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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
4.9 KiB
C++
123 lines
4.9 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 "AnalogTriggerOutput.h"
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#include "CounterBase.h"
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#include "SensorBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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/**
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* Class for counting the number of ticks on a digital input channel.
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* This is a general purpose class for counting repetitive events. It can return
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* the number
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* of counts, the period of the most recent cycle, and detect when the signal
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* being counted
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* has stopped by supplying a maximum cycle time.
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*
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* All counters 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 Counter : public SensorBase,
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public CounterBase,
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public LiveWindowSendable {
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public:
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explicit Counter(Mode mode = kTwoPulse);
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explicit Counter(int32_t channel);
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[[deprecated(
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"Raw pointers are deprecated; if you just want to construct a Counter "
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"with its own DigitalSource, then call the Counter(int channel). If you "
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"want to keep your own copy of the DigitalSource, use "
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"std::shared_ptr.")]]
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explicit Counter(DigitalSource *source);
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explicit Counter(::std::shared_ptr<DigitalSource> source);
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[[deprecated(
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"Raw pointers are deprecated. Use pass-by-reference instead.")]]
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explicit Counter(AnalogTrigger *trigger);
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explicit Counter(const AnalogTrigger &trigger);
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[[deprecated(
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"Raw pointers are deprecated; prefer to use shared_ptr instead.")]]
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Counter(EncodingType encodingType, DigitalSource *upSource,
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DigitalSource *downSource, bool inverted);
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Counter(EncodingType encodingType, ::std::shared_ptr<DigitalSource> upSource,
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::std::shared_ptr<DigitalSource> downSource, bool inverted);
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virtual ~Counter();
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void SetUpSource(int32_t channel);
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[[deprecated(
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"Raw pointers are deprecated; prefer to call either SetUpSource(int) or "
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"SetUpSource(shared_ptr).")]]
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void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
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void SetUpSource(::std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType);
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[[deprecated("Raw pointers are deprecated. Use std::shared_ptr instead.")]]
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void SetUpSource(DigitalSource *source);
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void SetUpSource(::std::shared_ptr<DigitalSource> source);
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[[deprecated("References are deprecated. Use std::shared_ptr instead.")]]
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void SetUpSource(DigitalSource &source);
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void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearUpSource();
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void SetDownSource(int32_t channel);
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[[deprecated(
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"Raw pointers are deprecated; prefer to call either SetDownSource(int) "
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"or SetDownSource(shared_ptr).")]]
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void SetDownSource(AnalogTrigger *analogTrigger,
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AnalogTriggerType triggerType);
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void SetDownSource(::std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType);
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[[deprecated("Raw pointers are deprecated. Use std::shared_ptr instead.")]]
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void SetDownSource(DigitalSource *source);
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void SetDownSource(::std::shared_ptr<DigitalSource> source);
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[[deprecated("References are deprecated. Use std::shared_ptr instead.")]]
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void SetDownSource(DigitalSource &source);
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void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearDownSource();
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void SetUpDownCounterMode();
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void SetExternalDirectionMode();
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void SetSemiPeriodMode(bool highSemiPeriod);
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void SetPulseLengthMode(float threshold);
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void SetReverseDirection(bool reverseDirection);
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// CounterBase interface
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int32_t Get() const override;
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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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void SetUpdateWhenEmpty(bool enabled);
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bool GetStopped() const override;
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bool GetDirection() const override;
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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uint32_t GetFPGAIndex() const { return m_index; }
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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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virtual 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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protected:
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// Makes the counter count up.
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::std::shared_ptr<DigitalSource> m_upSource;
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// Makes the counter count down.
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::std::shared_ptr<DigitalSource> m_downSource;
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// The FPGA counter object
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void *m_counter = nullptr; ///< The FPGA counter object.
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private:
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uint32_t m_index = 0; ///< The index of this counter.
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::std::shared_ptr<ITable> m_table = nullptr;
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};
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