Cleaned up RobotBase, removed singleton list from SensorBase, and removed unused typedefs and NULL_TASK macro from HAL's Task.hpp. Making the robot class instance static fixed non-POD statics used by the instance during destruction from being destroyed first.
As discussed, we don't really need the error checking specifically, as
we are just going to throw exceptions anyway, so this will make sure you
can check for 0 and be sure you catch any handle errors.
HAL Port is using a special handle, where the module and pin are bit
shifted straight into the handle. This is one of the few special cases
we have, but for the way port is used it is much cleaner and uses much
less memory. Plus it is generic and not specific to one type.
Internally, the linked list now uses shared_ptrs instead of raw
pointers. In addition, in the WPILib the notifier handle is now made
atomic. Then before the class is destructed, the handle is now set to 0.
This should help solve one of the existing race conditions. A 0 handle
is correctly handled down at the HAL level.
Handles will be replacing opaque pointers in the HAL for better compatibility and easier error checking. This commits adds the initial resource manangement and definition for handles.
The network communication headers were moved to the include directory of the HAL and their copies were removed from wpilibc. Also, symModuleLink.h was removed because the function which it prototypes hasn't been used in WPILib since the roboRIO switch.
Removed delayTicks(), delayMillis(), delaySeconds(), HAL_NO_WAIT, HAL_WAIT_FOREVER,
niTimestamp32(), and niTimestamp64().
Replaced clock_gettime() and usleep() with std::chrono.
Split to match the new headers. Uses a namespace 'hal' for internal functions and globals.
SPIAccumulator merged back into SPI header, as it was not a good split. Analog
accumulator will move back to analog input when the analog split is done.
* Replaced include guards with #pragma once
* All source files now have exactly one newline appended
Some files had either two newlines at the end or none (which isn't POSIX compliant). This patch fixes that.
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
This is a follow-up of 3cd1253. A C++ program was written to automate the license update originally. That program was translated to Python so it can be kept in the repository and run when needed. It has been tested on Windows using the standard Python 3 installation and on Linux.
The original version skipped files that had "//" at the beginning since most were files that should be excluded. The relevant files are now in an exclusion list and the rest are processed normally. The .hpp file extension has been added as well. The script rewrote CompressorJNI.cpp to remove the carriage returns from its line endings.
The Digital and Analog headers (and the implementations, but that will
be moved over later) are just too big and congested. This splits those
headers, and then changes the few things that needed to be changed in
WPILib to get the code working again. No function changes were made in
this commit.
First part of the HAL changes. Returns -1 to 1 for joysticks instead of
-128 to 127. Implemented by replacing the old structure with a new
structure that uses floats instead of shorts.
Fixes artf4809.
In both C++ and Java, error messages are being sent to both the console
(via stdout/stderr) and being reported via the HAL. We don't want to
remove the stdout/stderr reporting at present because users debugging only
via netconsole (e.g. using riolog) won't see the HAL-reported errors. Until
there's an alternative means to getting the HAL-reported errors to those
users, instead store the previous 5 error messages and don't duplicate them
more often than once per second.
Changes the error reporting from setErrorData() to sendError(), which
improves driver station error reporting. The "location" in C++ is given as
the immediate caller (e.g. the WPILib function). The "location" in Java is
given as the first user function in the call stack. Note the full call stack
is provided in both instances.
Change-Id: I590dd63dcb66825301ebb260aff00cd8d7d501ed
Years update, references to WIND_BASE were removed, and WPILib license was
moved to the root directory of the project.
If there was already a comment block, a year range through 2016 was created
using the first year in the comment. If there was no comment block, a block
with just the year 2016 was added.
Comments were not added to files from external sources (NI, CTRE).
Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
This allows both greater than 72 minute (2^32 * 1 us) timeouts and also
gracefully handles notifiers across the FPGA time counter rollover.
Change-Id: Ibde0b903155f60b618b0ca4d5f8f6dd49f90b020
Notifier takes advantage of the multi-notifier support now in HAL.
Each Notifier is now handled by a separate thread at the JNI level, so
one notifier taking longer to process (or being breakpointed) does not
stop the other notifiers from running. These threads are configured as
daemon threads.
In both Notifier and Interrupt JNI, the JNI thread attachment no longer
repeatedly calls AttachCurrentThread(). This improves performance but more
importantly avoids impacting the Eclipse debugger, which attempts to
track each call to AttachCurrentThread() as a separate Java thread.
Note: There is currently no way to free an interrupt handler. Repeatedly
calling attachInterruptHandler() will result in leaking previous handlers.
Change-Id: Ib12e3df88943c03e0269d3906e5b153767139391
- CANJaguar also touched up to report it can't do the new control mode (just like with follower).
- New third optional param for talon c'tor to speed up enable control frame.
- The pulse width routines have been moved to where the script generator puts them. No actual changes there but should help Peter integrate the latest code generator.
Last feature additions for TalonSRX HAL for FRC2015-FRC-2016 season.
-HAL driver uses control_5 frame if firmware supports it. This allows teams to see/confirm control settings taking effect before enabling the robot.
For example selecting the sensor type and going to web-dash to check sensor values now works without having to enable the robot.
-Motion profile HAL routines added. Tested on Single-Speed Double reduction (with slave Talon too).
-Start moving ctre frame defs into a new common header (better then shoving a bunch of struct defs at top of module).
-New child class in CANTalonSRX for buffering motion profile points. Not sure it would be best to leave it as is or make another module. It's trivial now so I thought that was acceptable, (in future it will likely possess compression strategies => no longer trivial).
Change-Id: I803680c1a6669ca3f5157d7875942def6f75b540
Also fix DigitalGlitchFilter usage reporting for C++ (only report on
construction rather than on each call) and add for Java.
Change-Id: I73758b16d81c40442c4acec43e0aa6804b2ba250
