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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
123 lines
4.7 KiB
C++
123 lines
4.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 "CounterBase.h"
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#include "SensorBase.h"
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#include "Counter.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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class DigitalSource;
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/**
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* Class to read quad encoders.
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* Quadrature encoders are devices that count shaft rotation and can sense
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* direction. The output of
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* the QuadEncoder class is an integer that can count either up or down, and can
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* go negative for
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* reverse direction counting. When creating QuadEncoders, a direction is
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* supplied that changes the
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* sense of the output to make code more readable if the encoder is mounted such
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* that forward movement
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* generates negative values. Quadrature encoders have two digital outputs, an A
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* Channel and a B Channel
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* that are out of phase with each other to allow the FPGA to do direction
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* sensing.
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*
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* All encoders will immediately start counting - Reset() them if you need them
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* to be zeroed before use.
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*/
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class Encoder : public SensorBase,
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public CounterBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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enum IndexingType {
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kResetWhileHigh,
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kResetWhileLow,
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kResetOnFallingEdge,
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kResetOnRisingEdge
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};
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Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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Encoder(::std::shared_ptr<DigitalSource> aSource,
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::std::shared_ptr<DigitalSource> bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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[[deprecated(
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"Raw pointers are deprecated; if you wish to construct your own copy of "
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"the DigitalSource and pass it to the constructor, use an "
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"std::shared_ptr instead.")]]
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Encoder(DigitalSource *aSource, DigitalSource *bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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[[deprecated(
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"References are deprecated; if you wish to construct your own copy of "
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"the DigitalSource and pass it to the constructor, use an "
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"std::shared_ptr instead.")]]
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Encoder(DigitalSource &aSource, DigitalSource &bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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virtual ~Encoder();
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// CounterBase interface
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int32_t Get() const override;
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int32_t GetRaw() const;
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int32_t GetEncodingScale() const;
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void Reset() override;
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double GetPeriod() const override;
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void SetMaxPeriod(double maxPeriod) override;
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bool GetStopped() const override;
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bool GetDirection() const override;
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double GetDistance() const;
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double GetRate() const;
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void SetMinRate(double minRate);
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void SetDistancePerPulse(double distancePerPulse);
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void SetReverseDirection(bool reverseDirection);
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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void SetPIDSourceParameter(PIDSourceParameter pidSource);
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double PIDGet() const override;
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void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge);
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[[deprecated("Raw pointers are deprecated; use references instead.")]]
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void SetIndexSource(DigitalSource *source,
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IndexingType type = kResetOnRisingEdge);
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void SetIndexSource(const DigitalSource &source,
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IndexingType type = kResetOnRisingEdge);
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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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int32_t GetFPGAIndex() const { return m_index; }
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private:
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void InitEncoder(bool _reverseDirection, EncodingType encodingType);
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double DecodingScaleFactor() const;
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::std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
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::std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
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void *m_encoder = nullptr;
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int32_t m_index = 0; // The encoder's FPGA index.
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double m_distancePerPulse = 1.0; // distance of travel for each encoder tick
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::std::unique_ptr<Counter> m_counter =
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nullptr; // Counter object for 1x and 2x encoding
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EncodingType m_encodingType; // Encoding type
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int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
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PIDSourceParameter
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m_pidSource = kDistance; // Encoder parameter that sources a PID controller
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::std::shared_ptr<ITable> m_table = nullptr;
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};
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