Remove HAL_GetPort

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/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

@@ -26,12 +26,12 @@ 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);
+      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);
+      channel, static_cast<uint8_t>(input), stack.c_str(), &status);
   CheckStatusForceThrow(env, status);
   return (jint)dio;
 }

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

@@ -28,7 +28,7 @@ extern "C" {
  * @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

@@ -28,7 +28,7 @@ extern "C" {
  * @param[out] status            Error status variable. 0 on success.
  * @return the created digital handle
  */
-HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
+HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel,
                                         HAL_Bool input,
                                         const char* allocationLocation,
                                         int32_t* status);

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

@@ -26,7 +26,7 @@ extern "C" {
  * @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

@@ -27,7 +27,7 @@ extern "C" {
  * @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 +19,10 @@ void InitializeAnalogInput() {}
 
 extern "C" {
 HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
-    HAL_PortHandle portHandle, const char* allocationLocation,
+    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 +31,13 @@ void InitializeDIO() {
 
 extern "C" {
 
-HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
+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);

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

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

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

@@ -114,25 +114,6 @@ void InitializeHAL() {
 
 extern "C" {
 
-HAL_PortHandle HAL_GetPort(int32_t channel) {
-  // Dont allow a number that wouldn't fit in a uint8_t
-  if (channel < 0 || channel >= 255) {
-    return HAL_kInvalidHandle;
-  }
-  return createPortHandle(channel, 1);
-}
-
-HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) {
-  // Dont allow a number that wouldn't fit in a uint8_t
-  if (channel < 0 || channel >= 255) {
-    return HAL_kInvalidHandle;
-  }
-  if (module < 0 || module >= 255) {
-    return HAL_kInvalidHandle;
-  }
-  return createPortHandle(channel, module);
-}
-
 const char* HAL_GetErrorMessage(int32_t code) {
   switch (code) {
     case 0:

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

@@ -63,13 +63,12 @@ static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
 
 extern "C" {
 
-HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
+HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
                                         const char* allocationLocation,
                                         int32_t* status) {
   hal::init::CheckInit();
 
-  int16_t channel = getPortHandleChannel(portHandle);
-  if (channel == InvalidHandleIndex) {
+  if (channel < 0 || channel >= kNumPWMChannels) {
     *status = RESOURCE_OUT_OF_RANGE;
     hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
                                      kNumPWMChannels, channel);

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

@@ -26,12 +26,10 @@ using namespace hal;
 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 >= kNumSmartIo) {
+  if (channel < 0 || channel >= kNumSmartIo) {
     *status = RESOURCE_OUT_OF_RANGE;
     hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog", 0,
                                      kNumSmartIo, channel);

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

@@ -25,14 +25,13 @@ void InitializeDIO() {}
 
 extern "C" {
 
-HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
+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 || channel >= kNumSmartIo) {
+  if (channel < 0 || channel >= kNumSmartIo) {
     *status = RESOURCE_OUT_OF_RANGE;
     hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DIO", 0,
                                      kNumSmartIo, channel);

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

@@ -24,13 +24,12 @@ void InitializeDutyCycle() {}
 }  // namespace hal::init
 
 extern "C" {
-HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_PortHandle portHandle,
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
                                             const char* allocationLocation,
                                             int32_t* status) {
   hal::init::CheckInit();
 
-  int16_t channel = getPortHandleChannel(portHandle);
-  if (channel == InvalidHandleIndex || channel >= kNumSmartIo) {
+  if (channel < 0 || channel >= kNumSmartIo) {
     *status = RESOURCE_OUT_OF_RANGE;
     hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for DutyCycle", 0,
                                      kNumSmartIo, channel);