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https://github.com/wpilibsuite/allwpilib
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534ea134a4
This deals with the majority of the user-facing code in wpilibC++Devices and a substantial portion of it in wpilibC++. wpilibC++Sim and wpilibC++IntegrationTests are untouched except where it is necessary to make them work with the rest of the libraries. There is still a lot to do in the following areas: -The HAL (which we may not want to touch at all). -The I2C, Serial, and SPI interfaces in wpilibC++Devices, which I haven't gotten around to doing yet. -Most wpilibC++Devices classes have void* pointers for interacting with the HAL. -InterruptableSensorBase passes a void *params for the interrupt handler. -I haven't converted all the const char* to std::strings. -There are plenty of other cases of raw pointers still existing. -This doesn't fall directly under raw pointer stuff, but move syntax and rvalue references could be introduced in many places. -I haven't touched vision code. -The Resource classes conflict (one is in the hal, the other in wpilibC++). Someone should figure out a more permanent fix (eg, just renaming them), then doing what I did (making a new namespace for one of them, essentially the same as renaming it). A few other things: -I created a NullDeleter class which is marked as deprecated. What this does is it can be passed as the deleter to a std::shared_ptr so that when you are converting raw pointers to shared_ptrs the shared_ptr doesn't do any deletion if someone else owns the raw pointer. This should only be used in making old raw pointer UIs. -I had to alter the build.gradle so that it did not emit errors when deprecated functions called deprecated functions. Unfortunately, gradle doesn't appear to be actually printing out gcc warnigns for some reason. The best way I have found to fix this is to patch the toolchains (https://bitbucket.org/byteit101/toolchain-builder/pull-request/5/make-gcc-not-throw-warnings-for-nested/diff) so that a deprecated function calling a deprecated function is fine but a non-deprecated function calling a deprecated function will throw a warning (which we then elevate with -Werror). I believe that clang deals with this properly, although I have not tried it myself. Change-Id: Ib8090c66893576fe73654f4e9d268f9d37be06a2
87 lines
2.8 KiB
C++
87 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "HAL/HAL.hpp"
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#include "SensorBase.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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/**
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* Analog input class.
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*
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* Connected to each analog channel is an averaging and oversampling engine.
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* This engine accumulates
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* the specified ( by SetAverageBits() and SetOversampleBits() ) number of
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* samples before returning a new
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* value. This is not a sliding window average. The only difference between
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* the oversampled samples and
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* the averaged samples is that the oversampled samples are simply accumulated
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* effectively increasing the
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* resolution, while the averaged samples are divided by the number of samples
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* to retain the resolution,
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* but get more stable values.
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*/
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class AnalogInput : public SensorBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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static const uint8_t kAccumulatorModuleNumber = 1;
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static const uint32_t kAccumulatorNumChannels = 2;
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static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
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explicit AnalogInput(uint32_t channel);
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virtual ~AnalogInput();
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int16_t GetValue() const;
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int32_t GetAverageValue() const;
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float GetVoltage() const;
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float GetAverageVoltage() const;
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uint32_t GetChannel() const;
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void SetAverageBits(uint32_t bits);
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uint32_t GetAverageBits() const;
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void SetOversampleBits(uint32_t bits);
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uint32_t GetOversampleBits() const;
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uint32_t GetLSBWeight() const;
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int32_t GetOffset() const;
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bool IsAccumulatorChannel() const;
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void InitAccumulator();
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void SetAccumulatorInitialValue(int64_t value);
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void ResetAccumulator();
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void SetAccumulatorCenter(int32_t center);
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void SetAccumulatorDeadband(int32_t deadband);
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int64_t GetAccumulatorValue() const;
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uint32_t GetAccumulatorCount() const;
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void GetAccumulatorOutput(int64_t &value, uint32_t &count) const;
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static void SetSampleRate(float samplesPerSecond);
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static float GetSampleRate();
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double PIDGet() const override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(::std::shared_ptr<ITable> subTable) override;
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::std::shared_ptr<ITable> GetTable() const override;
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private:
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uint32_t m_channel;
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//TODO: Adjust HAL to avoid use of raw pointers.
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void *m_port;
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int64_t m_accumulatorOffset;
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::std::shared_ptr<ITable> m_table = nullptr;
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};
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