[hal] Add systemcore duty cycle (wpilibsuite#7682)

hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java

@@ -13,13 +13,11 @@ public class DutyCycleJNI extends JNIWrapper {
   /**
    * Initialize a DutyCycle input.
    *
-   * @param digitalSourceHandle the digital source to use (either a Digital Handle or a
-   *     AnalogTrigger Handle)
-   * @param analogTriggerType the analog trigger type of the source if it is an analog trigger
+   * @param halPortHandle the port handle to create from
    * @return the created duty cycle handle
    * @see "HAL_InitializeDutyCycle"
    */
-  public static native int initialize(int digitalSourceHandle, int analogTriggerType);
+  public static native int initialize(int halPortHandle);
 
   /**
    * Free a DutyCycle.

hal/src/main/native/cpp/jni/DutyCycleJNI.cpp

@@ -4,6 +4,8 @@
 
 #include <jni.h>
 
+#include <wpi/jni_util.h>
+
 #include "HALUtil.h"
 #include "edu_wpi_first_hal_DutyCycleJNI.h"
 #include "hal/DutyCycle.h"
@@ -14,16 +16,16 @@ extern "C" {
 /*
  * Class:     edu_wpi_first_hal_DutyCycleJNI
  * Method:    initialize
- * Signature: (II)I
+ * Signature: (I)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_DutyCycleJNI_initialize
-  (JNIEnv* env, jclass, jint digitalSourceHandle, jint analogTriggerType)
+  (JNIEnv* env, jclass, jint portHandle)
 {
   int32_t status = 0;
-  auto handle = HAL_InitializeDutyCycle(
-      static_cast<HAL_Handle>(digitalSourceHandle),
-      static_cast<HAL_AnalogTriggerType>(analogTriggerType), &status);
+  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto handle = HAL_InitializeDutyCycle(static_cast<HAL_Handle>(portHandle),
+                                        stack.c_str(), &status);
   CheckStatus(env, status);
   return handle;
 }

hal/src/main/native/include/hal/DutyCycle.h

@@ -20,16 +20,14 @@ extern "C" {
 /**
  * Initialize a DutyCycle input.
  *
- * @param[in] digitalSourceHandle the digital source to use (either a
- *                                 HAL_DigitalHandle or a
- *                                 HAL_AnalogTriggerHandle)
- * @param[in] triggerType the analog trigger type of the source if it is
- *                         an analog trigger
+ * @param[in] portHandle         the port handle to create from
+ * @param[in] allocationLocation the location where the allocation is occurring
+ *                               (can be null)
  * @param[out] status Error status variable. 0 on success.
  * @return the created duty cycle handle
  */
-HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
-                                            HAL_AnalogTriggerType triggerType,
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_PortHandle portHandle,
+                                            const char* allocationLocation,
                                             int32_t* status);
 
 /**

hal/src/main/native/sim/DutyCycle.cpp

@@ -33,8 +33,8 @@ void InitializeDutyCycle() {
 }  // namespace hal::init
 
 extern "C" {
-HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
-                                            HAL_AnalogTriggerType triggerType,
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_PortHandle portHandle,
+                                            const char* allocationLocation,
                                             int32_t* status) {
   hal::init::CheckInit();
 
@@ -51,7 +51,7 @@ HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
   }
 
   int16_t index = getHandleIndex(handle);
-  SimDutyCycleData[index].digitalChannel = getHandleIndex(digitalSourceHandle);
+  SimDutyCycleData[index].digitalChannel = getPortHandleChannel(portHandle);
   SimDutyCycleData[index].initialized = true;
   SimDutyCycleData[index].simDevice = 0;
   dutyCycle->index = index;

hal/src/main/native/systemcore/DutyCycle.cpp

@@ -4,11 +4,16 @@
 
 #include "hal/DutyCycle.h"
 
+#include <cstdio>
 #include <memory>
+#include <thread>
 
 #include "HALInitializer.h"
+#include "HALInternal.h"
 #include "PortsInternal.h"
+#include "SmartIo.h"
 #include "hal/Errors.h"
+#include "hal/cpp/fpga_clock.h"
 #include "hal/handles/HandlesInternal.h"
 #include "hal/handles/LimitedHandleResource.h"
 
@@ -19,15 +24,67 @@ void InitializeDutyCycle() {}
 }  // namespace hal::init
 
 extern "C" {
-HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
-                                            HAL_AnalogTriggerType triggerType,
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_PortHandle portHandle,
+                                            const char* allocationLocation,
                                             int32_t* status) {
   hal::init::CheckInit();
 
-  *status = HAL_HANDLE_ERROR;
-  return HAL_kInvalidHandle;
+  int16_t channel = getPortHandleChannel(portHandle);
+  if (channel == InvalidHandleIndex || channel >= kNumSmartIo) {
+    *status = RESOURCE_OUT_OF_RANGE;
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DutyCycle", 0,
+                                     kNumSmartIo, channel);
+    return HAL_kInvalidHandle;
+  }
+
+  HAL_DigitalHandle handle;
+
+  auto port = smartIoHandles->Allocate(channel, HAL_HandleEnum::DutyCycle,
+                                       &handle, status);
+
+  if (*status != 0) {
+    if (port) {
+      hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
+                                           port->previousAllocation);
+    } else {
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DutyCycle", 0,
+                                       kNumSmartIo, channel);
+    }
+    return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
+  }
+
+  port->channel = channel;
+
+  *status = port->InitializeMode(SmartIoMode::PwmInput);
+  if (*status != 0) {
+    smartIoHandles->Free(handle, HAL_HandleEnum::DutyCycle);
+    return HAL_kInvalidHandle;
+  }
+
+  port->previousAllocation = allocationLocation ? allocationLocation : "";
+
+  return handle;
+}
+void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {
+  auto port = smartIoHandles->Get(dutyCycleHandle, HAL_HandleEnum::DutyCycle);
+  if (port == nullptr) {
+    return;
+  }
+
+  smartIoHandles->Free(dutyCycleHandle, HAL_HandleEnum::DutyCycle);
+
+  // Wait for no other object to hold this handle.
+  auto start = hal::fpga_clock::now();
+  while (port.use_count() != 1) {
+    auto current = hal::fpga_clock::now();
+    if (start + std::chrono::seconds(1) < current) {
+      std::puts("DIO handle free timeout");
+      std::fflush(stdout);
+      break;
+    }
+    std::this_thread::yield();
+  }
 }
-void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {}
 
 void HAL_SetDutyCycleSimDevice(HAL_EncoderHandle handle,
                                HAL_SimDeviceHandle device) {}
@@ -46,8 +103,15 @@ double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
 
 int32_t HAL_GetDutyCycleHighTime(HAL_DutyCycleHandle dutyCycleHandle,
                                  int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return 0;
+  auto port = smartIoHandles->Get(dutyCycleHandle, HAL_HandleEnum::DutyCycle);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  uint16_t ret = false;
+  *status = port->GetPwmInputMicroseconds(&ret);
+  return ret;
 }
 
 int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,

hal/src/main/native/systemcore/SmartIo.cpp

@@ -96,6 +96,17 @@ int32_t SmartIo::GetDigitalInput(bool* value) {
   return 0;
 }
 
+int32_t SmartIo::GetPwmInputMicroseconds(uint16_t* microseconds) {
+  if (currentMode != SmartIoMode::PwmInput) {
+    return INCOMPATIBLE_STATE;
+  }
+
+  int val = getSubscriber.Get();
+  *microseconds = val;
+
+  return 0;
+}
+
 int32_t SmartIo::SetPwmOutputPeriod(PwmOutputPeriod period) {
   if (currentMode != SmartIoMode::PwmOutput) {
     return INCOMPATIBLE_STATE;

hal/src/main/native/systemcore/SmartIo.h

@@ -58,6 +58,8 @@ struct SmartIo {
   int32_t SetDigitalOutput(bool value);
   int32_t GetDigitalInput(bool* value);
 
+  int32_t GetPwmInputMicroseconds(uint16_t* microseconds);
+
   int32_t SetPwmOutputPeriod(PwmOutputPeriod period);
 
   int32_t SetPwmMicroseconds(uint16_t microseconds);

wpilibc/src/main/native/cpp/DutyCycle.cpp

@@ -4,50 +4,37 @@
 
 #include "frc/DutyCycle.h"
 
+#include <string>
 #include <utility>
 
 #include <hal/DutyCycle.h>
 #include <hal/FRCUsageReporting.h>
+#include <hal/HALBase.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/StackTrace.h>
 #include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/DigitalSource.h"
 #include "frc/Errors.h"
+#include "frc/SensorUtil.h"
 
 using namespace frc;
 
-DutyCycle::DutyCycle(DigitalSource* source)
-    : m_source{source, wpi::NullDeleter<DigitalSource>()} {
-  if (!m_source) {
-    throw FRC_MakeError(err::NullParameter, "source");
-  }
-  InitDutyCycle();
-}
-
-DutyCycle::DutyCycle(DigitalSource& source)
-    : m_source{&source, wpi::NullDeleter<DigitalSource>()} {
-  InitDutyCycle();
-}
-
-DutyCycle::DutyCycle(std::shared_ptr<DigitalSource> source)
-    : m_source{std::move(source)} {
-  if (!m_source) {
-    throw FRC_MakeError(err::NullParameter, "source");
+DutyCycle::DutyCycle(int channel) : m_channel{channel} {
+  if (!SensorUtil::CheckDigitalChannel(channel)) {
+    throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
   }
   InitDutyCycle();
 }
 
 void DutyCycle::InitDutyCycle() {
   int32_t status = 0;
-  m_handle =
-      HAL_InitializeDutyCycle(m_source->GetPortHandleForRouting(),
-                              static_cast<HAL_AnalogTriggerType>(
-                                  m_source->GetAnalogTriggerTypeForRouting()),
-                              &status);
+  std::string stackTrace = wpi::GetStackTrace(1);
+  m_handle = HAL_InitializeDutyCycle(HAL_GetPort(m_channel), stackTrace.c_str(),
+                                     &status);
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
-  int index = GetFPGAIndex();
-  HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
-  wpi::SendableRegistry::AddLW(this, "Duty Cycle", index);
+  HAL_Report(HALUsageReporting::kResourceType_DutyCycle, m_channel + 1);
+  wpi::SendableRegistry::AddLW(this, "Duty Cycle", m_channel);
 }
 
 int DutyCycle::GetFPGAIndex() const {
@@ -86,7 +73,7 @@ unsigned int DutyCycle::GetOutputScaleFactor() const {
 }
 
 int DutyCycle::GetSourceChannel() const {
-  return m_source->GetChannel();
+  return m_channel;
 }
 
 void DutyCycle::InitSendable(wpi::SendableBuilder& builder) {

wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp

@@ -18,8 +18,7 @@
 using namespace frc;
 
 DutyCycleEncoder::DutyCycleEncoder(int channel)
-    : m_dutyCycle{std::make_shared<DutyCycle>(
-          std::make_shared<DigitalInput>(channel))} {
+    : m_dutyCycle{std::make_shared<DutyCycle>(channel)} {
   Init(1.0, 0.0);
 }
 
@@ -38,25 +37,9 @@ DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle)
   Init(1.0, 0.0);
 }
 
-DutyCycleEncoder::DutyCycleEncoder(DigitalSource& digitalSource)
-    : m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
-  Init(1.0, 0.0);
-}
-
-DutyCycleEncoder::DutyCycleEncoder(DigitalSource* digitalSource)
-    : m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
-  Init(1.0, 0.0);
-}
-
-DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource)
-    : m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
-  Init(1.0, 0.0);
-}
-
 DutyCycleEncoder::DutyCycleEncoder(int channel, double fullRange,
                                    double expectedZero)
-    : m_dutyCycle{std::make_shared<DutyCycle>(
-          std::make_shared<DigitalInput>(channel))} {
+    : m_dutyCycle{std::make_shared<DutyCycle>(channel)} {
   Init(fullRange, expectedZero);
 }
 
@@ -78,24 +61,6 @@ DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle,
   Init(fullRange, expectedZero);
 }
 
-DutyCycleEncoder::DutyCycleEncoder(DigitalSource& digitalSource,
-                                   double fullRange, double expectedZero)
-    : m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
-  Init(fullRange, expectedZero);
-}
-
-DutyCycleEncoder::DutyCycleEncoder(DigitalSource* digitalSource,
-                                   double fullRange, double expectedZero)
-    : m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
-  Init(fullRange, expectedZero);
-}
-
-DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource,
-                                   double fullRange, double expectedZero)
-    : m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
-  Init(fullRange, expectedZero);
-}
-
 void DutyCycleEncoder::Init(double fullRange, double expectedZero) {
   m_simDevice = hal::SimDevice{"DutyCycle:DutyCycleEncoder",
                                m_dutyCycle->GetSourceChannel()};

wpilibc/src/main/native/include/frc/DutyCycle.h

@@ -36,29 +36,11 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
 
  public:
   /**
-   * Constructs a DutyCycle input from a DigitalSource input.
+   * Constructs a DutyCycle input from a smartio channel.
    *
-   * <p> This class does not own the inputted source.
-   *
-   * @param source The DigitalSource to use.
-   */
-  explicit DutyCycle(DigitalSource& source);
-  /**
-   * Constructs a DutyCycle input from a DigitalSource input.
-   *
-   * <p> This class does not own the inputted source.
-   *
-   * @param source The DigitalSource to use.
-   */
-  explicit DutyCycle(DigitalSource* source);
-  /**
-   * Constructs a DutyCycle input from a DigitalSource input.
-   *
-   * <p> This class does not own the inputted source.
-   *
-   * @param source The DigitalSource to use.
+   * @param source The channel to use.
    */
-  explicit DutyCycle(std::shared_ptr<DigitalSource> source);
+  explicit DutyCycle(int source);
 
   DutyCycle(DutyCycle&&) = default;
   DutyCycle& operator=(DutyCycle&&) = default;
@@ -121,7 +103,7 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
 
  private:
   void InitDutyCycle();
-  std::shared_ptr<DigitalSource> m_source;
+  int m_channel;
   hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> m_handle;
 };
 }  // namespace frc