[hal] Remove HAL_GetPort (#7754)

Author: ThadHouse

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

@@ -13,19 +13,19 @@ public class AnalogJNI extends JNIWrapper {
   /**
    * Initializes the analog input port using the given port object.
    *
-   * @param halPortHandle Handle to the port to initialize.
+   * @param channel The smartio channel.
    * @return the created analog input handle
    * @see "HAL_InitializeAnalogInputPort"
    */
-  public static native int initializeAnalogInputPort(int halPortHandle);
+  public static native int initializeAnalogInputPort(int channel);
 
   /**
    * Frees an analog input port.
    *
-   * @param portHandle Handle to the analog port.
+   * @param analogPortHandle Handle to the analog port.
    * @see "HAL_FreeAnalogInputPort"
    */
-  public static native void freeAnalogInputPort(int portHandle);
+  public static native void freeAnalogInputPort(int analogPortHandle);
 
   /**
    * Checks that the analog module number is valid.

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

@@ -13,12 +13,12 @@ public class DIOJNI extends JNIWrapper {
   /**
    * Creates a new instance of a digital port.
    *
-   * @param halPortHandle the port handle to create from
+   * @param channel the smartio channel
    * @param input true for input, false for output
    * @return the created digital handle
    * @see "HAL_InitializeDIOPort"
    */
-  public static native int initializeDIOPort(int halPortHandle, boolean input);
+  public static native int initializeDIOPort(int channel, boolean input);
 
   /**
    * Checks if a DIO channel is valid.

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

@@ -13,11 +13,11 @@ public class DutyCycleJNI extends JNIWrapper {
   /**
    * Initialize a DutyCycle input.
    *
-   * @param halPortHandle the port handle to create from
+   * @param channel the smartio channel
    * @return the created duty cycle handle
    * @see "HAL_InitializeDutyCycle"
    */
-  public static native int initialize(int halPortHandle);
+  public static native int initialize(int channel);
 
   /**
    * Free a DutyCycle.

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

@@ -211,31 +211,6 @@ public static void simPeriodicAfter() {
    */
   public static native boolean getSystemTimeValid();
 
-  /**
-   * Gets a port handle for a specific channel and module.
-   *
-   * <p>This is expected to be used for PCMs, as the roboRIO does not work with modules anymore.
-   *
-   * <p>The created handle does not need to be freed.
-   *
-   * @param module the module number
-   * @param channel the channel number
-   * @return the created port
-   * @see "HAL_GetPortWithModule"
-   */
-  public static native int getPortWithModule(byte module, byte channel);
-
-  /**
-   * Gets a port handle for a specific channel.
-   *
-   * <p>The created handle does not need to be freed.
-   *
-   * @param channel the channel number
-   * @return the created port
-   * @see "HAL_GetPort"
-   */
-  public static native int getPort(byte channel);
-
   /**
    * Report the usage of a resource of interest.
    *

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

@@ -13,10 +13,10 @@ public class PWMJNI extends DIOJNI {
   /**
    * Initializes a PWM port.
    *
-   * @param halPortHandle the port to initialize
+   * @param channel the smartio channel
    * @return the created pwm handle
    */
-  public static native int initializePWMPort(int halPortHandle);
+  public static native int initializePWMPort(int channel);
 
   /**
    * Checks if a pwm channel is valid.

hal/src/main/native/cpp/handles/HandlesInternal.cpp

@@ -49,18 +49,6 @@ void HandleBase::ResetGlobalHandles() {
     }
   }
 }
-HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module) {
-  // set last 8 bits, then shift to first 8 bits
-  HAL_PortHandle handle = static_cast<HAL_PortHandle>(HAL_HandleEnum::Port);
-  handle = handle << 24;
-  // shift module and add to 3rd set of 8 bits
-  int32_t temp = module;
-  temp = (temp << 8) & 0xff00;
-  handle += temp;
-  // add channel to last 8 bits
-  handle += channel;
-  return handle;
-}
 HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
                         int16_t version) {
   if (index < 0) {

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

@@ -25,12 +25,11 @@ extern "C" {
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogInputPort
-  (JNIEnv* env, jclass, jint id)
+  (JNIEnv* env, jclass, jint channel)
 {
   int32_t status = 0;
   auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
-  auto analog =
-      HAL_InitializeAnalogInputPort((HAL_PortHandle)id, stack.c_str(), &status);
+  auto analog = HAL_InitializeAnalogInputPort(channel, stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
   return (jint)analog;
 }

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

@@ -26,12 +26,12 @@ extern "C" {
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_DIOJNI_initializeDIOPort
-  (JNIEnv* env, jclass, jint id, jboolean input)
+  (JNIEnv* env, jclass, jint channel, jboolean input)
 {
   int32_t status = 0;
   auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
-  auto dio = HAL_InitializeDIOPort(
-      (HAL_PortHandle)id, static_cast<uint8_t>(input), stack.c_str(), &status);
+  auto dio = HAL_InitializeDIOPort(channel, static_cast<uint8_t>(input),
+                                   stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
   return (jint)dio;
 }

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

@@ -20,12 +20,11 @@ extern "C" {
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_DutyCycleJNI_initialize
-  (JNIEnv* env, jclass, jint portHandle)
+  (JNIEnv* env, jclass, jint channel)
 {
   int32_t status = 0;
   auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
-  auto handle = HAL_InitializeDutyCycle(static_cast<HAL_Handle>(portHandle),
-                                        stack.c_str(), &status);
+  auto handle = HAL_InitializeDutyCycle(channel, stack.c_str(), &status);
   CheckStatus(env, status);
   return handle;
 }

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

@@ -199,30 +199,4 @@ Java_edu_wpi_first_hal_HAL_getSystemTimeValid
   return val;
 }
 
-/*
- * Class:     edu_wpi_first_hal_HAL
- * Method:    getPortWithModule
- * Signature: (BB)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_HAL_getPortWithModule
-  (JNIEnv* env, jclass, jbyte module, jbyte channel)
-{
-  HAL_PortHandle port = HAL_GetPortWithModule(module, channel);
-  return (jint)port;
-}
-
-/*
- * Class:     edu_wpi_first_hal_HAL
- * Method:    getPort
- * Signature: (B)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_HAL_getPort
-  (JNIEnv* env, jclass, jbyte channel)
-{
-  HAL_PortHandle port = HAL_GetPort(channel);
-  return (jint)port;
-}
-
 }  // extern "C"

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

@@ -26,11 +26,11 @@ extern "C" {
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_PWMJNI_initializePWMPort
-  (JNIEnv* env, jclass, jint id)
+  (JNIEnv* env, jclass, jint channel)
 {
   int32_t status = 0;
   auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
-  auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, stack.c_str(), &status);
+  auto pwm = HAL_InitializePWMPort(channel, stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
   return (jint)pwm;
 }

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

@@ -21,14 +21,14 @@ extern "C" {
 /**
  * Initializes the analog input port using the given port object.
  *
- * @param[in] portHandle Handle to the port to initialize.
+ * @param[in] channel the smartio channel.
  * @param[in] allocationLocation the location where the allocation is occurring
  *                               (can be null)
  * @param[out] status the error code, or 0 for success
  * @return the created analog input handle
  */
 HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
-    HAL_PortHandle portHandle, const char* allocationLocation, int32_t* status);
+    int32_t channel, const char* allocationLocation, int32_t* status);
 
 /**
  * Frees an analog input port.

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

@@ -21,15 +21,14 @@ extern "C" {
 /**
  * Creates a new instance of a digital port.
  *
- * @param[in] portHandle         the port handle to create from
+ * @param[in] channel            the smartio channel
  * @param[in] input              true for input, false for output
  * @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 digital handle
  */
-HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
-                                        HAL_Bool input,
+HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
                                         const char* allocationLocation,
                                         int32_t* status);
 

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

@@ -19,13 +19,13 @@ extern "C" {
 /**
  * Initialize a DutyCycle input.
  *
- * @param[in] portHandle         the port handle to create from
+ * @param[in] channel            the smartio channel
  * @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_PortHandle portHandle,
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
                                             const char* allocationLocation,
                                             int32_t* status);
 

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

@@ -148,30 +148,6 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status);
  */
 int32_t HAL_GetCommsDisableCount(int32_t* status);
 
-/**
- * Gets a port handle for a specific channel.
- *
- * The created handle does not need to be freed.
- *
- * @param channel the channel number
- * @return the created port
- */
-HAL_PortHandle HAL_GetPort(int32_t channel);
-
-/**
- * Gets a port handle for a specific channel and module.
- *
- * This is expected to be used for PCMs, as the roboRIO does not work with
- * modules anymore.
- *
- * The created handle does not need to be freed.
- *
- * @param module  the module number
- * @param channel the channel number
- * @return the created port
- */
-HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
-
 /**
  * Reads the microsecond-resolution timer on the FPGA.
  *

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

@@ -21,13 +21,13 @@ extern "C" {
 /**
  * Initializes a PWM port.
  *
- * @param[in] portHandle the port to initialize
+ * @param[in] channel the smartio channel
  * @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 pwm handle
  */
-HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
+HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
                                         const char* allocationLocation,
                                         int32_t* status);
 

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

@@ -16,8 +16,6 @@
 
 typedef int32_t HAL_Handle;
 
-typedef HAL_Handle HAL_PortHandle;
-
 typedef HAL_Handle HAL_AnalogInputHandle;
 
 typedef HAL_Handle HAL_AnalogOutputHandle;

hal/src/main/native/include/hal/handles/HandlesInternal.h

@@ -153,43 +153,6 @@ inline int16_t getHandleTypedIndex(HAL_Handle handle, HAL_HandleEnum enumType,
  * Bit 31:     1 if handle error, 0 if no error
  */
 
-// using a 16 bit value so we can store 0-255 and still report error
-/**
- * Gets the port channel of a port handle.
- *
- * @param handle the port handle
- * @return the port channel
- */
-inline int16_t getPortHandleChannel(HAL_PortHandle handle) {
-  if (!isHandleType(handle, HAL_HandleEnum::Port)) {
-    return InvalidHandleIndex;
-  }
-  return static_cast<uint8_t>(handle & 0xff);
-}
-
-// using a 16 bit value so we can store 0-255 and still report error
-/**
- * Gets the port module of a port handle.
- *
- * @param handle the port handle
- * @return the port module
- */
-inline int16_t getPortHandleModule(HAL_PortHandle handle) {
-  if (!isHandleType(handle, HAL_HandleEnum::Port)) {
-    return InvalidHandleIndex;
-  }
-  return static_cast<uint8_t>((handle >> 8) & 0xff);
-}
-
-/**
- * Create a port handle.
- *
- * @param channel the channel
- * @param module  the module
- * @return port handle for the module and channel
- */
-HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module);
-
 /**
  * Create a handle for a specific index, type and version.
  *

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

@@ -19,11 +19,9 @@ void InitializeAnalogInput() {}
 
 extern "C" {
 HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
-    HAL_PortHandle portHandle, const char* allocationLocation,
-    int32_t* status) {
+    int32_t channel, const char* allocationLocation, int32_t* status) {
   hal::init::CheckInit();
-  int16_t channel = getPortHandleChannel(portHandle);
-  if (channel == InvalidHandleIndex || channel >= kNumAnalogInputs) {
+  if (channel < 0 || channel >= kNumAnalogInputs) {
     *status = RESOURCE_OUT_OF_RANGE;
     hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Input",
                                      0, kNumAnalogInputs, channel);

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

@@ -31,14 +31,12 @@ void InitializeDIO() {
 
 extern "C" {
 
-HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
-                                        HAL_Bool input,
+HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
                                         const char* allocationLocation,
                                         int32_t* status) {
   hal::init::CheckInit();
 
-  int16_t channel = getPortHandleChannel(portHandle);
-  if (channel == InvalidHandleIndex) {
+  if (channel < 0 || channel >= kNumDigitalChannels) {
     *status = RESOURCE_OUT_OF_RANGE;
     hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
                                      kNumDigitalChannels, channel);