[hal, wpilib] Add REV PneumaticsHub (#3600)

wpilibc/src/main/native/cpp/PneumaticsHub.cpp

@@ -0,0 +1,210 @@
+// 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/PneumaticsHub.h"
+
+#include <hal/REVPH.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/StackTrace.h>
+
+#include "frc/Compressor.h"
+#include "frc/DoubleSolenoid.h"
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+#include "frc/Solenoid.h"
+
+using namespace frc;
+
+wpi::mutex PneumaticsHub::m_handleLock;
+std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<PneumaticsHub::DataStore>>>
+    PneumaticsHub::m_handleMap = nullptr;
+
+// Always called under lock, so we can avoid the double lock from the magic
+// static
+std::weak_ptr<PneumaticsHub::DataStore>& PneumaticsHub::GetDataStore(
+    int module) {
+  if (!m_handleMap) {
+    m_handleMap = std::make_unique<
+        wpi::DenseMap<int, std::weak_ptr<PneumaticsHub::DataStore>>>();
+  }
+  return (*m_handleMap)[module];
+}
+
+class PneumaticsHub::DataStore {
+ public:
+  explicit DataStore(int module, const char* stackTrace) {
+    int32_t status = 0;
+    HAL_REVPHHandle handle = HAL_InitializeREVPH(module, stackTrace, &status);
+    FRC_CheckErrorStatus(status, "Module {}", module);
+    m_moduleObject = PneumaticsHub{handle, module};
+    m_moduleObject.m_dataStore =
+        std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
+  }
+
+  ~DataStore() noexcept { HAL_FreeREVPH(m_moduleObject.m_handle); }
+
+  DataStore(DataStore&&) = delete;
+  DataStore& operator=(DataStore&&) = delete;
+
+ private:
+  friend class PneumaticsHub;
+  uint32_t m_reservedMask{0};
+  bool m_compressorReserved{false};
+  wpi::mutex m_reservedLock;
+  PneumaticsHub m_moduleObject{HAL_kInvalidHandle, 0};
+};
+
+PneumaticsHub::PneumaticsHub()
+    : PneumaticsHub{SensorUtil::GetDefaultREVPHModule()} {}
+
+PneumaticsHub::PneumaticsHub(int module) {
+  std::string stackTrace = wpi::GetStackTrace(1);
+  std::scoped_lock lock(m_handleLock);
+  auto& res = GetDataStore(module);
+  m_dataStore = res.lock();
+  if (!m_dataStore) {
+    m_dataStore = std::make_shared<DataStore>(module, stackTrace.c_str());
+    res = m_dataStore;
+  }
+  m_handle = m_dataStore->m_moduleObject.m_handle;
+  m_module = module;
+}
+
+PneumaticsHub::PneumaticsHub(HAL_REVPHHandle handle, int module)
+    : m_handle{handle}, m_module{module} {}
+
+bool PneumaticsHub::GetCompressor() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressor(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticsHub::SetClosedLoopControl(bool enabled) {
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControl(m_handle, enabled, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+bool PneumaticsHub::GetClosedLoopControl() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHClosedLoopControl(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+bool PneumaticsHub::GetPressureSwitch() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHPressureSwitch(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+double PneumaticsHub::GetCompressorCurrent() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressorCurrent(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticsHub::SetSolenoids(int mask, int values) {
+  int32_t status = 0;
+  HAL_SetREVPHSolenoids(m_handle, mask, values, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+int PneumaticsHub::GetSolenoids() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHSolenoids(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+int PneumaticsHub::GetModuleNumber() const {
+  return m_module;
+}
+
+int PneumaticsHub::GetSolenoidDisabledList() const {
+  return 0;
+  // TODO Fix me
+  // int32_t status = 0;
+  // auto result = HAL_GetREVPHSolenoidDisabledList(m_handle, &status);
+  // FRC_CheckErrorStatus(status, "Module {}", m_module);
+  // return result;
+}
+
+void PneumaticsHub::FireOneShot(int index) {
+  // TODO Fix me
+  // int32_t status = 0;
+  // HAL_FireREVPHOneShot(m_handle, index, &status);
+  // FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+void PneumaticsHub::SetOneShotDuration(int index, units::second_t duration) {
+  // TODO Fix me
+  // int32_t status = 0;
+  // units::millisecond_t millis = duration;
+  // HAL_SetREVPHOneShotDuration(m_handle, index, millis.to<int32_t>(),
+  // &status); FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+bool PneumaticsHub::CheckSolenoidChannel(int channel) const {
+  return HAL_CheckREVPHSolenoidChannel(channel);
+}
+
+int PneumaticsHub::CheckAndReserveSolenoids(int mask) {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  uint32_t uMask = static_cast<uint32_t>(mask);
+  if ((m_dataStore->m_reservedMask & uMask) != 0) {
+    return m_dataStore->m_reservedMask & uMask;
+  }
+  m_dataStore->m_reservedMask |= uMask;
+  return 0;
+}
+
+void PneumaticsHub::UnreserveSolenoids(int mask) {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  m_dataStore->m_reservedMask &= ~(static_cast<uint32_t>(mask));
+}
+
+bool PneumaticsHub::ReserveCompressor() {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  if (m_dataStore->m_compressorReserved) {
+    return false;
+  }
+  m_dataStore->m_compressorReserved = true;
+  return true;
+}
+
+void PneumaticsHub::UnreserveCompressor() {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  m_dataStore->m_compressorReserved = false;
+}
+
+Solenoid PneumaticsHub::MakeSolenoid(int channel) {
+  return Solenoid{m_module, PneumaticsModuleType::REVPH, channel};
+}
+
+DoubleSolenoid PneumaticsHub::MakeDoubleSolenoid(int forwardChannel,
+                                                 int reverseChannel) {
+  return DoubleSolenoid{m_module, PneumaticsModuleType::REVPH, forwardChannel,
+                        reverseChannel};
+}
+
+Compressor PneumaticsHub::MakeCompressor() {
+  return Compressor{m_module, PneumaticsModuleType::REVPH};
+}
+
+std::shared_ptr<PneumaticsBase> PneumaticsHub::GetForModule(int module) {
+  std::string stackTrace = wpi::GetStackTrace(1);
+  std::scoped_lock lock(m_handleLock);
+  auto& res = GetDataStore(module);
+  std::shared_ptr<DataStore> dataStore = res.lock();
+  if (!dataStore) {
+    dataStore = std::make_shared<DataStore>(module, stackTrace.c_str());
+    res = dataStore;
+  }
+
+  return std::shared_ptr<PneumaticsBase>{dataStore, &dataStore->m_moduleObject};
+}