Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Rename PneumaticsHub to PneumaticHub (#3686)

Browse Source 
Fixes #3684.
This commit is contained in:
Tyler Veness
2021-10-29 00:00:31 -07:00
committed by GitHub
parent 796d03d105
commit 35c9f66a75
8 changed files with 64 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
wpilibc/src/main/native/cpp/PneumaticsHub.cpp → wpilibc/src/main/native/cpp/PneumaticHub.cpp
View File

@@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/PneumaticsHub.h"
#include "frc/PneumaticHub.h"
#include <hal/REVPH.h>
#include <wpi/NullDeleter.h>
@@ -16,28 +16,27 @@
using namespace frc;
wpi::mutex PneumaticsHub::m_handleLock;
std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<PneumaticsHub::DataStore>>>
PneumaticsHub::m_handleMap = nullptr;
wpi::mutex PneumaticHub::m_handleLock;
std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>>
PneumaticHub::m_handleMap = nullptr;
// Always called under lock, so we can avoid the double lock from the magic
// static
std::weak_ptr<PneumaticsHub::DataStore>& PneumaticsHub::GetDataStore(
int module) {
std::weak_ptr<PneumaticHub::DataStore>& PneumaticHub::GetDataStore(int module) {
if (!m_handleMap) {
m_handleMap = std::make_unique<
wpi::DenseMap<int, std::weak_ptr<PneumaticsHub::DataStore>>>();
wpi::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>>();
}
return (*m_handleMap)[module];
}
class PneumaticsHub::DataStore {
class PneumaticHub::DataStore {
public:
explicit DataStore(int module, const char* stackTrace) {
int32_t status = 0;
HAL_REVPHHandle handle = HAL_InitializeREVPH(module, stackTrace, &status);
FRC_CheckErrorStatus(status, "Module {}", module);
m_moduleObject = PneumaticsHub{handle, module};
m_moduleObject = PneumaticHub{handle, module};
m_moduleObject.m_dataStore =
std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
}
@@ -48,17 +47,17 @@ class PneumaticsHub::DataStore {
DataStore& operator=(DataStore&&) = delete;
private:
friend class PneumaticsHub;
friend class PneumaticHub;
uint32_t m_reservedMask{0};
bool m_compressorReserved{false};
wpi::mutex m_reservedLock;
PneumaticsHub m_moduleObject{HAL_kInvalidHandle, 0};
PneumaticHub m_moduleObject{HAL_kInvalidHandle, 0};
};
PneumaticsHub::PneumaticsHub()
: PneumaticsHub{SensorUtil::GetDefaultREVPHModule()} {}
PneumaticHub::PneumaticHub()
: PneumaticHub{SensorUtil::GetDefaultREVPHModule()} {}
PneumaticsHub::PneumaticsHub(int module) {
PneumaticHub::PneumaticHub(int module) {
std::string stackTrace = wpi::GetStackTrace(1);
std::scoped_lock lock(m_handleLock);
auto& res = GetDataStore(module);
@@ -71,61 +70,61 @@ PneumaticsHub::PneumaticsHub(int module) {
m_module = module;
}
PneumaticsHub::PneumaticsHub(HAL_REVPHHandle handle, int module)
PneumaticHub::PneumaticHub(HAL_REVPHHandle handle, int module)
: m_handle{handle}, m_module{module} {}
bool PneumaticsHub::GetCompressor() const {
bool PneumaticHub::GetCompressor() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressor(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return result;
}
void PneumaticsHub::SetClosedLoopControl(bool enabled) {
void PneumaticHub::SetClosedLoopControl(bool enabled) {
int32_t status = 0;
HAL_SetREVPHClosedLoopControl(m_handle, enabled, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
}
bool PneumaticsHub::GetClosedLoopControl() const {
bool PneumaticHub::GetClosedLoopControl() const {
int32_t status = 0;
auto result = HAL_GetREVPHClosedLoopControl(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return result;
}
bool PneumaticsHub::GetPressureSwitch() const {
bool PneumaticHub::GetPressureSwitch() const {
int32_t status = 0;
auto result = HAL_GetREVPHPressureSwitch(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return result;
}
double PneumaticsHub::GetCompressorCurrent() const {
double PneumaticHub::GetCompressorCurrent() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressorCurrent(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return result;
}
void PneumaticsHub::SetSolenoids(int mask, int values) {
void PneumaticHub::SetSolenoids(int mask, int values) {
int32_t status = 0;
HAL_SetREVPHSolenoids(m_handle, mask, values, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
}
int PneumaticsHub::GetSolenoids() const {
int PneumaticHub::GetSolenoids() const {
int32_t status = 0;
auto result = HAL_GetREVPHSolenoids(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return result;
}
int PneumaticsHub::GetModuleNumber() const {
int PneumaticHub::GetModuleNumber() const {
return m_module;
}
int PneumaticsHub::GetSolenoidDisabledList() const {
int PneumaticHub::GetSolenoidDisabledList() const {
return 0;
// TODO Fix me
// int32_t status = 0;
@@ -134,14 +133,14 @@ int PneumaticsHub::GetSolenoidDisabledList() const {
// return result;
}
void PneumaticsHub::FireOneShot(int index) {
void PneumaticHub::FireOneShot(int index) {
// TODO Fix me
// int32_t status = 0;
// HAL_FireREVPHOneShot(m_handle, index, &status);
// FRC_CheckErrorStatus(status, "Module {}", m_module);
}
void PneumaticsHub::SetOneShotDuration(int index, units::second_t duration) {
void PneumaticHub::SetOneShotDuration(int index, units::second_t duration) {
// TODO Fix me
// int32_t status = 0;
// units::millisecond_t millis = duration;
@@ -149,11 +148,11 @@ void PneumaticsHub::SetOneShotDuration(int index, units::second_t duration) {
// &status); FRC_CheckErrorStatus(status, "Module {}", m_module);
}
bool PneumaticsHub::CheckSolenoidChannel(int channel) const {
bool PneumaticHub::CheckSolenoidChannel(int channel) const {
return HAL_CheckREVPHSolenoidChannel(channel);
}
int PneumaticsHub::CheckAndReserveSolenoids(int mask) {
int PneumaticHub::CheckAndReserveSolenoids(int mask) {
std::scoped_lock lock{m_dataStore->m_reservedLock};
uint32_t uMask = static_cast<uint32_t>(mask);
if ((m_dataStore->m_reservedMask & uMask) != 0) {
@@ -163,12 +162,12 @@ int PneumaticsHub::CheckAndReserveSolenoids(int mask) {
return 0;
}
void PneumaticsHub::UnreserveSolenoids(int mask) {
void PneumaticHub::UnreserveSolenoids(int mask) {
std::scoped_lock lock{m_dataStore->m_reservedLock};
m_dataStore->m_reservedMask &= ~(static_cast<uint32_t>(mask));
}
bool PneumaticsHub::ReserveCompressor() {
bool PneumaticHub::ReserveCompressor() {
std::scoped_lock lock{m_dataStore->m_reservedLock};
if (m_dataStore->m_compressorReserved) {
return false;
@@ -177,26 +176,26 @@ bool PneumaticsHub::ReserveCompressor() {
return true;
}
void PneumaticsHub::UnreserveCompressor() {
void PneumaticHub::UnreserveCompressor() {
std::scoped_lock lock{m_dataStore->m_reservedLock};
m_dataStore->m_compressorReserved = false;
}
Solenoid PneumaticsHub::MakeSolenoid(int channel) {
Solenoid PneumaticHub::MakeSolenoid(int channel) {
return Solenoid{m_module, PneumaticsModuleType::REVPH, channel};
}
DoubleSolenoid PneumaticsHub::MakeDoubleSolenoid(int forwardChannel,
int reverseChannel) {
DoubleSolenoid PneumaticHub::MakeDoubleSolenoid(int forwardChannel,
int reverseChannel) {
return DoubleSolenoid{m_module, PneumaticsModuleType::REVPH, forwardChannel,
reverseChannel};
}
Compressor PneumaticsHub::MakeCompressor() {
Compressor PneumaticHub::MakeCompressor() {
return Compressor{m_module, PneumaticsModuleType::REVPH};
}
std::shared_ptr<PneumaticsBase> PneumaticsHub::GetForModule(int module) {
std::shared_ptr<PneumaticsBase> PneumaticHub::GetForModule(int module) {
std::string stackTrace = wpi::GetStackTrace(1);
std::scoped_lock lock(m_handleLock);
auto& res = GetDataStore(module);

4
wpilibc/src/main/native/cpp/PneumaticsBase.cpp
View File

@@ -5,8 +5,8 @@
#include "frc/PneumaticsBase.h"
#include "frc/Errors.h"
#include "frc/PneumaticHub.h"
#include "frc/PneumaticsControlModule.h"
#include "frc/PneumaticsHub.h"
#include "frc/SensorUtil.h"
using namespace frc;
@@ -16,7 +16,7 @@ std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
if (moduleType == PneumaticsModuleType::CTREPCM) {
return PneumaticsControlModule::GetForModule(module);
} else if (moduleType == PneumaticsModuleType::REVPH) {
return PneumaticsHub::GetForModule(module);
return PneumaticHub::GetForModule(module);
}
throw FRC_MakeError(err::InvalidParameter, "{}", moduleType);
}