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

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

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

@@ -0,0 +1,125 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogTriggerOutput.h"
+#include "AnalogTrigger.h"
+//#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+
+/**
+ * Create an object that represents one of the four outputs from an analog trigger.
+ *
+ * Because this class derives from DigitalSource, it can be passed into routing functions
+ * for Counter, Encoder, etc.
+ *
+ * @param trigger A pointer to the trigger for which this is an output.
+ * @param outputType An enum that specifies the output on the trigger to represent.
+ */
+AnalogTriggerOutput::AnalogTriggerOutput(AnalogTrigger *trigger, AnalogTriggerType outputType)
+	: m_trigger (trigger)
+	, m_outputType (outputType)
+{
+	HALReport(HALUsageReporting::kResourceType_AnalogTriggerOutput, trigger->GetIndex(), outputType);
+}
+
+AnalogTriggerOutput::~AnalogTriggerOutput()
+{
+	if (m_interrupt != NULL)
+	{
+		int32_t status = 0;
+		cleanInterrupts(m_interrupt, &status);
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+		m_interrupt = NULL;
+		m_interrupts->Free(m_interruptIndex);
+	}
+}
+
+/**
+ * Get the state of the analog trigger output.
+ * @return The state of the analog trigger output.
+ */
+bool AnalogTriggerOutput::Get()
+{
+  int32_t status = 0;
+  bool result = getAnalogTriggerOutput(m_trigger->m_trigger, m_outputType, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  return result;
+}
+
+/**
+ * @return The value to be written to the channel field of a routing mux.
+ */
+uint32_t AnalogTriggerOutput::GetChannelForRouting()
+{
+	return (m_trigger->m_index << 2) + m_outputType;
+}
+
+/**
+ * @return The value to be written to the module field of a routing mux.
+ */
+uint32_t AnalogTriggerOutput::GetModuleForRouting()
+{
+	return 0;
+}
+
+/**
+ * @return The value to be written to the module field of a routing mux.
+ */
+bool AnalogTriggerOutput::GetAnalogTriggerForRouting()
+{
+	return true;
+}
+
+/**
+ * Request interrupts asynchronously on this analog trigger output.
+ * @param handler The address of the interrupt handler function of type tInterruptHandler that
+ * will be called whenever there is an interrupt on the digitial input port.
+ * Request interrupts in synchronus mode where the user program interrupt handler will be
+ * called when an interrupt occurs.
+ */
+void AnalogTriggerOutput::RequestInterrupts(InterruptHandlerFunction handler, void *param)
+{
+	if (StatusIsFatal()) return;
+	uint32_t index = m_interrupts->Allocate("Async Interrupt");
+	if (index == ~0ul)
+	{
+		CloneError(m_interrupts);
+		return;
+	}
+	m_interruptIndex = index;
+
+	AllocateInterrupts(false);
+
+	int32_t status = 0;
+	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
+	                  GetAnalogTriggerForRouting(), &status);
+	attachInterruptHandler(m_interrupt, handler, param, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Request interrupts synchronously on this analog trigger output.
+ * Request interrupts in asynchronus mode where the user program will have to
+ * explicitly wait for the interrupt to occur.
+ */
+void AnalogTriggerOutput::RequestInterrupts()
+{
+	if (StatusIsFatal()) return;
+	uint32_t index = m_interrupts->Allocate("Sync Interrupt");
+	if (index == ~0ul)
+	{
+		CloneError(m_interrupts);
+		return;
+	}
+	m_interruptIndex = index;
+
+	AllocateInterrupts(true);
+
+	int32_t status = 0;
+	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
+					  GetAnalogTriggerForRouting(), &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}