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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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73
wpilibc/src/main/native/cpp/Solenoid.cpp
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@@ -7,9 +7,7 @@
#include <utility>
#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"
@@ -18,49 +16,40 @@
using namespace frc;
Solenoid::Solenoid(int channel)
: Solenoid(SensorUtil::GetDefaultSolenoidModule(), channel) {}
Solenoid::Solenoid(PneumaticsBase& module, int channel)
: Solenoid{std::shared_ptr<PneumaticsBase>{
&module, wpi::NullDeleter<PneumaticsBase>()},
channel} {}
Solenoid::Solenoid(int moduleNumber, int channel)
: SolenoidBase(moduleNumber), m_channel(channel) {
if (!SensorUtil::CheckSolenoidModule(m_moduleNumber)) {
throw FRC_MakeError(err::ModuleIndexOutOfRange, "Module {}",
m_moduleNumber);
}
if (!SensorUtil::CheckSolenoidChannel(m_channel)) {
Solenoid::Solenoid(PneumaticsBase* module, int channel)
: Solenoid{std::shared_ptr<PneumaticsBase>{
module, wpi::NullDeleter<PneumaticsBase>()},
channel} {}
Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
: m_module{std::move(module)} {
if (!m_module->CheckSolenoidChannel(m_channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", m_channel);
}
int32_t status = 0;
m_solenoidHandle = HAL_InitializeSolenoidPort(
HAL_GetPortWithModule(moduleNumber, channel), &status);
FRC_CheckErrorStatus(status, "Module {} Channel {}", m_moduleNumber,
m_channel);
m_channel = channel;
m_mask = 1 << channel;
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
m_moduleNumber + 1);
SendableRegistry::GetInstance().AddLW(this, "Solenoid", m_moduleNumber,
m_channel);
m_module->GetModuleNumber() + 1);
SendableRegistry::GetInstance().AddLW(this, "Solenoid",
m_module->GetModuleNumber(), m_channel);
}
Solenoid::~Solenoid() {
HAL_FreeSolenoidPort(m_solenoidHandle);
}
Solenoid::~Solenoid() {}
void Solenoid::Set(bool on) {
int32_t status = 0;
HAL_SetSolenoid(m_solenoidHandle, on, &status);
FRC_CheckErrorStatus(status, "Module {} Channel {}", m_moduleNumber,
m_channel);
int value = on ? (0xFFFF & m_mask) : 0;
m_module->SetSolenoids(m_mask, value);
}
bool Solenoid::Get() const {
int32_t status = 0;
bool value = HAL_GetSolenoid(m_solenoidHandle, &status);
FRC_CheckErrorStatus(status, "Module {} Channel {}", m_moduleNumber,
m_channel);
return value;
int currentAll = m_module->GetSolenoids();
return (currentAll & m_mask) != 0;
}
void Solenoid::Toggle() {
@@ -71,24 +60,16 @@ int Solenoid::GetChannel() const {
return m_channel;
}
bool Solenoid::IsBlackListed() const {
int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
return (value != 0);
bool Solenoid::IsDisabled() const {
return (m_module->GetSolenoidDisabledList() & m_mask) != 0;
}
void Solenoid::SetPulseDuration(units::second_t duration) {
int32_t status = 0;
HAL_SetOneShotDuration(m_solenoidHandle,
units::millisecond_t{duration}.to<int32_t>(), &status);
FRC_CheckErrorStatus(status, "Module {} Channel {}", m_moduleNumber,
m_channel);
m_module->SetOneShotDuration(m_channel, duration);
}
void Solenoid::StartPulse() {
int32_t status = 0;
HAL_FireOneShot(m_solenoidHandle, &status);
FRC_CheckErrorStatus(status, "Module {} Channel {}", m_moduleNumber,
m_channel);
m_module->FireOneShot(m_channel);
}
void Solenoid::InitSendable(SendableBuilder& builder) {