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WPILib Reorganization
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
This commit is contained in:
Fredric Silberberg
249
wpilibc/simulation/src/Relay.cpp
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249
wpilibc/simulation/src/Relay.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Relay.h"
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#include "MotorSafetyHelper.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Relay constructor given a channel.
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*
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* This code initializes the relay and reserves all resources that need to be
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* locked. Initially the relay is set to both lines at 0v.
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* @param channel The channel number (0-3).
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* @param direction The direction that the Relay object will control.
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*/
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Relay::Relay(uint32_t channel, Relay::Direction direction)
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: m_channel (channel)
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, m_direction (direction)
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{
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char buf[64];
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if (!SensorBase::CheckRelayChannel(m_channel))
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{
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snprintf(buf, 64, "Relay Channel %d", m_channel);
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
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return;
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}
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m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
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m_safetyHelper->SetSafetyEnabled(false);
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sprintf(buf, "relay/%d", m_channel);
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impl = new SimContinuousOutput(buf); // TODO: Allow two different relays (targetting the different halves of a relay) to be combined to control one motor.
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LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
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go_pos = go_neg = false;
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}
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/**
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* Free the resource associated with a relay.
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* The relay channels are set to free and the relay output is turned off.
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*/
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Relay::~Relay()
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{
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impl->Set(0);
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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}
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/**
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* Set the relay state.
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*
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* Valid values depend on which directions of the relay are controlled by the object.
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*
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* When set to kBothDirections, the relay can be any of the four states:
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* 0v-0v, 0v-12v, 12v-0v, 12v-12v
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*
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* When set to kForwardOnly or kReverseOnly, you can specify the constant for the
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* direction or you can simply specify kOff and kOn. Using only kOff and kOn is
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* recommended.
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*
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* @param value The state to set the relay.
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*/
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void Relay::Set(Relay::Value value)
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{
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switch (value)
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{
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case kOff:
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if (m_direction == kBothDirections || m_direction == kForwardOnly)
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{
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go_pos = false;
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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go_neg = false;
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}
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break;
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case kOn:
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if (m_direction == kBothDirections || m_direction == kForwardOnly)
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{
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go_pos = true;
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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go_neg = true;
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}
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break;
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case kForward:
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if (m_direction == kReverseOnly)
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{
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wpi_setWPIError(IncompatibleMode);
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break;
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}
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if (m_direction == kBothDirections || m_direction == kForwardOnly)
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{
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go_pos = true;
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}
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if (m_direction == kBothDirections)
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{
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go_neg = false;
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}
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break;
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case kReverse:
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if (m_direction == kForwardOnly)
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{
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wpi_setWPIError(IncompatibleMode);
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break;
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}
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if (m_direction == kBothDirections)
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{
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go_pos = false;
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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go_neg = true;
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}
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break;
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}
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impl->Set((go_pos ? 1 : 0) + (go_neg ? -1 : 0));
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}
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/**
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* Get the Relay State
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*
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* Gets the current state of the relay.
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*
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* When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
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* kForward/kReverse (per the recommendation in Set)
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*
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* @return The current state of the relay as a Relay::Value
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*/
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Relay::Value Relay::Get() const {
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// TODO: Don't assume that the go_pos and go_neg fields are correct?
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if ((go_pos || m_direction == kReverseOnly) && (go_neg || m_direction == kForwardOnly)) {
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return kOn;
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} else if (go_pos) {
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return kForward;
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} else if (go_neg) {
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return kReverse;
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} else {
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return kOff;
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}
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}
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uint32_t Relay::GetChannel() const {
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return m_channel;
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}
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/**
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* Set the expiration time for the Relay object
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* @param timeout The timeout (in seconds) for this relay object
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*/
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void Relay::SetExpiration(float timeout) {
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m_safetyHelper->SetExpiration(timeout);
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}
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/**
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* Return the expiration time for the relay object.
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* @return The expiration time value.
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*/
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float Relay::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
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/**
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* Check if the relay object is currently alive or stopped due to a timeout.
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* @returns a bool value that is true if the motor has NOT timed out and should
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* still be running.
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*/
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bool Relay::IsAlive() const { return m_safetyHelper->IsAlive(); }
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/**
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* Stop the motor associated with this PWM object.
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* This is called by the MotorSafetyHelper object when it has a timeout for this
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* relay and needs to stop it from running.
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*/
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void Relay::StopMotor() { Set(kOff); }
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/**
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* Enable/disable motor safety for this device
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* Turn on and off the motor safety option for this relay object.
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* @param enabled True if motor safety is enforced for this object
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*/
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void Relay::SetSafetyEnabled(bool enabled) {
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m_safetyHelper->SetSafetyEnabled(enabled);
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}
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/**
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* Check if motor safety is enabled for this object
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* @returns True if motor safety is enforced for this object
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*/
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bool Relay::IsSafetyEnabled() const {
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return m_safetyHelper->IsSafetyEnabled();
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}
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void Relay::GetDescription(std::ostringstream& desc) const {
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desc << "Relay " << GetChannel();
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}
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void Relay::ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) {
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if (!value->IsString()) return;
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if (value->GetString() == "Off") Set(kOff);
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else if (value->GetString() == "Forward") Set(kForward);
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else if (value->GetString() == "Reverse") Set(kReverse);
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}
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void Relay::UpdateTable() {
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if(m_table != nullptr){
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if (Get() == kOn) {
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m_table->PutString("Value", "On");
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}
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else if (Get() == kForward) {
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m_table->PutString("Value", "Forward");
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}
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else if (Get() == kReverse) {
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m_table->PutString("Value", "Reverse");
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}
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else {
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m_table->PutString("Value", "Off");
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}
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}
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}
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void Relay::StartLiveWindowMode() {
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if(m_table != nullptr){
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m_table->AddTableListener("Value", this, true);
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}
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}
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void Relay::StopLiveWindowMode() {
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if(m_table != nullptr){
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m_table->RemoveTableListener(this);
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}
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}
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std::string Relay::GetSmartDashboardType() const {
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return "Relay";
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}
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void Relay::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> Relay::GetTable() const {
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return m_table;
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}
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