[wpilib] Add new counter implementations (#2447)

2026-06-22 01:11:42 +00:00 · 2021-11-23 20:33:36 -08:00
parent b156db400d
commit 3aa54fa027
15 changed files with 1052 additions and 0 deletions
--- a/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
+++ b/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
@@ -0,0 +1,106 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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/counter/UpDownCounter.h"
+
+#include <hal/Counter.h>
+#include <hal/FRCUsageReporting.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+
+#include "frc/DigitalSource.h"
+#include "frc/Errors.h"
+
+using namespace frc;
+
+UpDownCounter::UpDownCounter(DigitalSource& upSource, DigitalSource& downSource)
+    : UpDownCounter({&upSource, wpi::NullDeleter<DigitalSource>()},
+                    {&downSource, wpi::NullDeleter<DigitalSource>()}) {}
+
+UpDownCounter::UpDownCounter(std::shared_ptr<DigitalSource> upSource,
+                             std::shared_ptr<DigitalSource> downSource) {
+  m_upSource = upSource;
+  m_downSource = downSource;
+
+  int32_t status = 0;
+  m_handle = HAL_InitializeCounter(HAL_Counter_Mode::HAL_Counter_kTwoPulse,
+                                   &m_index, &status);
+  FRC_CheckErrorStatus(status, "{}", m_index);
+
+  if (m_upSource) {
+    HAL_SetCounterUpSource(m_handle, m_upSource->GetPortHandleForRouting(),
+                           static_cast<HAL_AnalogTriggerType>(
+                               m_upSource->GetAnalogTriggerTypeForRouting()),
+                           &status);
+    FRC_CheckErrorStatus(status, "{}", m_index);
+    HAL_SetCounterUpSourceEdge(m_handle, true, false, &status);
+    FRC_CheckErrorStatus(status, "{}", m_index);
+  }
+
+  if (m_downSource) {
+    HAL_SetCounterDownSource(
+        m_handle, m_downSource->GetPortHandleForRouting(),
+        static_cast<HAL_AnalogTriggerType>(
+            m_downSource->GetAnalogTriggerTypeForRouting()),
+        &status);
+    FRC_CheckErrorStatus(status, "{}", m_index);
+    HAL_SetCounterDownSourceEdge(m_handle, true, false, &status);
+    FRC_CheckErrorStatus(status, "{}", m_index);
+  }
+
+  Reset();
+
+  HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
+  wpi::SendableRegistry::AddLW(this, "UpDown Counter", m_index);
+}
+
+UpDownCounter::~UpDownCounter() {
+  int32_t status = 0;
+  HAL_FreeCounter(m_handle, &status);
+}
+
+int UpDownCounter::GetCount() const {
+  int32_t status = 0;
+  int val = HAL_GetCounter(m_handle, &status);
+  FRC_CheckErrorStatus(status, "{}", m_index);
+  return val;
+}
+
+void UpDownCounter::SetReverseDirection(bool reverseDirection) {
+  int32_t status = 0;
+  HAL_SetCounterReverseDirection(m_handle, reverseDirection, &status);
+  FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void UpDownCounter::Reset() {
+  int32_t status = 0;
+  HAL_ResetCounter(m_handle, &status);
+  FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void UpDownCounter::SetUpEdgeConfiguration(EdgeConfiguration configuration) {
+  int32_t status = 0;
+  bool rising = configuration == EdgeConfiguration::kRisingEdge ||
+                configuration == EdgeConfiguration::kBoth;
+  bool falling = configuration == EdgeConfiguration::kFallingEdge ||
+                 configuration == EdgeConfiguration::kBoth;
+  HAL_SetCounterUpSourceEdge(m_handle, rising, falling, &status);
+  FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void UpDownCounter::SetDownEdgeConfiguration(EdgeConfiguration configuration) {
+  int32_t status = 0;
+  bool rising = configuration == EdgeConfiguration::kRisingEdge ||
+                configuration == EdgeConfiguration::kBoth;
+  bool falling = configuration == EdgeConfiguration::kFallingEdge ||
+                 configuration == EdgeConfiguration::kBoth;
+  HAL_SetCounterDownSourceEdge(m_handle, rising, falling, &status);
+  FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void UpDownCounter::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("UpDown Counter");
+  builder.AddDoubleProperty(
+      "Count", [&] { return GetCount(); }, nullptr);
+}