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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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24
wpilibc/athena/src/DigitalOutput.cpp
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@@ -35,8 +35,13 @@ DigitalOutput::DigitalOutput(uint32_t channel) {
m_channel = channel;
int32_t status = 0;
allocateDIO(m_digital_ports[channel], false, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_handle = initializeDIOPort(getPort(channel), false, &status);
if (status != 0) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_channel = std::numeric_limits<uint32_t>::max();
m_handle = HAL_INVALID_HANDLE;
return;
}
HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel);
}
@@ -50,9 +55,7 @@ DigitalOutput::~DigitalOutput() {
// Disable the PWM in case it was running.
DisablePWM();
int32_t status = 0;
freeDIO(m_digital_ports[m_channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
freeDIOPort(m_handle);
}
/**
@@ -66,7 +69,7 @@ void DigitalOutput::Set(uint32_t value) {
if (StatusIsFatal()) return;
int32_t status = 0;
setDIO(m_digital_ports[m_channel], value, &status);
setDIO(m_handle, value, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -87,7 +90,7 @@ void DigitalOutput::Pulse(float length) {
if (StatusIsFatal()) return;
int32_t status = 0;
pulse(m_digital_ports[m_channel], length, &status);
pulse(m_handle, length, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -100,7 +103,7 @@ bool DigitalOutput::IsPulsing() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value = isPulsing(m_digital_ports[m_channel], &status);
bool value = isPulsing(m_handle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}
@@ -206,6 +209,11 @@ uint32_t DigitalOutput::GetModuleForRouting() const { return 0; }
*/
bool DigitalOutput::GetAnalogTriggerForRouting() const { return false; }
/**
* @return The HAL Handle to the specified source.
*/
HalHandle DigitalOutput::GetPortHandle() const { return m_handle; }
void DigitalOutput::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) {
if (!value->IsBoolean()) return;