HAL Work

robotdotnet · Feb 27, 2024 · 1cd5d5c · 1cd5d5c
1 parent ab9cc2b
commit 1cd5d5c
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Showing 16 changed files with 260 additions and 68 deletions.
diff --git a/codehelp/CodeHelpers/StatusCheckGenerator/MethodModel.cs b/codehelp/CodeHelpers/StatusCheckGenerator/MethodModel.cs
@@ -166,6 +166,7 @@ internal static class MethodModelExtensions
 
         var returnTypeFmt = new SymbolDisplayFormat(
             memberOptions: SymbolDisplayMemberOptions.IncludeType | SymbolDisplayMemberOptions.IncludeRef,
+            genericsOptions: SymbolDisplayGenericsOptions.IncludeTypeParameters,
             typeQualificationStyle: SymbolDisplayTypeQualificationStyle.NameAndContainingTypesAndNamespaces,
             globalNamespaceStyle: SymbolDisplayGlobalNamespaceStyle.Included,
             miscellaneousOptions: SymbolDisplayMiscellaneousOptions.UseSpecialTypes

diff --git a/src/hal/AccelerometerRange.cs b/src/hal/AccelerometerRange.cs
diff --git a/src/hal/AddressableLEDData.cs b/src/hal/AddressableLEDData.cs
diff --git a/src/hal/CAMStreamMessage.cs b/src/hal/CAMStreamMessage.cs
@@ -1,3 +1,47 @@
+using System.Diagnostics;
+using System.Diagnostics.CodeAnalysis;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
 namespace WPIHal;
 
-public struct CANStreamMessage;
+[StructLayout(LayoutKind.Sequential)]
+public struct CANStreamMessage
+{
+    public uint MessageID;
+    public uint TimeStamp;
+    public DataBuffer Data;
+    public byte DataSize;
+
+    [System.Runtime.CompilerServices.InlineArray(8)]
+    public struct DataBuffer
+    {
+        private byte _element0;
+    }
+}
+
+public readonly struct CANMessage
+{
+    private readonly ulong timestamp;
+    private readonly DataBuffer data;
+    private readonly int dataSize;
+
+    public CANMessage(ReadOnlySpan<byte> buffer, ulong timestamp)
+    {
+        Debug.Assert(buffer.Length <= 8);
+        buffer.CopyTo(data);
+        this.timestamp = timestamp;
+        this.dataSize = buffer.Length;
+    }
+
+    [UnscopedRef]
+    public ReadOnlySpan<byte> Data => data[..dataSize];
+
+    public ulong Timestamp => timestamp;
+
+    [InlineArray(8)]
+    public struct DataBuffer
+    {
+        private byte _element0;
+    }
+}
diff --git a/src/hal/HalStatus.cs b/src/hal/HalStatus.cs
@@ -1,6 +1,22 @@
+using System.Runtime.CompilerServices;
+
 namespace WPIHal;
 
 public enum HalStatus : int
 {
     Ok = 0,
 }
+
+public static class HalStatusExtensions
+{
+    [MethodImpl(MethodImplOptions.AggressiveInlining)]
+    public static void ThrowIfFailed(this HalStatus status)
+    {
+        if (status == HalStatus.Ok)
+        {
+            return;
+        }
+        // TODO Throw Exception
+        throw new InvalidOperationException();
+    }
+}
diff --git a/src/hal/Natives/HalAccelerometer.cs b/src/hal/Natives/HalAccelerometer.cs
@@ -5,6 +5,15 @@ namespace WPIHal.Natives;
 
 public static partial class HalAccelerometer
 {
+    public enum Range : int
+    {
+#pragma warning disable CA1712 // Do not prefix enum values with type name
+        Range2G = 0,
+        Range4G = 1,
+        Range8G = 2,
+#pragma warning restore CA1712 // Do not prefix enum values with type name
+    }
+
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetAccelerometerX")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial double GetAccelerometerX();
@@ -23,7 +32,5 @@ public static partial class HalAccelerometer
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAccelerometerRange")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    public static partial void SetAccelerometerRange(AccelerometerRange range);
-
-
+    public static partial void SetAccelerometerRange(Range range);
 }
diff --git a/src/hal/Natives/HalAddressableLED.cs b/src/hal/Natives/HalAddressableLED.cs
@@ -1,51 +1,67 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 using WPIHal.Handles;
+using WPIUtil;
 
 namespace WPIHal.Natives;
 
 public static partial class HalAddressableLED
 {
+    [StructLayout(LayoutKind.Sequential)]
+    public struct LedData
+    {
+        public byte B;
+        public byte G;
+        public byte R;
+        public byte Padding;
+    }
+
     [LibraryImport("wpiHal", EntryPoint = "HAL_FreeAddressableLED")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void FreeAddressableLED(HalAddressableLEDHandle handle);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_InitializeAddressableLED")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial HalAddressableLEDHandle InitializeAddressableLED(HalDigitalHandle outputPort, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAddressableLEDBitTiming")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetAddressableLEDBitTiming(HalAddressableLEDHandle handle, int highTime0NanoSeconds, int lowTime0NanoSeconds, int highTime1NanoSeconds, int lowTime1NanoSeconds, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAddressableLEDLength")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetAddressableLEDLength(HalAddressableLEDHandle handle, int length, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAddressableLEDOutputPort")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetAddressableLEDOutputPort(HalAddressableLEDHandle handle, HalDigitalHandle outputPort, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAddressableLEDSyncTime")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetAddressableLEDSyncTime(HalAddressableLEDHandle handle, int syncTimeMicroSeconds, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_StartAddressableLEDOutput")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void StartAddressableLEDOutput(HalAddressableLEDHandle handle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_StopAddressableLEDOutput")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void StopAddressableLEDOutput(HalAddressableLEDHandle handle, out HalStatus status);
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_WriteAddressableLEDData")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    public static partial void WriteAddressableLEDData(HalAddressableLEDHandle handle, ReadOnlySpan<AddressableLEDData> data, int length, out HalStatus status);
+    public static partial void WriteAddressableLEDData(HalAddressableLEDHandle handle, ReadOnlySpan<LedData> data, int length, out HalStatus status);
 
-    public static void WriteAddressableLEDData(HalAddressableLEDHandle handle, ReadOnlySpan<AddressableLEDData> data, out HalStatus status)
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
+    public static void WriteAddressableLEDData(HalAddressableLEDHandle handle, ReadOnlySpan<LedData> data, out HalStatus status)
     {
         WriteAddressableLEDData(handle, data, data.Length, out status);
     }
-
-
 }
diff --git a/src/hal/Natives/HalAnalogAccumulator.cs b/src/hal/Natives/HalAnalogAccumulator.cs
@@ -1,42 +1,49 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 using WPIHal.Handles;
+using WPIUtil;
 
 namespace WPIHal.Natives;
 
 public static partial class HalAnalogAccumulator
 {
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetAccumulatorCount")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial long GetAccumulatorCount(HalAnalogInputHandle analogPortHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetAccumulatorOutput")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void GetAccumulatorOutput(HalAnalogInputHandle analogPortHandle, out long value, out long count, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetAccumulatorValue")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial long GetAccumulatorValue(HalAnalogInputHandle analogPortHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_InitAccumulator")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void InitAccumulator(HalAnalogInputHandle analogPortHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_IsAccumulatorChannel")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int IsAccumulatorChannel(HalAnalogInputHandle analogPortHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_ResetAccumulator")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void ResetAccumulator(HalAnalogInputHandle analogPortHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAccumulatorCenter")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetAccumulatorCenter(HalAnalogInputHandle analogPortHandle, int center, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAccumulatorDeadband")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetAccumulatorDeadband(HalAnalogInputHandle analogPortHandle, int deadband, out HalStatus status);
-
-
 }
diff --git a/src/hal/Natives/HalAnalogGyro.cs b/src/hal/Natives/HalAnalogGyro.cs
@@ -1,11 +1,13 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 using WPIHal.Handles;
+using WPIUtil;
 
 namespace WPIHal.Natives;
 
 public static partial class HalAnalogGyro
 {
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_CalibrateAnalogGyro")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void CalibrateAnalogGyro(HalGyroHandle handle, out HalStatus status);
@@ -14,45 +16,53 @@ public static partial class HalAnalogGyro
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void FreeAnalogGyro(HalGyroHandle handle);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetAnalogGyroAngle")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial double GetAnalogGyroAngle(HalGyroHandle handle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetAnalogGyroCenter")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int GetAnalogGyroCenter(HalGyroHandle handle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetAnalogGyroOffset")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial double GetAnalogGyroOffset(HalGyroHandle handle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetAnalogGyroRate")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial double GetAnalogGyroRate(HalGyroHandle handle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_InitializeAnalogGyro", StringMarshalling = StringMarshalling.Utf8)]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial HalGyroHandle InitializeAnalogGyro(HalAnalogInputHandle handle, string allocationLocation, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_ResetAnalogGyro")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void ResetAnalogGyro(HalGyroHandle handle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAnalogGyroDeadband")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetAnalogGyroDeadband(HalGyroHandle handle, double volts, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAnalogGyroParameters")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetAnalogGyroParameters(HalGyroHandle handle, double voltsPerDegreePerSecond, double offset, int center, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetAnalogGyroVoltsPerDegreePerSecond")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetAnalogGyroVoltsPerDegreePerSecond(HalGyroHandle handle, double voltsPerDegreePerSecond, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetupAnalogGyro")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetupAnalogGyro(HalGyroHandle handle, out HalStatus status);
-
-
 }