Initial checkin of unified hierarchy of WPILib 2015

2026-06-21 01:01:43 +00:00 · 2013-12-15 18:30:16 -05:00
commit 3178911eef
1560 changed files with 410007 additions and 0 deletions
--- a/wpilibc/src/main/native/Compressor.cpp
+++ b/wpilibc/src/main/native/Compressor.cpp
@@ -0,0 +1,195 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "Compressor.h"
+#include "DigitalInput.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "Timer.h"
+#include "WPIErrors.h"
+
+/**
+ * Internal task.
+ * 
+ * Task which checks the compressor pressure switch and operates the relay as necessary
+ * depending on the pressure.
+ * 
+ * Do not call this function directly.
+ */
+static void CompressorChecker(Compressor *c)
+{
+	while (1)
+	{
+		if (c->Enabled())
+		{
+			c->SetRelayValue( c->GetPressureSwitchValue() == 0 ? Relay::kOn : Relay::kOff );
+		}
+		else
+		{
+			c->SetRelayValue(Relay::kOff);
+		}
+		Wait(0.5);
+	}
+}
+
+/**
+ * Initialize the Compressor object.
+ * This method is the common initialization code for all the constructors for the Compressor
+ * object. It takes the relay channel and pressure switch channel and spawns a task that polls the
+ * compressor and sensor.
+ * 
+ * You MUST start the compressor by calling the Start() method.
+ */
+void Compressor::InitCompressor(uint8_t pressureSwitchModuleNumber,
+		uint32_t pressureSwitchChannel,
+		uint8_t compresssorRelayModuleNumber,
+		uint32_t compressorRelayChannel)
+{
+	m_table = NULL;
+	m_enabled = false;
+	m_pressureSwitch = new DigitalInput(pressureSwitchModuleNumber, pressureSwitchChannel);
+	m_relay = new Relay(compresssorRelayModuleNumber, compressorRelayChannel, Relay::kForwardOnly);
+
+	nUsageReporting::report(nUsageReporting::kResourceType_Compressor, 0);
+
+	if (!m_task.Start((int32_t)this))
+	{
+		wpi_setWPIError(CompressorTaskError);
+	}
+}
+
+/**
+ * Compressor constructor.
+ * Given a fully specified relay channel and pressure switch channel, initialize the Compressor object.
+ * 
+ * You MUST start the compressor by calling the Start() method.
+ * 
+ * @param pressureSwitchModuleNumber The digital module that the pressure switch is attached to.
+ * @param pressureSwitchChannel The GPIO channel that the pressure switch is attached to.
+ * @param compresssorRelayModuleNumber The digital module that the compressor relay is attached to.
+ * @param compressorRelayChannel The relay channel that the compressor relay is attached to.
+ */
+Compressor::Compressor(uint8_t pressureSwitchModuleNumber,
+		uint32_t pressureSwitchChannel,
+		uint8_t compresssorRelayModuleNumber,
+		uint32_t compressorRelayChannel)
+	: m_task ("Compressor", (FUNCPTR)CompressorChecker)
+{
+	InitCompressor(pressureSwitchModuleNumber,
+		pressureSwitchChannel,
+		compresssorRelayModuleNumber,
+		compressorRelayChannel);
+}
+
+/**
+ * Compressor constructor.
+ * Given a relay channel and pressure switch channel (both in the default digital module), initialize
+ * the Compressor object.
+ * 
+ * You MUST start the compressor by calling the Start() method.
+ * 
+ * @param pressureSwitchChannel The GPIO channel that the pressure switch is attached to.
+ * @param compressorRelayChannel The relay channel that the compressor relay is attached to.
+ */
+Compressor::Compressor(uint32_t pressureSwitchChannel, uint32_t compressorRelayChannel)
+	: m_task ("Compressor", (FUNCPTR)CompressorChecker)
+{
+	InitCompressor(GetDefaultDigitalModule(),
+			pressureSwitchChannel,
+			GetDefaultDigitalModule(),
+			compressorRelayChannel);
+}
+
+/**
+ * Delete the Compressor object.
+ * Delete the allocated resources for the compressor and kill the compressor task that is polling
+ * the pressure switch.
+ */
+Compressor::~Compressor()
+{
+	delete m_pressureSwitch;
+	delete m_relay;
+}
+
+/**
+ * Operate the relay for the compressor.
+ * Change the value of the relay output that is connected to the compressor motor.
+ * This is only intended to be called by the internal polling thread.
+ */
+void Compressor::SetRelayValue(Relay::Value relayValue)
+{
+	m_relay->Set(relayValue);
+}
+
+/**
+ * Get the pressure switch value.
+ * Read the pressure switch digital input.
+ * 
+ * @return The current state of the pressure switch.
+ */
+uint32_t Compressor::GetPressureSwitchValue()
+{
+	return m_pressureSwitch->Get();
+}
+
+/**
+ * Start the compressor.
+ * This method will allow the polling loop to actually operate the compressor. The
+ * is stopped by default and won't operate until starting it.
+ */
+void Compressor::Start()
+{
+	m_enabled = true;
+}
+
+/**
+ * Stop the compressor.
+ * This method will stop the compressor from turning on.
+ */
+void Compressor::Stop()
+{
+	m_enabled = false;
+}
+
+/**
+ * Get the state of the enabled flag.
+ * Return the state of the enabled flag for the compressor and pressure switch
+ * combination.
+ * 
+ * @return The state of the compressor thread's enable flag.
+ */
+bool Compressor::Enabled()
+{
+	return m_enabled;
+}
+
+void Compressor::UpdateTable() {
+	if (m_table != NULL) {
+		m_table->PutBoolean("Enabled", m_enabled);
+		m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
+	}
+}
+
+void Compressor::StartLiveWindowMode() {
+	
+}
+
+void Compressor::StopLiveWindowMode() {
+	
+}
+
+std::string Compressor::GetSmartDashboardType() {
+	return "Compressor";
+}
+
+void Compressor::InitTable(ITable *subTable) {
+	m_table = subTable;
+	UpdateTable();
+}
+
+ITable * Compressor::GetTable() {
+	return m_table;
+}
+