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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
111 lines
3.8 KiB
C++
111 lines
3.8 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 "SensorBase.h"
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#include "Counter.h"
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#include "Task.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <atomic>
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#include "HAL/cpp/priority_mutex.h"
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#include <memory>
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class DigitalInput;
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class DigitalOutput;
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/**
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* Ultrasonic rangefinder class.
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* The Ultrasonic rangefinder measures absolute distance based on the round-trip
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* time
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* of a ping generated by the controller. These sensors use two transducers, a
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* speaker and
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* a microphone both tuned to the ultrasonic range. A common ultrasonic sensor,
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* the Daventech SRF04
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* requires a short pulse to be generated on a digital channel. This causes the
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* chirp to be
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* emmitted. A second line becomes high as the ping is transmitted and goes low
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* when
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* the echo is received. The time that the line is high determines the round
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* trip distance
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* (time of flight).
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*/
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class Ultrasonic : public SensorBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
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[[deprecated(
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"Raw pointers are deprecated; prefer either specifying the channel "
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"numbers as integers or passing shared_ptrs.")]]
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Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel,
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DistanceUnit units = kInches);
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[[deprecated(
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"References are deprecated; prefer either specifying the channel numbers "
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"as integers or passing shared_ptrs.")]]
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Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel,
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DistanceUnit units = kInches);
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Ultrasonic(::std::shared_ptr<DigitalOutput> pingChannel,
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::std::shared_ptr<DigitalInput> echoChannel,
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DistanceUnit units = kInches);
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Ultrasonic(uint32_t pingChannel, uint32_t echoChannel,
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DistanceUnit units = kInches);
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virtual ~Ultrasonic();
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void Ping();
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bool IsRangeValid() const;
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static void SetAutomaticMode(bool enabling);
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double GetRangeInches() const;
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double GetRangeMM() const;
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bool IsEnabled() const { return m_enabled; }
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void SetEnabled(bool enable) { m_enabled = enable; }
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double PIDGet() const override;
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void SetDistanceUnits(DistanceUnit units);
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DistanceUnit GetDistanceUnits() const;
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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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void Initialize();
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static void UltrasonicChecker();
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static constexpr double kPingTime =
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10 * 1e-6; ///< Time (sec) for the ping trigger pulse.
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static const uint32_t kPriority =
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64; ///< Priority that the ultrasonic round robin task runs.
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static constexpr double kMaxUltrasonicTime =
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0.1; ///< Max time (ms) between readings.
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static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
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static Task m_task; // task doing the round-robin automatic sensing
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static Ultrasonic *m_firstSensor; // head of the ultrasonic sensor list
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static std::atomic<bool> m_automaticEnabled; // automatic round robin mode
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static priority_mutex m_mutex; // synchronize access to the list of sensors
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::std::shared_ptr<DigitalOutput> m_pingChannel;
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::std::shared_ptr<DigitalInput> m_echoChannel;
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bool m_allocatedChannels;
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bool m_enabled;
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Counter m_counter;
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Ultrasonic *m_nextSensor;
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DistanceUnit m_units;
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::std::shared_ptr<ITable> m_table = nullptr;
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};
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