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[hal, wpilib] Remove analog accumulator and analog gyro (#7697)

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The 2 high level classes were temporarily kept to keep the examples compiling. We will remove those when we have the interface into the built in IMU.
This commit is contained in:
Thad House
2025-01-17 12:58:31 -08:00
committed by GitHub
parent 92f0a3c961
commit f80874dd4b
76 changed files with 33 additions and 3886 deletions
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65
hal/src/main/native/systemcore/AnalogAccumulator.cpp
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@@ -1,65 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "hal/AnalogAccumulator.h"
#include "hal/HAL.h"
using namespace hal;
namespace hal::init {
void InitializeAnalogAccumulator() {}
} // namespace hal::init
extern "C" {
HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return false;
}
void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle,
int32_t center, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle,
int32_t deadband, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle,
int64_t* value, int64_t* count, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
} // extern "C"

92
hal/src/main/native/systemcore/AnalogGyro.cpp
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@@ -1,92 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "hal/AnalogGyro.h"
#include <cmath>
#include <string>
#include <thread>
#include <wpi/print.h>
#include "HALInitializer.h"
#include "HALInternal.h"
#include "hal/AnalogAccumulator.h"
#include "hal/AnalogInput.h"
#include "hal/handles/IndexedHandleResource.h"
using namespace hal;
namespace hal::init {
void InitializeAnalogGyro() {}
} // namespace hal::init
extern "C" {
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {}
void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
double voltsPerDegreePerSecond, double offset,
int32_t center, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
double voltsPerDegreePerSecond,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
} // extern "C"

1
hal/src/main/native/systemcore/AnalogInput.cpp
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@@ -13,7 +13,6 @@
#include "HALInternal.h"
#include "PortsInternal.h"
#include "SmartIo.h"
#include "hal/AnalogAccumulator.h"
#include "hal/Errors.h"
#include "hal/cpp/fpga_clock.h"
#include "hal/handles/HandlesInternal.h"

2
hal/src/main/native/systemcore/DMA.cpp
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@@ -13,8 +13,6 @@
#include <wpi/print.h>
#include "PortsInternal.h"
#include "hal/AnalogAccumulator.h"
#include "hal/AnalogGyro.h"
#include "hal/AnalogInput.h"
#include "hal/Errors.h"
#include "hal/HALBase.h"

2
hal/src/main/native/systemcore/HAL.cpp
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@@ -50,8 +50,6 @@ void InitializeHAL() {
InitializeREVPH();
InitializeAddressableLED();
InitializeAccelerometer();
InitializeAnalogAccumulator();
InitializeAnalogGyro();
InitializeAnalogInput();
InitializeAnalogTrigger();
InitializeCAN();

2
hal/src/main/native/systemcore/HALInitializer.h
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@@ -20,8 +20,6 @@ extern void InitializeCTREPCM();
extern void InitializeREVPH();
extern void InitializeAccelerometer();
extern void InitializeAddressableLED();
extern void InitializeAnalogAccumulator();
extern void InitializeAnalogGyro();
extern void InitializeAnalogInput();
extern void InitializeAnalogInternal();
extern void InitializeAnalogTrigger();

4
hal/src/main/native/systemcore/Ports.cpp
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@@ -13,10 +13,6 @@ void InitializePorts() {}
} // namespace hal::init
extern "C" {
int32_t HAL_GetNumAccumulators(void) {
return kNumAccumulators;
}
int32_t HAL_GetNumAnalogTriggers(void) {
return kNumAnalogTriggers;
}

23
hal/src/main/native/systemcore/mockdata/AnalogGyroData.cpp
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@@ -1,23 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "hal/simulation/AnalogGyroData.h"
#include "hal/simulation/SimDataValue.h"
extern "C" {
void HALSIM_ResetAnalogGyroData(int32_t index) {}
#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, AnalogGyro##CAPINAME, RETURN)
DEFINE_CAPI(double, Angle, 0)
DEFINE_CAPI(double, Rate, 0)
DEFINE_CAPI(HAL_Bool, Initialized, false)
void HALSIM_RegisterAnalogGyroAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify) {}
} // extern "C"

5
hal/src/main/native/systemcore/mockdata/AnalogInData.cpp
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@@ -20,11 +20,6 @@ DEFINE_CAPI(HAL_Bool, Initialized, false)
DEFINE_CAPI(int32_t, AverageBits, 0)
DEFINE_CAPI(int32_t, OversampleBits, 0)
DEFINE_CAPI(double, Voltage, 0)
DEFINE_CAPI(HAL_Bool, AccumulatorInitialized, false)
DEFINE_CAPI(int64_t, AccumulatorValue, 0)
DEFINE_CAPI(int64_t, AccumulatorCount, 0)
DEFINE_CAPI(int32_t, AccumulatorCenter, 0)
DEFINE_CAPI(int32_t, AccumulatorDeadband, 0)
void HALSIM_RegisterAnalogInAllCallbacks(int32_t index,
HAL_NotifyCallback callback,