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[hal, wpilib] Remove analog output (#7696)

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This commit is contained in:
Thad House
2025-01-16 23:20:44 -08:00
committed by GitHub
parent 5017393b3a
commit ff1b2a205e
45 changed files with 0 additions and 1685 deletions
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61
wpilibc/src/main/native/cpp/AnalogOutput.cpp
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@@ -1,61 +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/AnalogOutput.h"
#include <string>
#include <hal/AnalogOutput.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
using namespace frc;
AnalogOutput::AnalogOutput(int channel) {
if (!SensorUtil::CheckAnalogOutputChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
m_channel = channel;
HAL_PortHandle port = HAL_GetPort(m_channel);
int32_t status = 0;
std::string stackTrace = wpi::GetStackTrace(1);
m_port = HAL_InitializeAnalogOutputPort(port, stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel + 1);
wpi::SendableRegistry::AddLW(this, "AnalogOutput", m_channel);
}
void AnalogOutput::SetVoltage(double voltage) {
int32_t status = 0;
HAL_SetAnalogOutput(m_port, voltage, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
double AnalogOutput::GetVoltage() const {
int32_t status = 0;
double voltage = HAL_GetAnalogOutput(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return voltage;
}
int AnalogOutput::GetChannel() const {
return m_channel;
}
void AnalogOutput::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Analog Output");
builder.AddDoubleProperty(
"Value", [=, this] { return GetVoltage(); },
[=, this](double value) { SetVoltage(value); });
}

9
wpilibc/src/main/native/cpp/SensorUtil.cpp
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@@ -5,7 +5,6 @@
#include "frc/SensorUtil.h"
#include <hal/AnalogInput.h>
#include <hal/AnalogOutput.h>
#include <hal/DIO.h>
#include <hal/PWM.h>
#include <hal/Ports.h>
@@ -32,10 +31,6 @@ bool SensorUtil::CheckAnalogInputChannel(int channel) {
return HAL_CheckAnalogInputChannel(channel);
}
bool SensorUtil::CheckAnalogOutputChannel(int channel) {
return HAL_CheckAnalogOutputChannel(channel);
}
int SensorUtil::GetNumDigitalChannels() {
return HAL_GetNumDigitalChannels();
}
@@ -44,10 +39,6 @@ int SensorUtil::GetNumAnalogInputs() {
return HAL_GetNumAnalogInputs();
}
int SensorUtil::GetNumAnalogOuputs() {
return HAL_GetNumAnalogOutputs();
}
int SensorUtil::GetNumPwmChannels() {
return HAL_GetNumPWMChannels();
}

57
wpilibc/src/main/native/cpp/simulation/AnalogOutputSim.cpp
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@@ -1,57 +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/AnalogOutputSim.h"
#include <memory>
#include <hal/simulation/AnalogOutData.h>
#include "frc/AnalogOutput.h"
using namespace frc;
using namespace frc::sim;
AnalogOutputSim::AnalogOutputSim(const AnalogOutput& analogOutput)
: m_index{analogOutput.GetChannel()} {}
AnalogOutputSim::AnalogOutputSim(int channel) : m_index{channel} {}
std::unique_ptr<CallbackStore> AnalogOutputSim::RegisterVoltageCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogOutVoltageCallback);
store->SetUid(HALSIM_RegisterAnalogOutVoltageCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double AnalogOutputSim::GetVoltage() const {
return HALSIM_GetAnalogOutVoltage(m_index);
}
void AnalogOutputSim::SetVoltage(double voltage) {
HALSIM_SetAnalogOutVoltage(m_index, voltage);
}
std::unique_ptr<CallbackStore> AnalogOutputSim::RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogOutInitializedCallback);
store->SetUid(HALSIM_RegisterAnalogOutInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool AnalogOutputSim::GetInitialized() const {
return HALSIM_GetAnalogOutInitialized(m_index);
}
void AnalogOutputSim::SetInitialized(bool initialized) {
HALSIM_SetAnalogOutInitialized(m_index, initialized);
}
void AnalogOutputSim::ResetData() {
HALSIM_ResetAnalogOutData(m_index);
}

60
wpilibc/src/main/native/include/frc/AnalogOutput.h
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@@ -1,60 +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.
#pragma once
#include <hal/AnalogOutput.h>
#include <hal/Types.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
/**
* MXP analog output class.
*/
class AnalogOutput : public wpi::Sendable,
public wpi::SendableHelper<AnalogOutput> {
public:
/**
* Construct an analog output on the given channel.
*
* All analog outputs are located on the MXP port.
*
* @param channel The channel number on the roboRIO to represent.
*/
explicit AnalogOutput(int channel);
AnalogOutput(AnalogOutput&&) = default;
AnalogOutput& operator=(AnalogOutput&&) = default;
~AnalogOutput() override = default;
/**
* Set the value of the analog output.
*
* @param voltage The output value in Volts, from 0.0 to +5.0.
*/
void SetVoltage(double voltage);
/**
* Get the voltage of the analog output.
*
* @return The value in Volts, from 0.0 to +5.0.
*/
double GetVoltage() const;
/**
* Get the channel of this AnalogOutput.
*/
int GetChannel() const;
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
int m_channel;
hal::Handle<HAL_AnalogOutputHandle, HAL_FreeAnalogOutputPort> m_port;
};
} // namespace frc

11
wpilibc/src/main/native/include/frc/SensorUtil.h
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@@ -58,19 +58,8 @@ class SensorUtil final {
*/
static bool CheckAnalogInputChannel(int channel);
/**
* Check that the analog output number is valid.
*
* Verify that the analog output number is one of the legal channel numbers.
* Channel numbers are 0-based.
*
* @return Analog channel is valid
*/
static bool CheckAnalogOutputChannel(int channel);
static int GetNumDigitalChannels();
static int GetNumAnalogInputs();
static int GetNumAnalogOuputs();
static int GetNumPwmChannels();
};

95
wpilibc/src/main/native/include/frc/simulation/AnalogOutputSim.h
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@@ -1,95 +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.
#pragma once
#include <memory>
#include "frc/simulation/CallbackStore.h"
namespace frc {
class AnalogOutput;
namespace sim {
/**
* Class to control a simulated analog output.
*/
class AnalogOutputSim {
public:
/**
* Constructs from an AnalogOutput object.
*
* @param analogOutput AnalogOutput to simulate
*/
explicit AnalogOutputSim(const AnalogOutput& analogOutput);
/**
* Constructs from an analog output channel number.
*
* @param channel Channel number
*/
explicit AnalogOutputSim(int channel);
/**
* Register a callback to be run whenever the voltage changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterVoltageCallback(
NotifyCallback callback, bool initialNotify);
/**
* Read the analog output voltage.
*
* @return the voltage on this analog output
*/
double GetVoltage() const;
/**
* Set the analog output voltage.
*
* @param voltage the new voltage on this analog output
*/
void SetVoltage(double voltage);
/**
* Register a callback to be run when this analog output is initialized.
*
* @param callback the callback
* @param initialNotify whether to run the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check whether this analog output has been initialized.
*
* @return true if initialized
*/
bool GetInitialized() const;
/**
* Define whether this analog output has been initialized.
*
* @param initialized whether this object is initialized
*/
void SetInitialized(bool initialized);
/**
* Reset all simulation data on this object.
*/
void ResetData();
private:
int m_index;
};
} // namespace sim
} // namespace frc

89
wpilibc/src/test/native/cpp/simulation/AnalogOutputSimTest.cpp
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@@ -1,89 +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/AnalogOutputSim.h" // NOLINT(build/include_order)
#include <gtest/gtest.h>
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/AnalogOutput.h"
namespace frc::sim {
TEST(AnalogOutputSimTest, Initialize) {
HAL_Initialize(500, 0);
AnalogOutputSim outputSim{0};
EXPECT_FALSE(outputSim.GetInitialized());
BooleanCallback callback;
auto cb =
outputSim.RegisterInitializedCallback(callback.GetCallback(), false);
AnalogOutput output(0);
EXPECT_TRUE(outputSim.GetInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(AnalogOutputSimTest, SetCallback) {
HAL_Initialize(500, 0);
AnalogOutput output{0};
output.SetVoltage(0.5);
AnalogOutputSim outputSim(output);
DoubleCallback voltageCallback;
auto cb =
outputSim.RegisterVoltageCallback(voltageCallback.GetCallback(), false);
EXPECT_FALSE(voltageCallback.WasTriggered());
for (int i = 0; i < 50; ++i) {
double voltage = i * .1;
voltageCallback.Reset();
output.SetVoltage(0);
EXPECT_EQ(0, output.GetVoltage());
EXPECT_EQ(0, outputSim.GetVoltage());
// 0 -> 0 isn't a change, so callback not called
if (i > 2) {
EXPECT_TRUE(voltageCallback.WasTriggered()) << " on " << i;
EXPECT_NEAR(voltageCallback.GetLastValue(), 0, 0.001) << " on " << i;
}
voltageCallback.Reset();
output.SetVoltage(voltage);
EXPECT_EQ(voltage, output.GetVoltage());
EXPECT_EQ(voltage, outputSim.GetVoltage());
// 0 -> 0 isn't a change, so callback not called
if (i != 0) {
EXPECT_TRUE(voltageCallback.WasTriggered());
EXPECT_NEAR(voltageCallback.GetLastValue(), voltage, 0.001);
}
}
}
TEST(AnalogOutputSimTest, Reset) {
HAL_Initialize(500, 0);
AnalogOutputSim outputSim{0};
AnalogOutput output{0};
output.SetVoltage(1.2);
outputSim.ResetData();
EXPECT_EQ(0, output.GetVoltage());
EXPECT_EQ(0, outputSim.GetVoltage());
}
} // namespace frc::sim

2
wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
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@@ -10,7 +10,6 @@
#include "frc/simulation/AddressableLEDSim.h"
#include "frc/simulation/AnalogGyroSim.h"
#include "frc/simulation/AnalogInputSim.h"
#include "frc/simulation/AnalogOutputSim.h"
#include "frc/simulation/AnalogTriggerSim.h"
#include "frc/simulation/BuiltInAccelerometerSim.h"
#include "frc/simulation/CTREPCMSim.h"
@@ -31,7 +30,6 @@ TEST(SimInitializationTest, AllInitialize) {
BuiltInAccelerometerSim biacsim;
AnalogGyroSim agsim{0};
AnalogInputSim aisim{0};
AnalogOutputSim aosim{0};
EXPECT_THROW(AnalogTriggerSim::CreateForChannel(0), std::out_of_range);
EXPECT_THROW(DigitalPWMSim::CreateForChannel(0), std::out_of_range);
DIOSim diosim{0};