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[hal] Digital IO SystemCore implementation (#7621)

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This commit is contained in:
Thad House
2025-01-12 16:58:46 -08:00
committed by GitHub
parent 03d9e96877
commit 666d1638ce
6 changed files with 235 additions and 31 deletions
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81
hal/src/main/native/systemcore/SmartIo.cpp
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@@ -34,29 +34,90 @@ int32_t SmartIo::InitializeMode(SmartIoMode mode) {
modePublisher = inst.GetIntegerTopic(subTableString + "type").Publish();
getSubscriber =
inst.GetIntegerTopic(subTableString + "valget").Subscribe(0.0, options);
inst.GetIntegerTopic(subTableString + "valget").Subscribe(0, options);
frequencySubscriber =
inst.GetIntegerTopic(subTableString + "freqget").Subscribe(0, options);
setPublisher =
inst.GetIntegerTopic(subTableString + "valset").Publish(options);
periodPublisher =
inst.GetIntegerTopic(subTableString + "periodset").Publish(options);
currentMode = mode;
switch (mode) {
case SmartIoMode::PWMOutput:
modePublisher.Set(4);
setPublisher =
inst.GetIntegerTopic(subTableString + "valset").Publish(options);
// These need to set a 0 output
case SmartIoMode::DigitalOutput:
case SmartIoMode::PwmOutput:
setPublisher.Set(0);
return 0;
break;
// These don't need to set any value
case SmartIoMode::DigitalInput:
case SmartIoMode::AnalogInput:
case SmartIoMode::PwmInput:
case SmartIoMode::SingleCounterRising:
case SmartIoMode::SingleCounterFalling:
break;
default:
return INCOMPATIBLE_STATE;
}
modePublisher.Set(static_cast<int>(mode));
return 0;
}
int32_t SmartIo::SetPwmMicroseconds(uint16_t microseconds) {
if (currentMode != SmartIoMode::PWMOutput) {
int32_t SmartIo::SwitchDioDirection(bool input) {
if (currentMode != SmartIoMode::DigitalInput &&
currentMode != SmartIoMode::DigitalOutput) {
return INCOMPATIBLE_STATE;
}
// TODO(thad) add support for always on signal
modePublisher.Set(input ? 0 : 1);
currentMode = input ? SmartIoMode::DigitalInput : SmartIoMode::DigitalOutput;
return 0;
}
int32_t SmartIo::SetDigitalOutput(bool value) {
if (currentMode != SmartIoMode::DigitalInput &&
currentMode != SmartIoMode::DigitalOutput) {
return INCOMPATIBLE_STATE;
}
setPublisher.Set(value ? 255.0 : 0.0);
return 0;
}
int32_t SmartIo::GetDigitalInput(bool* value) {
if (currentMode != SmartIoMode::DigitalInput &&
currentMode != SmartIoMode::DigitalOutput) {
return INCOMPATIBLE_STATE;
}
*value = getSubscriber.Get() != 0;
return 0;
}
int32_t SmartIo::SetPwmOutputPeriod(PwmOutputPeriod period) {
if (currentMode != SmartIoMode::PwmOutput) {
return INCOMPATIBLE_STATE;
}
switch (period) {
case PwmOutputPeriod::k20ms:
case PwmOutputPeriod::k10ms:
case PwmOutputPeriod::k5ms:
case PwmOutputPeriod::k2ms:
periodPublisher.Set(static_cast<int>(period));
return 0;
default:
return PARAMETER_OUT_OF_RANGE;
}
}
int32_t SmartIo::SetPwmMicroseconds(uint16_t microseconds) {
if (currentMode != SmartIoMode::PwmOutput) {
return INCOMPATIBLE_STATE;
}
if (microseconds > 4095) {
microseconds = 4095;
@@ -68,7 +129,7 @@ int32_t SmartIo::SetPwmMicroseconds(uint16_t microseconds) {
}
int32_t SmartIo::GetPwmMicroseconds(uint16_t* microseconds) {
if (currentMode != SmartIoMode::PWMOutput) {
if (currentMode != SmartIoMode::PwmOutput) {
return INCOMPATIBLE_STATE;
}