allwpilib/wpilibc/wpilibC++Devices/src/AnalogTriggerOutput.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "AnalogTriggerOutput.h"
#include "AnalogTrigger.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "WPIErrors.h"

/**
 * Create an object that represents one of the four outputs from an analog trigger.
 *
 * Because this class derives from DigitalSource, it can be passed into routing functions
 * for Counter, Encoder, etc.
 *
 * @param trigger A pointer to the trigger for which this is an output.
 * @param outputType An enum that specifies the output on the trigger to represent.
 */
AnalogTriggerOutput::AnalogTriggerOutput(AnalogTrigger *trigger, AnalogTriggerType outputType)
	: m_trigger (trigger)
	, m_outputType (outputType)
{
	HALReport(HALUsageReporting::kResourceType_AnalogTriggerOutput, trigger->GetIndex(), outputType);
}

AnalogTriggerOutput::~AnalogTriggerOutput()
{
	if (m_interrupt != NULL)
	{
		int32_t status = 0;
		cleanInterrupts(m_interrupt, &status);
		wpi_setErrorWithContext(status, getHALErrorMessage(status));
		m_interrupt = NULL;
		m_interrupts->Free(m_interruptIndex);
	}
}

/**
 * Get the state of the analog trigger output.
 * @return The state of the analog trigger output.
 */
bool AnalogTriggerOutput::Get() const
{
  int32_t status = 0;
  bool result = getAnalogTriggerOutput(m_trigger->m_trigger, m_outputType, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
  return result;
}

/**
 * @return The value to be written to the channel field of a routing mux.
 */
uint32_t AnalogTriggerOutput::GetChannelForRouting() const
{
	return (m_trigger->m_index << 2) + m_outputType;
}

/**
 * @return The value to be written to the module field of a routing mux.
 */
uint32_t AnalogTriggerOutput::GetModuleForRouting() const
{
	return 0;
}

/**
 * @return The value to be written to the module field of a routing mux.
 */
bool AnalogTriggerOutput::GetAnalogTriggerForRouting() const
{
	return true;
}