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https://github.com/wpilibsuite/allwpilib
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f84018af5f
During shared library loading, a different libLLVM can be pulled in, causing llvm symbols from dependent libraries to resolve to that library instead of this one. This has been seen in the wild with the Mesa OpenGL implementation in JavaFX applications (see wpilibsuite/shuffleboard#361). This is clearly a very breaking change. For some level of backwards compatibility, a namespace alias from llvm to wpi is performed in the "llvm" headers. Unfortunately, forward declarations of llvm classes will still break, but compilers seem to generate clear error messages in those cases ("namespace alias 'llvm' not allowed here, assuming 'wpi'"). This change also moves all the wpiutil headers to a single "wpi" subdirectory from the previously split "llvm", "support", "tcpsockets", and "udpsockets". Shim headers will be added for backwards compatibility in a later commit.
97 lines
2.8 KiB
C++
97 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "AnalogOutput.h"
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#include <limits>
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#include <HAL/HAL.h>
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#include <HAL/Ports.h>
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#include "SensorBase.h"
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#include "SmartDashboard/SendableBuilder.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Construct an analog output on the given channel.
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*
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* All analog outputs are located on the MXP port.
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*
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* @param channel The channel number on the roboRIO to represent.
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*/
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AnalogOutput::AnalogOutput(int channel) {
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if (!SensorBase::CheckAnalogOutputChannel(channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
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"analog output " + wpi::Twine(channel));
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m_channel = std::numeric_limits<int>::max();
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m_port = HAL_kInvalidHandle;
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return;
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}
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m_channel = channel;
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HAL_PortHandle port = HAL_GetPort(m_channel);
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int32_t status = 0;
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m_port = HAL_InitializeAnalogOutputPort(port, &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumAnalogOutputs(), channel,
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HAL_GetErrorMessage(status));
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m_channel = std::numeric_limits<int>::max();
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m_port = HAL_kInvalidHandle;
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
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SetName("AnalogOutput", m_channel);
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}
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/**
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* Destructor.
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*
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* Frees analog output resource.
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*/
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AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); }
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/**
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* Get the channel of this AnalogOutput.
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*/
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int AnalogOutput::GetChannel() { return m_channel; }
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/**
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* Set the value of the analog output.
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*
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* @param voltage The output value in Volts, from 0.0 to +5.0
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*/
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void AnalogOutput::SetVoltage(double voltage) {
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int32_t status = 0;
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HAL_SetAnalogOutput(m_port, voltage, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the voltage of the analog output
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*
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* @return The value in Volts, from 0.0 to +5.0
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*/
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double AnalogOutput::GetVoltage() const {
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int32_t status = 0;
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double voltage = HAL_GetAnalogOutput(m_port, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return voltage;
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}
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void AnalogOutput::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Analog Output");
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builder.AddDoubleProperty("Value", [=]() { return GetVoltage(); },
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[=](double value) { SetVoltage(value); });
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}
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