Allowed sharing of common C++ code between RoboRIO and Simulation.

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

wpilibc/wpilibC++Devices/src/AnalogOutput.cpp

@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogOutput.h"
+#include "Resource.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+static Resource *outputs = NULL;
+
+void AnalogOutput::InitAnalogOutput(uint32_t channel) {
+    m_table = NULL;
+
+    Resource::CreateResourceObject(&outputs, kAnalogOutputs);
+
+    char buf[64];
+
+    if(!checkAnalogOutputChannel(channel))
+    {
+        snprintf(buf, 64, "analog input %d", channel);
+        wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+        return;
+    }
+
+    if(outputs->Allocate(channel, buf) == ~0ul)
+    {
+        CloneError(outputs);
+        return;
+    }
+
+    m_channel = channel;
+
+    void* port = getPort(m_channel);
+    int32_t status = 0;
+    m_port = initializeAnalogOutputPort(port, &status);
+    wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+    LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
+    HALReport(HALUsageReporting::kResourceType_AnalogChannel, m_channel, 0);
+}
+
+/**
+ * Construct an anlog output on the given channel
+ */
+AnalogOutput::AnalogOutput(uint32_t channel) {
+    InitAnalogOutput(channel);
+}
+
+AnalogOutput::~AnalogOutput() {
+    outputs->Free(m_channel);
+}
+
+/**
+ * Set the value of the analog output
+ *
+ * @param voltage The output value in Volts, from 0.0 to +5.0
+ */
+void AnalogOutput::SetVoltage(float voltage) {
+    int32_t status = 0;
+    setAnalogOutput(m_port, voltage, &status);
+
+    wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Get the voltage of the analog output
+ *
+ * @return The value in Volts, from 0.0 to +5.0
+ */
+float AnalogOutput::GetVoltage() {
+    int32_t status = 0;
+    float voltage = getAnalogOutput(m_port, &status);
+
+    wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+    return voltage;
+}
+
+void AnalogOutput::UpdateTable() {
+    if (m_table != NULL) {
+        m_table->PutNumber("Value", GetVoltage());
+    }
+}
+
+void AnalogOutput::StartLiveWindowMode() {
+}
+
+void AnalogOutput::StopLiveWindowMode() {
+}
+
+std::string AnalogOutput::GetSmartDashboardType() {
+    return "Analog Output";
+}
+
+void AnalogOutput::InitTable(ITable *subTable) {
+    m_table = subTable;
+    UpdateTable();
+}
+
+ITable *AnalogOutput::GetTable() {
+    return m_table;
+}