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[hal] Add a unified PCM object (#3331)

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This commit is contained in:
Thad House
2021-06-05 22:36:39 -07:00
committed by GitHub
parent dea841103d
commit 0e702eb799
103 changed files with 2643 additions and 5676 deletions
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129
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
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@@ -9,7 +9,7 @@
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <hal/Solenoid.h>
#include <wpi/NullDeleter.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
@@ -18,107 +18,74 @@
using namespace frc;
DoubleSolenoid::DoubleSolenoid(int forwardChannel, int reverseChannel)
: DoubleSolenoid(SensorUtil::GetDefaultSolenoidModule(), forwardChannel,
reverseChannel) {}
DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
DoubleSolenoid::DoubleSolenoid(PneumaticsBase& module, int forwardChannel,
int reverseChannel)
: SolenoidBase(moduleNumber),
m_forwardChannel(forwardChannel),
m_reverseChannel(reverseChannel) {
if (!SensorUtil::CheckSolenoidModule(m_moduleNumber)) {
throw FRC_MakeError(err::ModuleIndexOutOfRange, "Module {}",
m_moduleNumber);
}
if (!SensorUtil::CheckSolenoidChannel(m_forwardChannel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
m_forwardChannel);
}
if (!SensorUtil::CheckSolenoidChannel(m_reverseChannel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
m_reverseChannel);
}
int32_t status = 0;
m_forwardHandle = HAL_InitializeSolenoidPort(
HAL_GetPortWithModule(moduleNumber, m_forwardChannel), &status);
FRC_CheckErrorStatus(status, "Module {} Channel {}", m_moduleNumber,
m_forwardChannel);
: DoubleSolenoid{std::shared_ptr<PneumaticsBase>{
&module, wpi::NullDeleter<PneumaticsBase>()},
forwardChannel, reverseChannel} {}
m_reverseHandle = HAL_InitializeSolenoidPort(
HAL_GetPortWithModule(moduleNumber, m_reverseChannel), &status);
if (status != 0) {
// free forward solenoid
HAL_FreeSolenoidPort(m_forwardHandle);
FRC_CheckErrorStatus(status, "Module {} Channel {}", m_moduleNumber,
m_reverseChannel);
return;
DoubleSolenoid::DoubleSolenoid(PneumaticsBase* module, int forwardChannel,
int reverseChannel)
: DoubleSolenoid{std::shared_ptr<PneumaticsBase>{
module, wpi::NullDeleter<PneumaticsBase>()},
forwardChannel, reverseChannel} {}
DoubleSolenoid::DoubleSolenoid(std::shared_ptr<PneumaticsBase> module,
int forwardChannel, int reverseChannel)
: m_module{std::move(module)} {
if (!m_module->CheckSolenoidChannel(forwardChannel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
forwardChannel);
}
if (!m_module->CheckSolenoidChannel(reverseChannel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
reverseChannel);
}
m_forwardMask = 1 << m_forwardChannel;
m_reverseMask = 1 << m_reverseChannel;
m_forwardChannel = forwardChannel;
m_reverseChannel = reverseChannel;
m_forwardMask = 1 << forwardChannel;
m_reverseMask = 1 << reverseChannel;
m_mask = m_forwardMask | m_reverseMask;
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel + 1,
m_moduleNumber + 1);
m_module->GetModuleNumber() + 1);
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
m_moduleNumber + 1);
SendableRegistry::GetInstance().AddLW(this, "DoubleSolenoid", m_moduleNumber,
m_forwardChannel);
m_module->GetModuleNumber() + 1);
SendableRegistry::GetInstance().AddLW(
this, "DoubleSolenoid", m_module->GetModuleNumber(), m_forwardChannel);
}
DoubleSolenoid::~DoubleSolenoid() {
HAL_FreeSolenoidPort(m_forwardHandle);
HAL_FreeSolenoidPort(m_reverseHandle);
}
DoubleSolenoid::~DoubleSolenoid() {}
void DoubleSolenoid::Set(Value value) {
bool forward = false;
bool reverse = false;
int setValue = 0;
switch (value) {
case kOff:
forward = false;
reverse = false;
setValue = 0;
break;
case kForward:
forward = true;
reverse = false;
setValue = m_forwardMask;
break;
case kReverse:
forward = false;
reverse = true;
setValue = m_reverseMask;
break;
}
int fstatus = 0;
HAL_SetSolenoid(m_forwardHandle, forward, &fstatus);
int rstatus = 0;
HAL_SetSolenoid(m_reverseHandle, reverse, &rstatus);
FRC_CheckErrorStatus(fstatus, "Module {} Channel {}", m_moduleNumber,
m_forwardChannel);
FRC_CheckErrorStatus(rstatus, "Module {} Channel {}", m_moduleNumber,
m_reverseChannel);
m_module->SetSolenoids(m_mask, setValue);
}
DoubleSolenoid::Value DoubleSolenoid::Get() const {
int fstatus = 0;
int rstatus = 0;
bool valueForward = HAL_GetSolenoid(m_forwardHandle, &fstatus);
bool valueReverse = HAL_GetSolenoid(m_reverseHandle, &rstatus);
auto values = m_module->GetSolenoids();
FRC_CheckErrorStatus(fstatus, "Module {} Channel {}", m_moduleNumber,
m_forwardChannel);
FRC_CheckErrorStatus(rstatus, "Module {} Channel {}", m_moduleNumber,
m_reverseChannel);
if (valueForward) {
return kForward;
} else if (valueReverse) {
return kReverse;
if ((values & m_forwardMask) != 0) {
return Value::kForward;
} else if ((values & m_reverseMask) != 0) {
return Value::kReverse;
} else {
return kOff;
return Value::kOff;
}
}
@@ -140,14 +107,12 @@ int DoubleSolenoid::GetRevChannel() const {
return m_reverseChannel;
}
bool DoubleSolenoid::IsFwdSolenoidBlackListed() const {
int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
return (blackList & m_forwardMask) != 0;
bool DoubleSolenoid::IsFwdSolenoidDisabled() const {
return (m_module->GetSolenoidDisabledList() & m_forwardMask) != 0;
}
bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
return (blackList & m_reverseMask) != 0;
bool DoubleSolenoid::IsRevSolenoidDisabled() const {
return (m_module->GetSolenoidDisabledList() & m_reverseMask) != 0;
}
void DoubleSolenoid::InitSendable(SendableBuilder& builder) {