[hal, wpilib] Add initial systemcore counter implementation

developerRobot/src/main/java/frc/robot/Robot.java

@@ -5,8 +5,12 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.counter.EdgeConfiguration;
+import edu.wpi.first.wpilibj.counter.UpDownCounter;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends TimedRobot {
+  UpDownCounter counter = new UpDownCounter(0, EdgeConfiguration.kFallingEdge);
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
@@ -35,5 +39,7 @@ public void testPeriodic() {}
 
   /** This function is called periodically during all modes. */
   @Override
-  public void robotPeriodic() {}
+  public void robotPeriodic() {
+    SmartDashboard.putNumber("Count", counter.getCount());
+  }
 }

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

@@ -4,35 +4,21 @@
 
 package edu.wpi.first.hal;
 
-import java.nio.IntBuffer;
-
 /**
  * Counter HAL JNI functions.
  *
  * @see "hal/Counter.h"
  */
 public class CounterJNI extends JNIWrapper {
-  /** Two pulse mode. */
-  public static final int TWO_PULSE = 0;
-
-  /** Semi-period mode. */
-  public static final int SEMI_PERIOD = 1;
-
-  /** Pulse length mode. */
-  public static final int PULSE_LENGTH = 2;
-
-  /** External direction mode. */
-  public static final int EXTERNAL_DIRECTION = 3;
-
   /**
    * Initializes a counter.
    *
-   * @param mode the counter mode
-   * @param index the compressor index (output)
+   * @param channel the DIO channel
+   * @param risingEdge true to trigger on rising
    * @return the created handle
    * @see "HAL_InitializeCounter"
    */
-  public static native int initializeCounter(int mode, IntBuffer index);
+  public static native int initializeCounter(int channel, boolean risingEdge);
 
   /**
    * Frees a counter.
@@ -42,145 +28,17 @@ public class CounterJNI extends JNIWrapper {
    */
   public static native void freeCounter(int counterHandle);
 
-  /**
-   * Sets the average sample size of a counter.
-   *
-   * @param counterHandle the counter handle
-   * @param size the size of samples to average
-   * @see "HAL_SetCounterAverageSize"
-   */
-  public static native void setCounterAverageSize(int counterHandle, int size);
-
-  /**
-   * Sets the source object that causes the counter to count up.
-   *
-   * @param counterHandle the counter handle
-   * @param digitalSourceHandle the digital source handle (either a HAL_AnalogTriggerHandle or a
-   *     HAL_DigitalHandle)
-   * @param analogTriggerType the analog trigger type if the source is an analog trigger
-   * @see "HAL_SetCounterUpSource"
-   */
-  public static native void setCounterUpSource(
-      int counterHandle, int digitalSourceHandle, int analogTriggerType);
-
   /**
    * Sets the up source to either detect rising edges or falling edges.
    *
    * <p>Note that both are allowed to be set true at the same time without issues.
    *
    * @param counterHandle the counter handle
    * @param risingEdge true to trigger on rising
-   * @param fallingEdge true to trigger on falling
    * @see "HAL_SetCounterUpSourceEdge"
    */
-  public static native void setCounterUpSourceEdge(
-      int counterHandle, boolean risingEdge, boolean fallingEdge);
-
-  /**
-   * Disables the up counting source to the counter.
-   *
-   * @param counterHandle the counter handle
-   * @see "HAL_ClearCounterUpSource"
-   */
-  public static native void clearCounterUpSource(int counterHandle);
-
-  /**
-   * Sets the source object that causes the counter to count down.
-   *
-   * @param counterHandle the counter handle
-   * @param digitalSourceHandle the digital source handle (either a HAL_AnalogTriggerHandle or a
-   *     HAL_DigitalHandle)
-   * @param analogTriggerType the analog trigger type if the source is an analog trigger
-   * @see "HAL_SetCounterDownSource"
-   */
-  public static native void setCounterDownSource(
-      int counterHandle, int digitalSourceHandle, int analogTriggerType);
-
-  /**
-   * Sets the down source to either detect rising edges or falling edges. Note that both are allowed
-   * to be set true at the same time without issues.
-   *
-   * @param counterHandle the counter handle
-   * @param risingEdge true to trigger on rising
-   * @param fallingEdge true to trigger on falling
-   * @see "HAL_SetCounterDownSourceEdge"
-   */
-  public static native void setCounterDownSourceEdge(
-      int counterHandle, boolean risingEdge, boolean fallingEdge);
-
-  /**
-   * Disables the down counting source to the counter.
-   *
-   * @param counterHandle the counter handle
-   * @see "HAL_ClearCounterDownSource"
-   */
-  public static native void clearCounterDownSource(int counterHandle);
-
-  /**
-   * Sets standard up / down counting mode on this counter.
-   *
-   * <p>Up and down counts are sourced independently from two inputs.
-   *
-   * @param counterHandle the counter handle
-   * @see "HAL_SetCounterUpDownMode"
-   */
-  public static native void setCounterUpDownMode(int counterHandle);
-
-  /**
-   * Sets directional counting mode on this counter.
-   *
-   * <p>The direction is determined by the B input, with counting happening with the A input.
-   *
-   * @param counterHandle the counter handle
-   * @see "HAL_SetCounterExternalDirectionMode"
-   */
-  public static native void setCounterExternalDirectionMode(int counterHandle);
-
-  /**
-   * Sets Semi-period mode on this counter.
-   *
-   * <p>The counter counts up based on the time the input is triggered. High or Low depends on the
-   * highSemiPeriod parameter.
-   *
-   * @param counterHandle the counter handle
-   * @param highSemiPeriod true for counting when the input is high, false for low
-   * @see "HAL_SetCounterSemiPeriodMode"
-   */
-  public static native void setCounterSemiPeriodMode(int counterHandle, boolean highSemiPeriod);
-
-  /**
-   * Configures the counter to count in up or down based on the length of the input pulse.
-   *
-   * <p>This mode is most useful for direction sensitive gear tooth sensors.
-   *
-   * @param counterHandle the counter handle
-   * @param threshold The pulse length beyond which the counter counts the opposite direction
-   *     (seconds)
-   * @see "HAL_SetCounterPulseLengthMode"
-   */
-  public static native void setCounterPulseLengthMode(int counterHandle, double threshold);
-
-  /**
-   * Gets the Samples to Average which specifies the number of samples of the timer to average when
-   * calculating the period. Perform averaging to account for mechanical imperfections or as
-   * oversampling to increase resolution.
-   *
-   * @param counterHandle the counter handle
-   * @return SamplesToAverage The number of samples being averaged (from 1 to 127)
-   * @see "HAL_GetCounterSamplesToAverage"
-   */
-  public static native int getCounterSamplesToAverage(int counterHandle);
-
-  /**
-   * Sets the Samples to Average which specifies the number of samples of the timer to average when
-   * calculating the period. Perform averaging to account for mechanical imperfections or as
-   * oversampling to increase resolution.
-   *
-   * @param counterHandle the counter handle
-   * @param samplesToAverage The number of samples to average from 1 to 127
-   * @see "HAL_SetCounterSamplesToAverage"
-   */
-  public static native void setCounterSamplesToAverage(int counterHandle, int samplesToAverage);
+  public static native void setCounterEdgeConfiguration(
+      int counterHandle, boolean risingEdge);
 
   /**
    * Resets the Counter to zero.
@@ -229,30 +87,6 @@ public static native void setCounterDownSourceEdge(
    */
   public static native void setCounterMaxPeriod(int counterHandle, double maxPeriod);
 
-  /**
-   * Selects whether you want to continue updating the event timer output when there are no samples
-   * captured.
-   *
-   * <p>The output of the event timer has a buffer of periods that are averaged and posted to a
-   * register on the FPGA. When the timer detects that the event source has stopped (based on the
-   * MaxPeriod) the buffer of samples to be averaged is emptied.
-   *
-   * <p>If you enable the update when empty, you will be notified of the stopped source and the
-   * event time will report 0 samples.
-   *
-   * <p>If you disable update when empty, the most recent average will remain on the output until a
-   * new sample is acquired.
-   *
-   * <p>You will never see 0 samples output (except when there have been no events since an FPGA
-   * reset) and you will likely not see the stopped bit become true (since it is updated at the end
-   * of an average and there are no samples to average).
-   *
-   * @param counterHandle the counter handle
-   * @param enabled true to enable counter updating with no samples
-   * @see "HAL_SetCounterUpdateWhenEmpty"
-   */
-  public static native void setCounterUpdateWhenEmpty(int counterHandle, boolean enabled);
-
   /**
    * Determines if the clock is stopped.
    *
@@ -266,27 +100,6 @@ public static native void setCounterDownSourceEdge(
    */
   public static native boolean getCounterStopped(int counterHandle);
 
-  /**
-   * Gets the last direction the counter value changed.
-   *
-   * @param counterHandle the counter handle
-   * @return the last direction the counter value changed
-   * @see "HAL_GetCounterDirection"
-   */
-  public static native boolean getCounterDirection(int counterHandle);
-
-  /**
-   * Sets the Counter to return reversed sensing on the direction.
-   *
-   * <p>This allows counters to change the direction they are counting in the case of 1X and 2X
-   * quadrature encoding only. Any other counter mode isn't supported.
-   *
-   * @param counterHandle the counter handle
-   * @param reverseDirection true if the value counted should be negated.
-   * @see "HAL_SetCounterReverseDirection"
-   */
-  public static native void setCounterReverseDirection(int counterHandle, boolean reverseDirection);
-
   /** Utility class. */
   private CounterJNI() {}
 }