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Removed AnalogModule, DigitalModule, and Module from C++

Browse Source 
The HAL calls from Analog/DigitalModule are now directly in the classes
that use them.

Change-Id: I1cf879ab2979be903d03ab8282dfe5a5e7ae9443
This commit is contained in:
thomasclark
2014-07-21 16:32:36 -04:00
parent f27e16735f
commit 1a77cea13a
25 changed files with 248 additions and 1082 deletions
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83
wpilibc/wpilibC++/lib/DigitalOutput.cpp
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@@ -5,7 +5,6 @@
/*----------------------------------------------------------------------------*/
#include "DigitalOutput.h"
#include "DigitalModule.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "Resource.h"
#include "WPIErrors.h"
@@ -29,9 +28,11 @@ void DigitalOutput::InitDigitalOutput(uint32_t channel)
return;
}
m_channel = channel;
m_pwmGenerator = ~0ul;
m_module = DigitalModule::GetInstance(1);
m_module->AllocateDIO(m_channel, false);
m_pwmGenerator = (void *)~0ul;
int32_t status = 0;
allocateDIO(m_digital_ports[channel], false, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel);
}
@@ -55,7 +56,10 @@ DigitalOutput::~DigitalOutput()
if (StatusIsFatal()) return;
// Disable the PWM in case it was running.
DisablePWM();
m_module->FreeDIO(m_channel);
int32_t status = 0;
freeDIO(m_digital_ports[m_channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -65,7 +69,10 @@ DigitalOutput::~DigitalOutput()
void DigitalOutput::Set(uint32_t value)
{
if (StatusIsFatal()) return;
m_module->SetDIO(m_channel, value);
int32_t status = 0;
setDIO(m_digital_ports[m_channel], value, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -85,7 +92,10 @@ uint32_t DigitalOutput::GetChannel()
void DigitalOutput::Pulse(float length)
{
if (StatusIsFatal()) return;
m_module->Pulse(m_channel, length);
int32_t status = 0;
pulse(m_digital_ports[m_channel], length, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -95,7 +105,11 @@ void DigitalOutput::Pulse(float length)
bool DigitalOutput::IsPulsing()
{
if (StatusIsFatal()) return false;
return m_module->IsPulsing(m_channel);
int32_t status = 0;
bool value = isPulsing(m_digital_ports[m_channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}
/**
@@ -103,14 +117,17 @@ bool DigitalOutput::IsPulsing()
*
* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is logarithmic.
*
* There is only one PWM frequency per digital module.
* There is only one PWM frequency for all digital channels.
*
* @param rate The frequency to output all digital output PWM signals on this module.
* @param rate The frequency to output all digital output PWM signals.
*/
void DigitalOutput::SetPWMRate(float rate)
{
if (StatusIsFatal()) return;
m_module->SetDO_PWMRate(rate);
int32_t status = 0;
setPWMRate(rate, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -127,11 +144,21 @@ void DigitalOutput::SetPWMRate(float rate)
*/
void DigitalOutput::EnablePWM(float initialDutyCycle)
{
if (StatusIsFatal()) return;
if (m_pwmGenerator != ~0ul) return;
m_pwmGenerator = m_module->AllocateDO_PWM();
m_module->SetDO_PWMDutyCycle(m_pwmGenerator, initialDutyCycle);
m_module->SetDO_PWMOutputChannel(m_pwmGenerator, m_channel);
if(m_pwmGenerator != (void *)~0ul) return;
int32_t status = 0;
if(StatusIsFatal()) return;
m_pwmGenerator = allocatePWM(&status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
if(StatusIsFatal()) return;
setPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
if(StatusIsFatal()) return;
setPWMOutputChannel(m_pwmGenerator, m_channel, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -142,10 +169,18 @@ void DigitalOutput::EnablePWM(float initialDutyCycle)
void DigitalOutput::DisablePWM()
{
if (StatusIsFatal()) return;
if(m_pwmGenerator == (void *)~0ul) return;
int32_t status = 0;
// Disable the output by routing to a dead bit.
m_module->SetDO_PWMOutputChannel(m_pwmGenerator, kDigitalChannels);
m_module->FreeDO_PWM(m_pwmGenerator);
m_pwmGenerator = ~0ul;
setPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
freePWM(m_pwmGenerator, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_pwmGenerator = (void *)~0ul;
}
/**
@@ -159,7 +194,10 @@ void DigitalOutput::DisablePWM()
void DigitalOutput::UpdateDutyCycle(float dutyCycle)
{
if (StatusIsFatal()) return;
m_module->SetDO_PWMDutyCycle(m_pwmGenerator, dutyCycle);
int32_t status = 0;
setPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -167,7 +205,7 @@ void DigitalOutput::UpdateDutyCycle(float dutyCycle)
*/
uint32_t DigitalOutput::GetChannelForRouting()
{
return DigitalModule::RemapDigitalChannel(GetChannel() - 1);
return GetChannel();
}
/**
@@ -175,8 +213,7 @@ uint32_t DigitalOutput::GetChannelForRouting()
*/
uint32_t DigitalOutput::GetModuleForRouting()
{
if (StatusIsFatal()) return 0;
return m_module->GetNumber() - 1;
return 0;
}
/**