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.
In case of Spontaneous wake ups, we should be checking a condition
variable as well.
Note that we can not use the existing m_newControlData, as that has a
possible race condition with existing user code that it does not look
like we could work around.
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.
CANJaguar is the only motor controller using sync groups, so that feature doesn't belong in an interface used by all motor controllers. If teams want to use sync groups, they should cast to the appropriate motor controller type themselves.
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.
Currently, about 5ms of every 20ms loop the DS thread would hold
the mutex, while grabbing data. During this time, and call to grab
joystick data would be blocked. This change grabs the joystick data
to a cache, and then grabs the mutex and moves the data references
around. This is much more efficient then the old code, and gives
teams more of their teleop loop time back for use.
Another major change this does is use preallocated arrays when entering
the JNI. Previously every JNI DS call would allocate an entire new array.
With a GC'd language where those arrays go on the heap, thats a problem,
and creates tons of garbage. That garbage is no longer created anymore,
as all arrays and byte buffers sent to JNI in the DS are preallocated.
In addition, GetJoystickName was always returning joystick 0 data, which
this fixes.
There was a lot of duplicated code between all 7 PWM speed controllers.
This moves all the duplicated code down to a base class, that will make
it easier to add speed controllers in future years if needed again. Also
if we need to add a method to all speed controllers, we only have to do
it in 1 place, and not 7.
Change-Id: I25eb1d097c0f5f7dbd7656db2f4a30d006d50f98
Ensure the POR, PWR, and CST error bits are not set when reading the sample.
Reported by: Jared Russell, Austin Schuh
Change-Id: Ib38178d6b51880480aee86e13c16f9ba89a80693
Java was using integer division for calulating Timer values, which
was causing Timer values to be concatinated, and only accurate
to the nearest millisecond. This changes it to use double division,
which matches C++ and makes timing much more accurate
Change-Id: I61b893f4ad5791bf4dfdd767ee4346c1ed4ea418
In the Java implementation, "result" is an instance variable (to avoid
needing to perform a memory allocation on each call to getAngle). However,
this means that calls to getAngle() from multiple threads can step on each
other. Synchronize the method to avoid this issue.
Reported by: Jackson Gray (http://www.chiefdelphi.com/forums/showthread.php?threadid=145124)
Note this does not synchronize accesses between configuration methods such
as calibrate() and accessor methods such as getAngle().
Change-Id: I9ecc962d4fba66f6134fd801cfd607f155b41fe5
For Java, this is as simple as just adding it, as all motors already
have an implementation from MotorSafety that is correctly resolved. For
C++, I had to override StopMotor in the classes that descend from
SafePWM and explicitly call the SafePWM version. RobotDrive now calls
StopMotor on each of its SpeedControllers, instead of calling Disable or
setting the motor to 0.0 as it was doing previously.
Additional small formatting corrections to the previous commit starting
this were added.
Change-Id: Ie94565394927a910ce74bc628670ac3d658d8df9
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
