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/RelayData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/RoboRioData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/SPIAccelerometerData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
#ifdef __cplusplus
extern "C" {

2
hal/src/main/native/include/mockdata/SPIData.h
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@@ -10,7 +10,7 @@
#ifndef __FRC_ROBORIO__
#include "NotifyListener.h"
#include "hal/HAL.h"
#include "hal/Types.h"
typedef void (*HAL_SpiReadAutoReceiveBufferCallback)(const char* name,
void* param,

1
hal/src/main/native/sim/AnalogInput.cpp
View File

@@ -10,6 +10,7 @@
#include "AnalogInternal.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
#include "hal/AnalogAccumulator.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/AnalogInDataInternal.h"

1
hal/src/main/native/sim/mockdata/DriverStationData.cpp
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@@ -10,6 +10,7 @@
#include <string>
#include "DriverStationDataInternal.h"
#include "hal/DriverStation.h"
namespace hal {
struct JoystickOutputStore {

2
simulation/halsim_ds_socket/src/main/native/include/DSCommJoystickPacket.h
View File

@@ -9,7 +9,7 @@
#include <cstring>
#include <hal/DriverStation.h>
#include <hal/DriverStationTypes.h>
namespace halsim {

6
wpilibc/src/main/native/cpp/CAN.cpp
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@@ -9,7 +9,11 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/CAN.h>
#include <hal/CANAPI.h>
#include <hal/Errors.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
using namespace frc;

4
wpilibc/src/main/native/cpp/Encoder.cpp
View File

@@ -9,7 +9,9 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/Encoder.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include "frc/DigitalInput.h"
#include "frc/WPIErrors.h"

11
wpilibc/src/main/native/cpp/RobotBase.cpp
View File

@@ -23,6 +23,17 @@
using namespace frc;
int frc::RunHALInitialization() {
if (!HAL_Initialize(500, 0)) {
wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
return -1;
}
HAL_Report(HALUsageReporting::kResourceType_Language,
HALUsageReporting::kLanguage_CPlusPlus);
wpi::outs() << "\n********** Robot program starting **********\n";
return 0;
}
std::thread::id RobotBase::m_threadId;
namespace {

3
wpilibc/src/main/native/cpp/SampleRobot.cpp
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@@ -7,6 +7,9 @@
#include "frc/SampleRobot.h"
#include <hal/DriverStation.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <networktables/NetworkTable.h>
#include <wpi/raw_ostream.h>

2
wpilibc/src/main/native/include/frc/AnalogOutput.h
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@@ -7,7 +7,7 @@
#pragma once
#include <hal/AnalogOutput.h>
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/SendableBase.h"

2
wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h
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@@ -7,8 +7,6 @@
#pragma once
#include <hal/AnalogTrigger.h>
#include "frc/DigitalSource.h"
namespace frc {

2
wpilibc/src/main/native/include/frc/CAN.h
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@@ -9,7 +9,7 @@
#include <stdint.h>
#include <hal/CANAPI.h>
#include <hal/CANAPITypes.h>
#include <wpi/ArrayRef.h>
#include "frc/ErrorBase.h"

1
wpilibc/src/main/native/include/frc/Counter.h
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@@ -9,7 +9,6 @@
#include <memory>
#include <hal/Counter.h>
#include <hal/Types.h>
#include "frc/AnalogTrigger.h"

2
wpilibc/src/main/native/include/frc/DriverStation.h
View File

@@ -13,7 +13,7 @@
#include <string>
#include <thread>
#include <hal/DriverStation.h>
#include <hal/DriverStationTypes.h>
#include <wpi/Twine.h>
#include <wpi/condition_variable.h>
#include <wpi/deprecated.h>

2
wpilibc/src/main/native/include/frc/Encoder.h
View File

@@ -9,7 +9,7 @@
#include <memory>
#include <hal/Encoder.h>
#include <hal/Types.h>
#include "frc/Counter.h"
#include "frc/CounterBase.h"

2
wpilibc/src/main/native/include/frc/I2C.h
View File

@@ -9,7 +9,7 @@
#include <stdint.h>
#include <hal/I2C.h>
#include <hal/I2CTypes.h>
#include "frc/ErrorBase.h"

2
wpilibc/src/main/native/include/frc/Notifier.h
View File

@@ -14,7 +14,7 @@
#include <thread>
#include <utility>
#include <hal/Notifier.h>
#include <hal/Types.h>
#include <wpi/mutex.h>
#include "frc/ErrorBase.h"

2
wpilibc/src/main/native/include/frc/PowerDistributionPanel.h
View File

@@ -7,7 +7,7 @@
#pragma once
#include <hal/PDP.h>
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/SendableBase.h"

12
wpilibc/src/main/native/include/frc/RobotBase.h
View File

@@ -9,7 +9,6 @@
#include <thread>
#include <hal/HAL.h>
#include <wpi/raw_ostream.h>
#include "frc/Base.h"
@@ -18,15 +17,14 @@ namespace frc {
class DriverStation;
int RunHALInitialization();
template <class Robot>
int StartRobot() {
if (!HAL_Initialize(500, 0)) {
wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
return -1;
int halInit = RunHALInitialization();
if (halInit != 0) {
return halInit;
}
HAL_Report(HALUsageReporting::kResourceType_Language,
HALUsageReporting::kLanguage_CPlusPlus);
wpi::outs() << "\n********** Robot program starting **********\n";
static Robot robot;
robot.StartCompetition();

2
wpilibc/src/main/native/include/frc/SPI.h
View File

@@ -11,7 +11,7 @@
#include <memory>
#include <hal/SPI.h>
#include <hal/SPITypes.h>
#include <wpi/ArrayRef.h>
#include <wpi/deprecated.h>

2
wpilibc/src/main/native/include/frc/TimedRobot.h
View File

@@ -7,7 +7,7 @@
#pragma once
#include <hal/Notifier.h>
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/IterativeRobotBase.h"