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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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143
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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@@ -1,143 +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 "frc/AnalogGyro.h"
#include <climits>
#include <memory>
#include <string>
#include <hal/AnalogGyro.h>
#include <hal/Errors.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/AnalogInput.h"
#include "frc/Errors.h"
using namespace frc;
AnalogGyro::AnalogGyro(int channel)
: AnalogGyro(std::make_shared<AnalogInput>(channel)) {
wpi::SendableRegistry::AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(AnalogInput* channel)
: AnalogGyro(std::shared_ptr<AnalogInput>(
channel, wpi::NullDeleter<AnalogInput>())) {}
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
: m_analog(channel) {
if (!channel) {
throw FRC_MakeError(err::NullParameter, "channel");
}
InitGyro();
Calibrate();
}
AnalogGyro::AnalogGyro(int channel, int center, double offset)
: AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
wpi::SendableRegistry::AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
double offset)
: m_analog(channel) {
if (!channel) {
throw FRC_MakeError(err::NullParameter, "channel");
}
InitGyro();
int32_t status = 0;
HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
offset, center, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
Reset();
}
double AnalogGyro::GetAngle() const {
int32_t status = 0;
double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
return value;
}
double AnalogGyro::GetRate() const {
int32_t status = 0;
double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
return value;
}
int AnalogGyro::GetCenter() const {
int32_t status = 0;
int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
return value;
}
double AnalogGyro::GetOffset() const {
int32_t status = 0;
double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
return value;
}
void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) {
int32_t status = 0;
HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
voltsPerDegreePerSecond, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
}
void AnalogGyro::SetDeadband(double volts) {
int32_t status = 0;
HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
}
void AnalogGyro::Reset() {
int32_t status = 0;
HAL_ResetAnalogGyro(m_gyroHandle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
}
void AnalogGyro::InitGyro() {
if (m_gyroHandle == HAL_kInvalidHandle) {
int32_t status = 0;
std::string stackTrace = wpi::GetStackTrace(1);
m_gyroHandle =
HAL_InitializeAnalogGyro(m_analog->m_port, stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
}
int32_t status = 0;
HAL_SetupAnalogGyro(m_gyroHandle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel() + 1);
wpi::SendableRegistry::AddLW(this, "AnalogGyro", m_analog->GetChannel());
}
void AnalogGyro::Calibrate() {
int32_t status = 0;
HAL_CalibrateAnalogGyro(m_gyroHandle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
}
Rotation2d AnalogGyro::GetRotation2d() const {
return units::degree_t{-GetAngle()};
}
std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {
return m_analog;
}
void AnalogGyro::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Gyro");
builder.AddDoubleProperty("Value", [=, this] { return GetAngle(); }, nullptr);
}

65
wpilibc/src/main/native/cpp/AnalogInput.cpp
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@@ -6,7 +6,6 @@
#include <string>
#include <hal/AnalogAccumulator.h>
#include <hal/AnalogInput.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
@@ -111,70 +110,6 @@ int AnalogInput::GetOffset() const {
return offset;
}
bool AnalogInput::IsAccumulatorChannel() const {
int32_t status = 0;
bool isAccum = HAL_IsAccumulatorChannel(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return isAccum;
}
void AnalogInput::InitAccumulator() {
m_accumulatorOffset = 0;
int32_t status = 0;
HAL_InitAccumulator(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) {
m_accumulatorOffset = initialValue;
}
void AnalogInput::ResetAccumulator() {
int32_t status = 0;
HAL_ResetAccumulator(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
// Wait until the next sample, so the next call to GetAccumulator*()
// won't have old values.
const double sampleTime = 1.0 / GetSampleRate();
const double overSamples = 1 << GetOversampleBits();
const double averageSamples = 1 << GetAverageBits();
Wait(units::second_t{sampleTime * overSamples * averageSamples});
}
void AnalogInput::SetAccumulatorCenter(int center) {
int32_t status = 0;
HAL_SetAccumulatorCenter(m_port, center, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void AnalogInput::SetAccumulatorDeadband(int deadband) {
int32_t status = 0;
HAL_SetAccumulatorDeadband(m_port, deadband, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
int64_t AnalogInput::GetAccumulatorValue() const {
int32_t status = 0;
int64_t value = HAL_GetAccumulatorValue(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return value + m_accumulatorOffset;
}
int64_t AnalogInput::GetAccumulatorCount() const {
int32_t status = 0;
int64_t count = HAL_GetAccumulatorCount(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return count;
}
void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
int32_t status = 0;
HAL_GetAccumulatorOutput(m_port, &value, &count, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
value += m_accumulatorOffset;
}
void AnalogInput::SetSampleRate(double samplesPerSecond) {
int32_t status = 0;
HAL_SetAnalogSampleRate(samplesPerSecond, &status);

75
wpilibc/src/main/native/cpp/simulation/AnalogGyroSim.cpp
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@@ -1,75 +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 "frc/simulation/AnalogGyroSim.h"
#include <memory>
#include <hal/simulation/AnalogGyroData.h>
#include "frc/AnalogGyro.h"
#include "frc/AnalogInput.h"
using namespace frc;
using namespace frc::sim;
AnalogGyroSim::AnalogGyroSim(const AnalogGyro& gyro)
: m_index{gyro.GetAnalogInput()->GetChannel()} {}
AnalogGyroSim::AnalogGyroSim(int channel) : m_index{channel} {}
std::unique_ptr<CallbackStore> AnalogGyroSim::RegisterAngleCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogGyroAngleCallback);
store->SetUid(HALSIM_RegisterAnalogGyroAngleCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double AnalogGyroSim::GetAngle() const {
return HALSIM_GetAnalogGyroAngle(m_index);
}
void AnalogGyroSim::SetAngle(double angle) {
HALSIM_SetAnalogGyroAngle(m_index, angle);
}
std::unique_ptr<CallbackStore> AnalogGyroSim::RegisterRateCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogGyroRateCallback);
store->SetUid(HALSIM_RegisterAnalogGyroRateCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double AnalogGyroSim::GetRate() const {
return HALSIM_GetAnalogGyroRate(m_index);
}
void AnalogGyroSim::SetRate(double rate) {
HALSIM_SetAnalogGyroRate(m_index, rate);
}
std::unique_ptr<CallbackStore> AnalogGyroSim::RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogGyroInitializedCallback);
store->SetUid(HALSIM_RegisterAnalogGyroInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool AnalogGyroSim::GetInitialized() const {
return HALSIM_GetAnalogGyroInitialized(m_index);
}
void AnalogGyroSim::SetInitialized(bool initialized) {
HALSIM_SetAnalogGyroInitialized(m_index, initialized);
}
void AnalogGyroSim::ResetData() {
HALSIM_ResetAnalogGyroData(m_index);
}

89
wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp
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@@ -86,95 +86,6 @@ void AnalogInputSim::SetVoltage(double voltage) {
HALSIM_SetAnalogInVoltage(m_index, voltage);
}
std::unique_ptr<CallbackStore>
AnalogInputSim::RegisterAccumulatorInitializedCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback,
&HALSIM_CancelAnalogInAccumulatorInitializedCallback);
store->SetUid(HALSIM_RegisterAnalogInAccumulatorInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool AnalogInputSim::GetAccumulatorInitialized() const {
return HALSIM_GetAnalogInAccumulatorInitialized(m_index);
}
void AnalogInputSim::SetAccumulatorInitialized(bool accumulatorInitialized) {
HALSIM_SetAnalogInAccumulatorInitialized(m_index, accumulatorInitialized);
}
std::unique_ptr<CallbackStore> AnalogInputSim::RegisterAccumulatorValueCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogInAccumulatorValueCallback);
store->SetUid(HALSIM_RegisterAnalogInAccumulatorValueCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int64_t AnalogInputSim::GetAccumulatorValue() const {
return HALSIM_GetAnalogInAccumulatorValue(m_index);
}
void AnalogInputSim::SetAccumulatorValue(int64_t accumulatorValue) {
HALSIM_SetAnalogInAccumulatorValue(m_index, accumulatorValue);
}
std::unique_ptr<CallbackStore> AnalogInputSim::RegisterAccumulatorCountCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogInAccumulatorCountCallback);
store->SetUid(HALSIM_RegisterAnalogInAccumulatorCountCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int64_t AnalogInputSim::GetAccumulatorCount() const {
return HALSIM_GetAnalogInAccumulatorCount(m_index);
}
void AnalogInputSim::SetAccumulatorCount(int64_t accumulatorCount) {
HALSIM_SetAnalogInAccumulatorCount(m_index, accumulatorCount);
}
std::unique_ptr<CallbackStore>
AnalogInputSim::RegisterAccumulatorCenterCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogInAccumulatorCenterCallback);
store->SetUid(HALSIM_RegisterAnalogInAccumulatorCenterCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int AnalogInputSim::GetAccumulatorCenter() const {
return HALSIM_GetAnalogInAccumulatorCenter(m_index);
}
void AnalogInputSim::SetAccumulatorCenter(int accumulatorCenter) {
HALSIM_SetAnalogInAccumulatorCenter(m_index, accumulatorCenter);
}
std::unique_ptr<CallbackStore>
AnalogInputSim::RegisterAccumulatorDeadbandCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogInAccumulatorDeadbandCallback);
store->SetUid(HALSIM_RegisterAnalogInAccumulatorDeadbandCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int AnalogInputSim::GetAccumulatorDeadband() const {
return HALSIM_GetAnalogInAccumulatorDeadband(m_index);
}
void AnalogInputSim::SetAccumulatorDeadband(int accumulatorDeadband) {
HALSIM_SetAnalogInAccumulatorDeadband(m_index, accumulatorDeadband);
}
void AnalogInputSim::ResetData() {
HALSIM_ResetAnalogInData(m_index);
}