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Switches PWM and DIO to Handles (#120)

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This commit is contained in:
Thad House
2016-06-30 21:39:09 -07:00
committed by Peter Johnson
parent 9b2af0d090
commit 3593ecb17e
37 changed files with 656 additions and 514 deletions
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20
wpilibc/athena/src/DigitalInput.cpp
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@@ -34,8 +34,13 @@ DigitalInput::DigitalInput(uint32_t channel) {
m_channel = channel;
int32_t status = 0;
allocateDIO(m_digital_ports[channel], true, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_handle = initializeDIOPort(getPort(channel), true, &status);
if (status != 0) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_handle = HAL_INVALID_HANDLE;
m_channel = std::numeric_limits<uint32_t>::max();
return;
}
LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this);
HALReport(HALUsageReporting::kResourceType_DigitalInput, channel);
@@ -53,9 +58,7 @@ DigitalInput::~DigitalInput() {
m_interrupt = HAL_INVALID_HANDLE;
}
int32_t status = 0;
freeDIO(m_digital_ports[m_channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
freeDIOPort(m_handle);
}
/**
@@ -66,7 +69,7 @@ DigitalInput::~DigitalInput() {
bool DigitalInput::Get() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value = getDIO(m_digital_ports[m_channel], &status);
bool value = getDIO(m_handle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}
@@ -91,6 +94,11 @@ uint32_t DigitalInput::GetModuleForRouting() const { return 0; }
*/
bool DigitalInput::GetAnalogTriggerForRouting() const { return false; }
/**
* @return The HAL Handle to the specified source.
*/
HalHandle DigitalInput::GetPortHandle() const { return m_handle; }
void DigitalInput::UpdateTable() {
if (m_table != nullptr) {
m_table->PutBoolean("Value", Get());