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Initial checkin of unified hierarchy of WPILib 2015

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Brad Miller
2013-12-15 18:30:16 -05:00
commit 3178911eef
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wpilibc/src/main/native/AnalogTrigger.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "AnalogTrigger.h"
#include "AnalogChannel.h"
#include "AnalogModule.h"
#include "NetworkCommunication/UsageReporting.h"
#include "Resource.h"
#include "WPIErrors.h"
/**
* Initialize an analog trigger from a slot and channel.
* This is the common code for the two constructors that use a slot and channel.
*/
void AnalogTrigger::InitTrigger(uint8_t moduleNumber, uint32_t channel)
{
void* port = getPortWithModule(moduleNumber, channel);
int32_t status = 0;
uint32_t index = 0;
m_trigger = initializeAnalogTrigger(port, &index, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_index = index;
nUsageReporting::report(nUsageReporting::kResourceType_AnalogTrigger, channel, moduleNumber - 1);
}
/**
* Constructor for an analog trigger given a channel number.
* The default module is used in this case.
*
* @param channel The analog channel (1..8).
*/
AnalogTrigger::AnalogTrigger(uint32_t channel)
{
InitTrigger(GetDefaultAnalogModule(), channel);
}
/**
* Constructor for an analog trigger given both the slot and channel.
*
* @param moduleNumber The analog module (1 or 2).
* @param channel The analog channel (1..8).
*/
AnalogTrigger::AnalogTrigger(uint8_t moduleNumber, uint32_t channel)
{
InitTrigger(moduleNumber, channel);
}
/**
* Construct an analog trigger given an analog channel.
* This should be used in the case of sharing an analog channel between the trigger
* and an analog input object.
*/
AnalogTrigger::AnalogTrigger(AnalogChannel *channel)
{
InitTrigger(channel->GetModuleNumber(), channel->GetChannel());
}
AnalogTrigger::~AnalogTrigger()
{
int32_t status = 0;
cleanAnalogTrigger(m_trigger, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Set the upper and lower limits of the analog trigger.
* The limits are given in ADC codes. If oversampling is used, the units must be scaled
* appropriately.
*/
void AnalogTrigger::SetLimitsRaw(int32_t lower, int32_t upper)
{
if (StatusIsFatal()) return;
int32_t status = 0;
setAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Set the upper and lower limits of the analog trigger.
* The limits are given as floating point voltage values.
*/
void AnalogTrigger::SetLimitsVoltage(float lower, float upper)
{
if (StatusIsFatal()) return;
int32_t status = 0;
setAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Configure the analog trigger to use the averaged vs. raw values.
* If the value is true, then the averaged value is selected for the analog trigger, otherwise
* the immediate value is used.
*/
void AnalogTrigger::SetAveraged(bool useAveragedValue)
{
if (StatusIsFatal()) return;
int32_t status = 0;
setAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Configure the analog trigger to use a filtered value.
* The analog trigger will operate with a 3 point average rejection filter. This is designed to
* help with 360 degree pot applications for the period where the pot crosses through zero.
*/
void AnalogTrigger::SetFiltered(bool useFilteredValue)
{
if (StatusIsFatal()) return;
int32_t status = 0;
setAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Return the index of the analog trigger.
* This is the FPGA index of this analog trigger instance.
* @return The index of the analog trigger.
*/
uint32_t AnalogTrigger::GetIndex()
{
if (StatusIsFatal()) return ~0ul;
return m_index;
}
/**
* Return the InWindow output of the analog trigger.
* True if the analog input is between the upper and lower limits.
* @return The InWindow output of the analog trigger.
*/
bool AnalogTrigger::GetInWindow()
{
if (StatusIsFatal()) return false;
int32_t status = 0;
bool result = getAnalogTriggerInWindow(m_trigger, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return result;
}
/**
* Return the TriggerState output of the analog trigger.
* True if above upper limit.
* False if below lower limit.
* If in Hysteresis, maintain previous state.
* @return The TriggerState output of the analog trigger.
*/
bool AnalogTrigger::GetTriggerState()
{
if (StatusIsFatal()) return false;
int32_t status = 0;
bool result = getAnalogTriggerTriggerState(m_trigger, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return result;
}
/**
* Creates an AnalogTriggerOutput object.
* Gets an output object that can be used for routing.
* Caller is responsible for deleting the AnalogTriggerOutput object.
* @param type An enum of the type of output object to create.
* @return A pointer to a new AnalogTriggerOutput object.
*/
AnalogTriggerOutput *AnalogTrigger::CreateOutput(AnalogTriggerType type)
{
if (StatusIsFatal()) return NULL;
return new AnalogTriggerOutput(this, type);
}