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

/*
 * Compressor.cpp
 */

#include "Compressor.h"
#include "WPIErrors.h"

void Compressor::InitCompressor(uint8_t pcmID) {
	m_table = 0;
	m_pcm_pointer = initializeCompressor(pcmID);

	SetClosedLoopControl(true);
}

/**
 * Constructor
 *
 * Uses the default PCM ID (0)
 */
Compressor::Compressor() {
	InitCompressor(GetDefaultSolenoidModule());
}

/**
 * Constructor
 *
 * @param module The PCM ID to use (0-62)
 */
Compressor::Compressor(uint8_t pcmID) {
	InitCompressor(pcmID);
}

Compressor::~Compressor() {

}

/**
 *  Starts closed-loop control. Note that closed loop control is enabled by default.
 */
void Compressor::Start() {
	SetClosedLoopControl(true);
}

/**
 *  Stops closed-loop control. Note that closed loop control is enabled by default.
 */
void Compressor::Stop() {
	SetClosedLoopControl(false);
}

/**
 * Check if compressor output is active
 * @return true if the compressor is on
 */
bool Compressor::Enabled() const {
	int32_t status = 0;
	bool value;

	value = getCompressor(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}

/**
 * Check if the pressure switch is triggered
 * @return true if pressure is low
 */
bool Compressor::GetPressureSwitchValue() const {
	int32_t status = 0;
	bool value;

	value = getPressureSwitch(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}


/**
 * Query how much current the compressor is drawing
 * @return The current through the compressor, in amps
 */
float Compressor::GetCompressorCurrent() const {
	int32_t status = 0;
	float value;

	value = getCompressorCurrent(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}


/**
 * Enables or disables automatically turning the compressor on when the
 * pressure is low.
 * @param on Set to true to enable closed loop control of the compressor. False to disable.
 */
void Compressor::SetClosedLoopControl(bool on) {
	int32_t status = 0;

	setClosedLoopControl(m_pcm_pointer, on, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}
}

/**
 * Returns true if the compressor will automatically turn on when the
 * pressure is low.
 * @return True if closed loop control of the compressor is enabled. False if disabled.
 */
bool Compressor::GetClosedLoopControl() const {
	int32_t status = 0;
	bool value;

	value = getClosedLoopControl(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}

/**
 * Query if the compressor output has been disabled due to high current draw.
 * @return true if PCM is in fault state : Compressor Drive is 
 *			disabled due to compressor current being too high.
 */
bool Compressor::GetCompressorCurrentTooHighFault() const {
	int32_t status = 0;
	bool value;

	value = getCompressorCurrentTooHighFault(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}
/**
 * Query if the compressor output has been disabled due to high current draw (sticky).
 * A sticky fault will not clear on device reboot, it must be cleared through code or the webdash.
 * @return true if PCM sticky fault is set : Compressor Drive is 
 *			disabled due to compressor current being too high.
 */
bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
	int32_t status = 0;
	bool value;

	value = getCompressorCurrentTooHighStickyFault(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}
/**
 * Query if the compressor output has been disabled due to a short circuit (sticky).
 * A sticky fault will not clear on device reboot, it must be cleared through code or the webdash.
 * @return true if PCM sticky fault is set : Compressor output 
 *			appears to be shorted.
 */
bool Compressor::GetCompressorShortedStickyFault() const {
	int32_t status = 0;
	bool value;

	value = getCompressorShortedStickyFault(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}
/**
 * Query if the compressor output has been disabled due to a short circuit.
 * @return true if PCM is in fault state : Compressor output 
 *			appears to be shorted.
 */
bool Compressor::GetCompressorShortedFault() const {
	int32_t status = 0;
	bool value;

	value = getCompressorShortedFault(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}
/**
 * Query if the compressor output does not appear to be wired (sticky).
 * A sticky fault will not clear on device reboot, it must be cleared through code or the webdash.
 * @return true if PCM sticky fault is set : Compressor does not 
 *			appear to be wired, i.e. compressor is
 * 			not drawing enough current.
 */
bool Compressor::GetCompressorNotConnectedStickyFault() const {
	int32_t status = 0;
	bool value;

	value = getCompressorNotConnectedStickyFault(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}
/**
 * Query if the compressor output does not appear to be wired.
 * @return true if PCM is in fault state : Compressor does not 
 *			appear to be wired, i.e. compressor is
 * 			not drawing enough current.
 */
bool Compressor::GetCompressorNotConnectedFault() const {
	int32_t status = 0;
	bool value;

	value = getCompressorNotConnectedFault(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}

	return value;
}
/**
 * Clear ALL sticky faults inside PCM that Compressor is wired to.
 *
 * If a sticky fault is set, then it will be persistently cleared.  Compressor drive
 *		maybe momentarily disable while flags are being cleared. Care should be 
 *		taken to not call this too frequently, otherwise normal compressor 
 *		functionality may be prevented.
 *
 * If no sticky faults are set then this call will have no effect.
 */
void Compressor::ClearAllPCMStickyFaults() {
	int32_t status = 0;

	clearAllPCMStickyFaults(m_pcm_pointer, &status);

	if(status) {
		wpi_setWPIError(Timeout);
	}
}
void Compressor::UpdateTable() {
	if(m_table) {
		m_table->PutBoolean("Enabled", Enabled());
		m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
	}
}

void Compressor::StartLiveWindowMode() {
}

void Compressor::StopLiveWindowMode() {
}

std::string Compressor::GetSmartDashboardType() const {
	return "Compressor";
}

void Compressor::InitTable(ITable *subTable) {
	m_table = subTable;
	UpdateTable();
}

ITable *Compressor::GetTable() const {
	return m_table;
}

void Compressor::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
	if(value.b) Start();
	else Stop();

}