update headers/libs/cmake to Phoenix 5.18.3

Author: JCaporuscio

CMakeLists.txt

@@ -23,18 +23,24 @@ add_executable(example ${PROJECT_SOURCE_DIR}/example.cpp)
 if (${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "arm-linux-gnueabihf") # Jetson TK1 / Pi
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/raspberry/libCTRE_Phoenix.a)
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixCCI.a)
-    target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixPlatformLinuxSocketCan.a)
+	target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixDiagnostics.a)
+    target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixPlatform_socketcan.a)
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixCanutils.a)
+    target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/raspberry/libCTRE_PhoenixCore.a)
 elseif (${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "aarch64-linux-gnu") # Jetson TX2
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/jetsontx/libCTRE_Phoenix.a)
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixCCI.a)
+    target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixDiagnostics.a)
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixPlatform_socketcan.a)
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixCanutils.a)
+    target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/jetsontx/libCTRE_PhoenixCore.a)
 else()
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/x86-64/libCTRE_Phoenix.a)
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixCCI.a)
-    target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixPlatformLinuxSocketCan.a)
+    target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixDiagnostics.a)
+    target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixPlatform_socketcan.a)
     target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixCanutils.a)
+    target_link_libraries(example ${CMAKE_SOURCE_DIR}/lib/x86-64/libCTRE_PhoenixCore.a)
 endif()
 
 target_link_libraries(example Threads::Threads)

example.cpp

@@ -45,6 +45,9 @@ int main() {
 	//std::cin >> interface;
 	interface = "can0";
 	ctre::phoenix::platform::can::SetCANInterface(interface.c_str());
+	
+	// Comment out the call if you would rather use the automatically running diag-server, note this requires uninstalling diagnostics from Tuner. 
+	ctre::phoenix::unmanaged::SetPhoenixDiagnosticsStartTime(-1); // disable diag server, instead we will use the diag server stand alone application that Tuner installs
 
 	/* setup drive */
 	initDrive();

include/ctre/Phoenix.h

@@ -1,5 +1,10 @@
 #pragma once
 
+/* If you are linking Phoenix on a platform that is *not* the NI RoboRIO, 
+ * define Phoenix_No_WPI before the Phoenix.h include.
+ * The Phoenix WPI extensions are only available on roboRIO.
+ * This is necessary if compiling on RaspberryPi, Jetson, Linux-Desktop, etc.
+ */
 #ifndef Phoenix_No_WPI
 #define Phoenix_WPI
 #endif
@@ -12,6 +17,7 @@
 #include "ctre/phoenix/motion/BufferedTrajectoryPointStream.h"
 #include "ctre/phoenix/motion/MotionProfileStatus.h"
 #include "ctre/phoenix/motion/TrajectoryPoint.h"
+#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
 #include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
 #include "ctre/phoenix/motorcontrol/can/VictorSPX.h"
 #include "ctre/phoenix/motorcontrol/DemandType.h"
@@ -21,24 +27,39 @@
 #include "ctre/phoenix/motorcontrol/IMotorControllerEnhanced.h"
 #include "ctre/phoenix/motorcontrol/InvertType.h"
 #include "ctre/phoenix/motorcontrol/SensorCollection.h"
+#include "ctre/phoenix/music/Orchestra.h"
+#include "ctre/phoenix/sensors/CANCoder.h"
 #include "ctre/phoenix/sensors/PigeonIMU.h"
 #include "ctre/phoenix/signals/MovingAverage.h"
-#include "ctre/phoenix/tasking/schedulers/ConcurrentScheduler.h"
+#include "ctre/phoenix/tasking/Schedulers/ConcurrentScheduler.h"
 #include "ctre/phoenix/tasking/ILoopable.h"
 #include "ctre/phoenix/tasking/IProcessable.h"
 #include "ctre/phoenix/Utilities.h"
 
 #ifdef Phoenix_WPI
+#include "ctre/phoenix/motorcontrol/can/WPI_TalonFX.h"
 #include "ctre/phoenix/motorcontrol/can/WPI_TalonSRX.h"
 #include "ctre/phoenix/motorcontrol/can/WPI_VictorSPX.h"
 #include "ctre/phoenix/tasking/ButtonMonitor.h"
 #endif
 
+/*
+ * In general it is bad-practice to include namespaces in a C++ header, as this 
+ * can cause a name conflict with other types in other modules.
+ * 
+ * However doing so allows users to quickly start developing with the Phoenix class library 
+ * with a single include "Phoenix.h", without having to learn the various namespaces.
+ * This is particularly useful for aspiring student-programmers who may not understand all of the language features yet.
+ * 
+ * Those who understand the benefits of namespaces can instead include the core headers (above)
+ * or modify this header if proper namespace-scoping is required.
+ */
 using namespace ctre;
 using namespace ctre::phoenix;
 using namespace ctre::phoenix::motion;
 using namespace ctre::phoenix::motorcontrol;
 using namespace ctre::phoenix::motorcontrol::can;
+using namespace ctre::phoenix::music;
 using namespace ctre::phoenix::sensors;
 using namespace ctre::phoenix::signals;
 using namespace ctre::phoenix::tasking;

include/ctre/phoenix/CANBusAddressable.h

@@ -8,10 +8,17 @@ namespace ctre {
 		class CANBusAddressable {
 
 		public:
+			/**
+			 * Constructor for a CANBusAddressable device
+			 * @param deviceNumber CAN Device ID of device
+			 */
 			CANBusAddressable(int deviceNumber) {
 				_deviceNum = deviceNumber;
 			}
 
+			/**
+			 * @return CAN device number of device
+			 */
 			int GetDeviceNumber() {
 				return _deviceNum;
 			}