[hal] Fixes for making PWM drive (#7528)

* Increase connection timeout, fix ld path, properly initialize smart io. * Also fix HAL_GetSystemTimeValid, so DataLogManager doesn't throw errors.
wpilibsuite · Dec 9, 2024 · 31d1aa6 · 31d1aa6
1 parent b6ae9e9
commit 31d1aa6
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Showing 4 changed files with 9 additions and 6 deletions.
diff --git a/developerRobot/build.gradle b/developerRobot/build.gradle
@@ -79,6 +79,8 @@ deploy {
                 }
             }
 
+            timeout = 7
+
             def remote = it
 
             artifacts {
@@ -95,7 +97,7 @@ deploy {
                     excludes.add('**/*.so.debug')
                     excludes.add('**/*.so.*.debug')
                     postdeploy << { ctx ->
-                        ctx.execute("echo '/home/systemcore/developerRobotCpp' > /home/systemcore/robotCommand")
+                        ctx.execute("echo 'LD_LIBRARY_PATH=/home/systemcore/frc/third-party/lib /home/systemcore/developerRobotCpp' > /home/systemcore/robotCommand")
                         ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
                         ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/developerRobotCpp\"")
                         ctx.execute('chmod +x developerRobotCpp')
@@ -105,7 +107,7 @@ deploy {
                 developerRobotCppStatic(NativeExecutableArtifact) {
                     libraryDirectory = '/home/systemcore/frc/third-party/lib'
                     postdeploy << { ctx ->
-                        ctx.execute("echo '/home/systemcore/developerRobotCppStatic' > /home/systemcore/robotCommand")
+                        ctx.execute("echo ''LD_LIBRARY_PATH=/home/systemcore/frc/third-party/lib /home/systemcore/developerRobotCppStatic' > /home/systemcore/robotCommand")
                         ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
                         ctx.execute("sudo setcap cap_sys_nice+eip \"/home/systemcore/developerRobotCppStatic\"")
                         ctx.execute('chmod +x developerRobotCppStatic')

diff --git a/hal/src/main/native/systemcore/HAL.cpp b/hal/src/main/native/systemcore/HAL.cpp
@@ -77,6 +77,7 @@ void InitializeHAL() {
   InitializePWM();
   InitializeRelay();
   InitializeSerialPort();
+  InitializeSmartIo();
   InitializeSPI();
   InitializeThreads();
 }
@@ -311,7 +312,6 @@ HAL_Bool HAL_GetRSLState(int32_t* status) {
 }
 
 HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
   return false;
 }
 

diff --git a/hal/src/main/native/systemcore/HALInitializer.h b/hal/src/main/native/systemcore/HALInitializer.h
@@ -50,6 +50,7 @@ extern void InitializePower();
 extern void InitializePWM();
 extern void InitializeRelay();
 extern void InitializeSerialPort();
+extern void InitializeSmartIo();
 extern void InitializeSPI();
 extern void InitializeThreads();
 }  // namespace hal::init
diff --git a/hal/src/main/native/systemcore/SmartIo.cpp b/hal/src/main/native/systemcore/SmartIo.cpp
@@ -43,7 +43,7 @@ int32_t SmartIo::InitializeMode(SmartIoMode mode) {
           inst.GetDoubleTopic("/io/valset" + channelString).Publish(options);
       setPublisher.Set(0);
       pwmMinPublisher =
-          inst.GetDoubleTopic("/io/pwmmim" + channelString).Publish();
+          inst.GetDoubleTopic("/io/pwmmin" + channelString).Publish();
       pwmMinPublisher.Set(0);
       pwmMaxPublisher =
           inst.GetDoubleTopic("/io/pwmmax" + channelString).Publish();
@@ -63,8 +63,8 @@ int32_t SmartIo::SetPwmMicroseconds(uint16_t microseconds) {
 
   // TODO(thad) add support for always on signal
 
-  if (microseconds > 4096) {
-    microseconds = 4096;
+  if (microseconds > 4095) {
+    microseconds = 4095;
   }
 
   // Scale from 0-4096 to 0.0-2.0, then to -1.0-1.0