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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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92
wpilibc/wpilibC++/lib/Relay.cpp
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@@ -1,12 +1,11 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "Relay.h"
#include "DigitalModule.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "Resource.h"
#include "WPIErrors.h"
@@ -54,9 +53,12 @@ void Relay::InitRelay()
HALReport(HALUsageReporting::kResourceType_Relay, m_channel + 128);
}
m_module = DigitalModule::GetInstance(1);
m_module->SetRelayForward(m_channel, false);
m_module->SetRelayReverse(m_channel, false);
int32_t status = 0;
setRelayForward(m_relay_ports[m_channel], false, &status);
setRelayReverse(m_relay_ports[m_channel], false, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
}
@@ -78,8 +80,11 @@ Relay::Relay(uint32_t channel, Relay::Direction direction)
*/
Relay::~Relay()
{
m_module->SetRelayForward(m_channel, false);
m_module->SetRelayReverse(m_channel, false);
int32_t status = 0;
setRelayForward(m_relay_ports[m_channel], false, &status);
setRelayReverse(m_relay_ports[m_channel], false, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
if (m_direction == kBothDirections || m_direction == kForwardOnly)
{
@@ -97,37 +102,40 @@ Relay::~Relay()
* Valid values depend on which directions of the relay are controlled by the object.
*
* When set to kBothDirections, the relay can be any of the four states:
* 0v-0v, 0v-12v, 12v-0v, 12v-12v
* 0v-0v, 0v-12v, 12v-0v, 12v-12v
*
* When set to kForwardOnly or kReverseOnly, you can specify the constant for the
* direction or you can simply specify kOff and kOn. Using only kOff and kOn is
* recommended.
* direction or you can simply specify kOff and kOn. Using only kOff and kOn is
* recommended.
*
* @param value The state to set the relay.
*/
void Relay::Set(Relay::Value value)
{
if (StatusIsFatal()) return;
int32_t status = 0;
switch (value)
{
case kOff:
if (m_direction == kBothDirections || m_direction == kForwardOnly)
{
m_module->SetRelayForward(m_channel, false);
setRelayForward(m_relay_ports[m_channel], false, &status);
}
if (m_direction == kBothDirections || m_direction == kReverseOnly)
{
m_module->SetRelayReverse(m_channel, false);
setRelayReverse(m_relay_ports[m_channel], false, &status);
}
break;
case kOn:
if (m_direction == kBothDirections || m_direction == kForwardOnly)
{
m_module->SetRelayForward(m_channel, true);
setRelayForward(m_relay_ports[m_channel], true, &status);
}
if (m_direction == kBothDirections || m_direction == kReverseOnly)
{
m_module->SetRelayReverse(m_channel, true);
setRelayReverse(m_relay_ports[m_channel], true, &status);
}
break;
case kForward:
@@ -138,11 +146,11 @@ void Relay::Set(Relay::Value value)
}
if (m_direction == kBothDirections || m_direction == kForwardOnly)
{
m_module->SetRelayForward(m_channel, true);
setRelayForward(m_relay_ports[m_channel], true, &status);
}
if (m_direction == kBothDirections)
{
m_module->SetRelayReverse(m_channel, false);
setRelayReverse(m_relay_ports[m_channel], false, &status);
}
break;
case kReverse:
@@ -153,14 +161,16 @@ void Relay::Set(Relay::Value value)
}
if (m_direction == kBothDirections)
{
m_module->SetRelayForward(m_channel, false);
setRelayForward(m_relay_ports[m_channel], false, &status);
}
if (m_direction == kBothDirections || m_direction == kReverseOnly)
{
m_module->SetRelayReverse(m_channel, true);
setRelayReverse(m_relay_ports[m_channel], true, &status);
}
break;
}
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -174,27 +184,31 @@ void Relay::Set(Relay::Value value)
* @return The current state of the relay as a Relay::Value
*/
Relay::Value Relay::Get() {
if(m_module->GetRelayForward(m_channel)) {
if(m_module->GetRelayReverse(m_channel)) {
return kOn;
} else {
if(m_direction == kForwardOnly) {
return kOn;
} else {
return kForward;
}
}
} else {
if(m_module->GetRelayReverse(m_channel)) {
if(m_direction == kReverseOnly) {
return kOn;
} else {
return kReverse;
}
} else {
return kOff;
}
}
int32_t status;
if(getRelayForward(m_relay_ports[m_channel], &status)) {
if(getRelayReverse(m_relay_ports[m_channel], &status)) {
return kOn;
} else {
if(m_direction == kForwardOnly) {
return kOn;
} else {
return kForward;
}
}
} else {
if(getRelayReverse(m_relay_ports[m_channel], &status)) {
if(m_direction == kReverseOnly) {
return kOn;
} else {
return kReverse;
}
} else {
return kOff;
}
}
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
void Relay::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {