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Directly construct PWM port from HAL, avoid wpilib PWM object (#2106)

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This commit is contained in:
Thad House
2019-11-20 14:48:14 -08:00
committed by Peter Johnson
parent c0e36df9d8
commit 5443fdabc1
3 changed files with 30 additions and 79 deletions
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52
wpilibc/src/main/native/cpp/AddressableLED.cpp
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@@ -8,44 +8,34 @@
#include "frc/AddressableLED.h"
#include <hal/AddressableLED.h>
#include <hal/HALBase.h>
#include <hal/PWM.h>
#include <hal/Ports.h>
#include "frc/PWM.h"
#include "frc/WPIErrors.h"
using namespace frc;
AddressableLED::AddressableLED(PWM& output)
: m_pwmOutput{&output, NullDeleter<PWM>()} {
Init();
}
AddressableLED::AddressableLED(PWM* output)
: m_pwmOutput{output, NullDeleter<PWM>()} {
if (m_pwmOutput == nullptr) {
wpi_setWPIError(NullParameter);
} else {
Init();
}
}
AddressableLED::AddressableLED(std::shared_ptr<PWM> output)
: m_pwmOutput{std::move(output)} {
Init();
}
AddressableLED::AddressableLED(int port)
: m_pwmOutput{std::make_shared<PWM>(port)} {
if (!m_pwmOutput->StatusIsFatal()) {
Init();
}
}
AddressableLED::~AddressableLED() { HAL_FreeAddressableLED(m_handle); }
void AddressableLED::Init() {
AddressableLED::AddressableLED(int port) {
int32_t status = 0;
m_handle = HAL_InitializeAddressableLED(m_pwmOutput->m_handle, &status);
m_pwmHandle = HAL_InitializePWMPort(HAL_GetPort(port), &status);
wpi_setHALErrorWithRange(status, 0, HAL_GetNumPWMChannels(), port);
if (m_pwmHandle == HAL_kInvalidHandle) {
return;
}
m_handle = HAL_InitializeAddressableLED(m_pwmHandle, &status);
wpi_setHALError(status);
if (m_handle == HAL_kInvalidHandle) {
HAL_FreePWMPort(m_pwmHandle, &status);
}
}
AddressableLED::~AddressableLED() {
HAL_FreeAddressableLED(m_handle);
int32_t status = 0;
HAL_FreePWMPort(m_pwmHandle, &status);
}
void AddressableLED::SetLength(int length) {