Add FPGA Duty Cycle support (#1987)

2026-06-20 00:51:42 +00:00 · 2019-11-01 23:41:30 -07:00
parent 509819d83f
commit 1d695a1660
42 changed files with 1744 additions and 72 deletions
--- a/wpilibc/src/main/native/cpp/DutyCycle.cpp
+++ b/wpilibc/src/main/native/cpp/DutyCycle.cpp
@@ -0,0 +1,99 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/DutyCycle.h"
+
+#include <hal/DutyCycle.h>
+#include <hal/FRCUsageReporting.h>
+#include <hal/HALBase.h>
+
+#include "frc/DigitalSource.h"
+#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc;
+
+DutyCycle::DutyCycle(DigitalSource* source)
+    : m_source{source, NullDeleter<DigitalSource>()} {
+  if (m_source == nullptr) {
+    wpi_setWPIError(NullParameter);
+  } else {
+    InitDutyCycle();
+  }
+}
+
+DutyCycle::DutyCycle(DigitalSource& source)
+    : m_source{&source, NullDeleter<DigitalSource>()} {
+  InitDutyCycle();
+}
+
+DutyCycle::DutyCycle(std::shared_ptr<DigitalSource> source)
+    : m_source{std::move(source)} {
+  if (m_source == nullptr) {
+    wpi_setWPIError(NullParameter);
+  } else {
+    InitDutyCycle();
+  }
+}
+
+DutyCycle::~DutyCycle() { HAL_FreeDutyCycle(m_handle); }
+
+void DutyCycle::InitDutyCycle() {
+  int32_t status = 0;
+  m_handle =
+      HAL_InitializeDutyCycle(m_source->GetPortHandleForRouting(),
+                              static_cast<HAL_AnalogTriggerType>(
+                                  m_source->GetAnalogTriggerTypeForRouting()),
+                              &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  int index = GetFPGAIndex();
+  HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
+  SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
+}
+
+int DutyCycle::GetFPGAIndex() const {
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleFPGAIndex(m_handle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+int DutyCycle::GetFrequency() const {
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleFrequency(m_handle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+double DutyCycle::GetOutput() const {
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleOutput(m_handle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+unsigned int DutyCycle::GetOutputRaw() const {
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleOutput(m_handle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+unsigned int DutyCycle::GetOutputScaleFactor() const {
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleOutputScaleFactor(m_handle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+void DutyCycle::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Duty Cycle");
+  builder.AddDoubleProperty("Frequency",
+                            [this] { return this->GetFrequency(); }, nullptr);
+  builder.AddDoubleProperty("Output", [this] { return this->GetOutput(); },
+                            nullptr);
+}