Initial checkin of unified hierarchy of WPILib 2015

2026-06-30 02:31:44 +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/DoubleSolenoid.cpp
+++ b/wpilibc/src/main/native/DoubleSolenoid.cpp
@@ -0,0 +1,184 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DoubleSolenoid.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include <string.h>
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Common function to implement constructor behavior.
+ */
+void DoubleSolenoid::InitSolenoid()
+{
+	m_table = NULL;
+	char buf[64];
+	if (!CheckSolenoidModule(m_moduleNumber))
+	{
+		snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
+		wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
+		return;
+	}
+	if (!CheckSolenoidChannel(m_forwardChannel))
+	{
+		snprintf(buf, 64, "Solenoid Channel %d", m_forwardChannel);
+		wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+		return;
+	}
+	if (!CheckSolenoidChannel(m_reverseChannel))
+	{
+		snprintf(buf, 64, "Solenoid Channel %d", m_reverseChannel);
+		wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+		return;
+	}
+	Resource::CreateResourceObject(&m_allocated, solenoid_kNumDO7_0Elements * kSolenoidChannels);
+
+	snprintf(buf, 64, "Solenoid %d (Module %d)", m_forwardChannel, m_moduleNumber);
+	if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1, buf) == ~0ul)
+	{
+		CloneError(m_allocated);
+		return;
+	}
+	snprintf(buf, 64, "Solenoid %d (Module %d)", m_reverseChannel, m_moduleNumber);
+	if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1, buf) == ~0ul)
+	{
+		CloneError(m_allocated);
+		return;
+	}
+	m_forwardMask = 1 << (m_forwardChannel - 1);
+	m_reverseMask = 1 << (m_reverseChannel - 1);
+
+	nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_forwardChannel, m_moduleNumber - 1);
+	nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_reverseChannel, m_moduleNumber - 1);
+	LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
+}
+
+/**
+ * Constructor.
+ * 
+ * @param forwardChannel The forward channel on the module to control.
+ * @param reverseChannel The reverse channel on the module to control.
+ */
+DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
+	: SolenoidBase (GetDefaultSolenoidModule())
+	, m_forwardChannel (forwardChannel)
+	, m_reverseChannel (reverseChannel)
+{
+	InitSolenoid();
+}
+
+/**
+ * Constructor.
+ * 
+ * @param moduleNumber The solenoid module (1 or 2).
+ * @param forwardChannel The forward channel on the module to control.
+ * @param reverseChannel The reverse channel on the module to control.
+ */
+DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, uint32_t reverseChannel)
+	: SolenoidBase (moduleNumber)
+	, m_forwardChannel (forwardChannel)
+	, m_reverseChannel (reverseChannel)
+{
+	InitSolenoid();
+}
+
+/**
+ * Destructor.
+ */
+DoubleSolenoid::~DoubleSolenoid()
+{
+	if (CheckSolenoidModule(m_moduleNumber))
+	{
+		m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
+		m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
+	}
+}
+
+/**
+ * Set the value of a solenoid.
+ * 
+ * @param value Move the solenoid to forward, reverse, or don't move it.
+ */
+void DoubleSolenoid::Set(Value value)
+{
+	if (StatusIsFatal()) return;
+	uint8_t rawValue = 0x00;
+
+	switch(value)
+	{
+	case kOff:
+		rawValue = 0x00;
+		break;
+	case kForward:
+		rawValue = m_forwardMask;
+		break;
+	case kReverse:
+		rawValue = m_reverseMask;
+		break;
+	}
+
+	SolenoidBase::Set(rawValue, m_forwardMask | m_reverseMask);
+}
+
+/**
+ * Read the current value of the solenoid.
+ * 
+ * @return The current value of the solenoid.
+ */
+DoubleSolenoid::Value DoubleSolenoid::Get()
+{
+	if (StatusIsFatal()) return kOff;
+	uint8_t value = GetAll();
+
+	if (value & m_forwardMask) return kForward;
+	if (value & m_reverseMask) return kReverse;
+	return kOff;
+}
+
+void DoubleSolenoid::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
+	Value lvalue = kOff;
+	std::string *val = (std::string *)value.ptr;
+	if (*val == "Forward")
+		lvalue = kForward;
+	else if (*val == "Reverse")
+		lvalue = kReverse;
+	Set(lvalue);
+}
+
+void DoubleSolenoid::UpdateTable() {
+	if (m_table != NULL) {
+		m_table->PutString("Value", (Get() == kForward ? "Forward" : (Get() == kReverse ? "Reverse" : "Off")));
+	}
+}
+
+void DoubleSolenoid::StartLiveWindowMode() {
+	Set(kOff);
+	if (m_table != NULL) {
+		m_table->AddTableListener("Value", this, true);
+	}
+}
+
+void DoubleSolenoid::StopLiveWindowMode() {
+	Set(kOff);
+	if (m_table != NULL) {
+		m_table->RemoveTableListener(this);
+	}
+}
+
+std::string DoubleSolenoid::GetSmartDashboardType() {
+	return "Double Solenoid";
+}
+
+void DoubleSolenoid::InitTable(ITable *subTable) {
+	m_table = subTable;
+	UpdateTable();
+}
+
+ITable * DoubleSolenoid::GetTable() {
+	return m_table;
+}
+