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

wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp

@@ -0,0 +1,162 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/PneumaticsControlModule.h"
+
+#include <hal/CTREPCM.h>
+#include <wpi/StackTrace.h>
+
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+
+using namespace frc;
+
+PneumaticsControlModule::PneumaticsControlModule()
+    : PneumaticsControlModule{SensorUtil::GetDefaultCTREPCMModule()} {}
+
+PneumaticsControlModule::PneumaticsControlModule(int module) {
+  int32_t status = 0;
+  std::string stackTrace = wpi::GetStackTrace(1);
+  m_handle = HAL_InitializeCTREPCM(module, stackTrace.c_str(), &status);
+  FRC_CheckErrorStatus(status, "Module {}", module);
+  m_module = module;
+}
+
+PneumaticsControlModule::~PneumaticsControlModule() {
+  HAL_FreeCTREPCM(m_handle);
+}
+
+bool PneumaticsControlModule::GetCompressor() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressor(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticsControlModule::SetClosedLoopControl(bool enabled) {
+  int32_t status = 0;
+  HAL_SetCTREPCMClosedLoopControl(m_handle, enabled, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+bool PneumaticsControlModule::GetClosedLoopControl() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMClosedLoopControl(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+bool PneumaticsControlModule::GetPressureSwitch() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMPressureSwitch(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+double PneumaticsControlModule::GetCompressorCurrent() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorCurrent(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+bool PneumaticsControlModule::GetCompressorCurrentTooHighFault() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorCurrentTooHighFault(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+bool PneumaticsControlModule::GetCompressorCurrentTooHighStickyFault() {
+  int32_t status = 0;
+  auto result =
+      HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+bool PneumaticsControlModule::GetCompressorShortedFault() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorShortedFault(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+bool PneumaticsControlModule::GetCompressorShortedStickyFault() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorShortedStickyFault(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+bool PneumaticsControlModule::GetCompressorNotConnectedFault() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorNotConnectedFault(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+bool PneumaticsControlModule::GetCompressorNotConnectedStickyFault() {
+  int32_t status = 0;
+  auto result =
+      HAL_GetCTREPCMCompressorNotConnectedStickyFault(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+bool PneumaticsControlModule::GetSolenoidVoltageFault() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMSolenoidVoltageFault(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+bool PneumaticsControlModule::GetSolenoidVoltageStickyFault() {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMSolenoidVoltageStickyFault(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticsControlModule::ClearAllStickyFaults() {
+  int32_t status = 0;
+  HAL_ClearAllCTREPCMStickyFaults(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+void PneumaticsControlModule::SetSolenoids(int mask, int values) {
+  int32_t status = 0;
+  HAL_SetCTREPCMSolenoids(m_handle, mask, values, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+int PneumaticsControlModule::GetSolenoids() const {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMSolenoids(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+int PneumaticsControlModule::GetModuleNumber() const {
+  return m_module;
+}
+
+int PneumaticsControlModule::GetSolenoidDisabledList() const {
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMSolenoidDisabledList(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticsControlModule::FireOneShot(int index) {
+  int32_t status = 0;
+  HAL_FireCTREPCMOneShot(m_handle, index, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+void PneumaticsControlModule::SetOneShotDuration(int index,
+                                                 units::second_t duration) {
+  int32_t status = 0;
+  units::millisecond_t millis = duration;
+  HAL_SetCTREPCMOneShotDuration(m_handle, index, millis.to<int32_t>(), &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+bool PneumaticsControlModule::CheckSolenoidChannel(int channel) const {
+  return HAL_CheckCTREPCMSolenoidChannel(channel);
+}