Don't send DS errors if no DS.

Change-Id: I765d8c21371e772ec09bf696f6dd2fff43f8ed24

hal/lib/Athena/Digital.cpp

@@ -632,6 +632,25 @@ void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status)
   counter->counter->writeTimerConfig_AverageSize(size, status);
 }
 
+/**
+ * remap the digital source pin and set the module.
+ * If it's an analog trigger, determine the module from the high order routing channel
+ * else do normal digital input remapping based on pin number (MXP)
+ */
+void remapDigitalSource(bool analogTrigger, uint32_t &pin, uint8_t &module) {
+  if (analogTrigger) {
+    module = pin >> 4;
+  } else {
+    if(pin >= kNumHeaders) {
+      pin = remapMXPChannel(pin);
+      module = 1;
+    } else {
+      module = 0;
+    }
+  }
+}
+
+
 /**
  * Set the source object that causes the counter to count up.
  * Set the up counting DigitalSource.
@@ -641,12 +660,7 @@ void setCounterUpSource(void* counter_pointer, uint32_t pin, bool analogTrigger,
 
   uint8_t module;
 
-  if(pin >= kNumHeaders) {
-    pin = remapMXPChannel(pin);
-    module = 1;
-  } else {
-    module = 0;
-  }
+  remapDigitalSource(analogTrigger, pin, module);
 
   counter->counter->writeConfig_UpSource_Module(module, status);
   counter->counter->writeConfig_UpSource_Channel(pin, status);
@@ -696,12 +710,7 @@ void setCounterDownSource(void* counter_pointer, uint32_t pin, bool analogTrigge
 
   uint8_t module;
 
-  if(pin >= kNumHeaders) {
-    pin = remapMXPChannel(pin);
-    module = 1;
-  } else {
-    module = 0;
-  }
+  remapDigitalSource(analogTrigger, pin, module);
 
   counter->counter->writeConfig_DownSource_Module(module, status);
   counter->counter->writeConfig_DownSource_Channel(pin, status);
@@ -925,15 +934,8 @@ void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_
   // Initialize encoder structure
   Encoder* encoder = new Encoder();
 
-  if(port_a_pin >= kNumHeaders) {
-    port_a_pin = remapMXPChannel(port_a_pin);
-    port_a_module = 1;
-  }
-
-  if(port_b_pin >= kNumHeaders) {
-    port_b_pin = remapMXPChannel(port_b_pin);
-    port_b_module = 1;
-  }
+  remapDigitalSource(port_a_analog_trigger, port_a_pin, port_a_module);
+  remapDigitalSource(port_b_analog_trigger, port_b_pin, port_b_module);
 
   Resource::CreateResourceObject(&quadEncoders, tEncoder::kNumSystems);
   encoder->index = quadEncoders->Allocate("4X Encoder");

hal/lib/Athena/Interrupts.cpp

@@ -1,6 +1,8 @@
 #include "HAL/Interrupts.hpp"
 #include "ChipObject.h"
 
+extern void remapDigitalSource(bool analogTrigger, uint32_t &pin, uint8_t &module);
+
 struct Interrupt // FIXME: why is this internal?
 {
 	tInterrupt *anInterrupt;
@@ -99,6 +101,7 @@ void requestInterrupts(void* interrupt_pointer, uint8_t routing_module, uint32_t
 {
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
 	anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
+	remapDigitalSource(routing_analog_trigger, routing_pin, routing_module);
 	anInterrupt->anInterrupt->writeConfig_Source_AnalogTrigger(routing_analog_trigger, status);
 	anInterrupt->anInterrupt->writeConfig_Source_Channel(routing_pin, status);
 	anInterrupt->anInterrupt->writeConfig_Source_Module(routing_module, status);

hal/lib/Athena/ctre/PCM.cpp

@@ -13,9 +13,9 @@ static const INT32 kCANPeriod = 20;
 #define STATUS_DEBUG  		0x9041480
 
 #define EXPECTED_RESPONSE_TIMEOUT_MS	(50)
-#define GET_PCM_STATUS()			CtreCanNode::recMsg<PcmStatus_t> 		rx = GetRx<PcmStatus_t>			(STATUS_1,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_PCM_SOL_FAULTS()		CtreCanNode::recMsg<PcmStatusFault_t> 	rx = GetRx<PcmStatusFault_t>	(STATUS_SOL_FAULTS,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_PCM_DEBUG()				CtreCanNode::recMsg<PcmDebug_t> 		rx = GetRx<PcmDebug_t>			(STATUS_DEBUG,EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_PCM_STATUS()			CtreCanNode::recMsg<PcmStatus_t> 		rx = GetRx<PcmStatus_t>			(STATUS_1|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_PCM_SOL_FAULTS()		CtreCanNode::recMsg<PcmStatusFault_t> 	rx = GetRx<PcmStatusFault_t>	(STATUS_SOL_FAULTS|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_PCM_DEBUG()				CtreCanNode::recMsg<PcmDebug_t> 		rx = GetRx<PcmDebug_t>			(STATUS_DEBUG|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
 
 #define CONTROL_1 			0x09041C00	/* PCM_Control */
 #define CONTROL_2 			0x09041C40	/* PCM_SupplemControl */

wpilibc/wpilibC++Devices/src/DriverStation.cpp

@@ -270,7 +270,7 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
 	if (stick >= kJoystickPorts)
 	{
 		wpi_setWPIError(BadJoystickIndex);
-		return 0;
+		return -1;
 	}
 
 	if (pov >= m_joystickPOVs[stick].count)
@@ -279,7 +279,7 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
 			wpi_setWPIError(BadJoystickAxis);
 		else
 			ReportJoystickUnpluggedError("WARNING: Joystick POV missing, check if all controllers are plugged in\n");
-		return 0;
+		return -1;
 	}
 
 	return m_joystickPOVs[stick].povs[pov];
@@ -530,5 +530,11 @@ double DriverStation::GetMatchTime()
 void DriverStation::ReportError(std::string error)
 {
 	std::cout << error << std::endl;
-    HALSetErrorData(error.c_str(), error.size(), 0);
+	
+	HALControlWord controlWord;
+	HALGetControlWord(&controlWord);
+	if(controlWord.dsAttached)
+	{
+		HALSetErrorData(error.c_str(), error.size(), 0);
+	}
 }

wpilibc/wpilibC++Devices/src/RobotBase.cpp

@@ -65,7 +65,7 @@ RobotBase::RobotBase()
 	FILE *file = NULL;
 	file = fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
 
-	fputs("2015 C++ 1.1.0", file);
+	fputs("2015 C++ 1.2.0", file);
 	if (file != NULL)
 	fclose(file);
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java

@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.util.BoundaryException;
 
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 import java.nio.IntBuffer;
 
 //import com.sun.jna.Pointer;
@@ -57,12 +58,14 @@ public class AnalogTrigger {
 	 */
 	protected void initTrigger(final int channel) {
 		ByteBuffer port_pointer = AnalogJNI.getPort((byte) channel);
-		IntBuffer index = ByteBuffer.allocateDirect(4).asIntBuffer();
-		IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
+		ByteBuffer index = ByteBuffer.allocateDirect(4);
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		index.order(ByteOrder.LITTLE_ENDIAN);
+		status.order(ByteOrder.LITTLE_ENDIAN);
 
-		m_port = AnalogJNI.initializeAnalogTrigger(port_pointer, index, status);
-		HALUtil.checkStatus(status);
-		m_index = index.get(0);
+		m_port = AnalogJNI.initializeAnalogTrigger(port_pointer, index.asIntBuffer(), status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		m_index = index.asIntBuffer().get(0);
 
 		UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel);
 	}
@@ -96,9 +99,10 @@ public class AnalogTrigger {
 	 * Release the resources used by this object
 	 */
 	public void free() {
-		IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
-		AnalogJNI.cleanAnalogTrigger(m_port, status);
-		HALUtil.checkStatus(status);
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		AnalogJNI.cleanAnalogTrigger(m_port, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 		m_port = null;
 	}
 
@@ -116,9 +120,10 @@ public class AnalogTrigger {
 		if (lower > upper) {
 			throw new BoundaryException("Lower bound is greater than upper");
 		}
-		IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
-		AnalogJNI.setAnalogTriggerLimitsRaw(m_port, lower, upper, status);
-		HALUtil.checkStatus(status);
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		AnalogJNI.setAnalogTriggerLimitsRaw(m_port, lower, upper, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
@@ -135,10 +140,11 @@ public class AnalogTrigger {
 			throw new BoundaryException(
 					"Lower bound is greater than upper bound");
 		}
-		IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
 		AnalogJNI.setAnalogTriggerLimitsVoltage(m_port, (float) lower,
-				(float) upper, status);
-		HALUtil.checkStatus(status);
+				(float) upper, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
@@ -150,10 +156,11 @@ public class AnalogTrigger {
 	 *            true to use an averaged value, false otherwise
 	 */
 	public void setAveraged(boolean useAveragedValue) {
-		IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
 		AnalogJNI.setAnalogTriggerAveraged(m_port,
-				(byte) (useAveragedValue ? 1 : 0), status);
-		HALUtil.checkStatus(status);
+				(byte) (useAveragedValue ? 1 : 0), status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
@@ -166,10 +173,11 @@ public class AnalogTrigger {
 	 *            true to use a filterd value, false otherwise
 	 */
 	public void setFiltered(boolean useFilteredValue) {
-		IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
 		AnalogJNI.setAnalogTriggerFiltered(m_port,
-				(byte) (useFilteredValue ? 1 : 0), status);
-		HALUtil.checkStatus(status);
+				(byte) (useFilteredValue ? 1 : 0), status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
@@ -189,9 +197,10 @@ public class AnalogTrigger {
 	 * @return The InWindow output of the analog trigger.
 	 */
 	public boolean getInWindow() {
-		IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
-		byte value = AnalogJNI.getAnalogTriggerInWindow(m_port, status);
-		HALUtil.checkStatus(status);
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		byte value = AnalogJNI.getAnalogTriggerInWindow(m_port, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 		return value != 0;
 	}
 
@@ -203,9 +212,10 @@ public class AnalogTrigger {
 	 * @return The TriggerState output of the analog trigger.
 	 */
 	public boolean getTriggerState() {
-		IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
-		byte value = AnalogJNI.getAnalogTriggerTriggerState(m_port, status);
-		HALUtil.checkStatus(status);
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		byte value = AnalogJNI.getAnalogTriggerTriggerState(m_port, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 		return value != 0;
 	}
 

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -267,7 +267,7 @@ public class DriverStation implements RobotState.Interface {
 
         if (pov >= m_joystickPOVs[stick].length) {
 			reportJoystickUnpluggedError("WARNING: Joystick POV " + pov + " on port " + stick + " not available, check if controller is plugged in\n");
-            return 0;
+            return -1;
         }
 
         return m_joystickPOVs[stick][pov];

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -216,7 +216,7 @@ public abstract class RobotBase {
 
                 output = new FileOutputStream(file);
 
-				output.write("2015 Java 1.1.0".getBytes());
+				output.write("2015 Java 1.2.0".getBytes());
 
             } catch (IOException ex) {
                 ex.printStackTrace();