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

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

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

@@ -0,0 +1,209 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DigitalInput.h"
+//#include "NetworkCommunication/UsageReporting.h"
+#include "Resource.h"
+#include "WPIErrors.h"
+
+/**
+ * Create an instance of a DigitalInput.
+ * Creates a digital input given a channel. Common creation routine for all
+ * constructors.
+ */
+void DigitalInput::InitDigitalInput(uint32_t channel)
+{
+	m_table = NULL;
+	char buf[64];
+
+	if (!CheckDigitalChannel(channel))
+	{
+		snprintf(buf, 64, "Digital Channel %d", channel);
+		wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+		return;
+	}
+	m_channel = channel;
+
+	int32_t status = 0;
+	allocateDIO(m_digital_ports[channel], true, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	HALReport(HALUsageReporting::kResourceType_DigitalInput, channel);
+}
+
+/**
+ * Create an instance of a Digital Input class.
+ * Creates a digital input given a channel.
+ *
+ * @param channel The digital channel (0..19).
+ */
+DigitalInput::DigitalInput(uint32_t channel)
+{
+	InitDigitalInput(channel);
+}
+
+/**
+ * Free resources associated with the Digital Input class.
+ */
+DigitalInput::~DigitalInput()
+{
+	if (StatusIsFatal()) return;
+	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);
+	}
+
+	int32_t status = 0;
+	freeDIO(m_digital_ports[m_channel], &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/*
+ * Get the value from a digital input channel.
+ * Retrieve the value of a single digital input channel from the FPGA.
+ */
+uint32_t DigitalInput::Get()
+{
+	int32_t status = 0;
+	bool value = getDIO(m_digital_ports[m_channel], &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return value;
+}
+
+/**
+ * @return The GPIO channel number that this object represents.
+ */
+uint32_t DigitalInput::GetChannel()
+{
+	return m_channel;
+}
+
+/**
+ * @return The value to be written to the channel field of a routing mux.
+ */
+uint32_t DigitalInput::GetChannelForRouting()
+{
+	return GetChannel();
+}
+
+/**
+ * @return The value to be written to the module field of a routing mux.
+ */
+uint32_t DigitalInput::GetModuleForRouting()
+{
+	return 0;
+}
+
+/**
+ * @return The value to be written to the analog trigger field of a routing mux.
+ */
+bool DigitalInput::GetAnalogTriggerForRouting()
+{
+	return false;
+}
+
+/**
+ * Request interrupts asynchronously on this digital input.
+ * @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 asynchronus mode where the user program interrupt handler will be
+ * called when an interrupt occurs.
+ * The default is interrupt on rising edges only.
+ */
+void DigitalInput::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;
+
+	 // Creates a manager too
+	AllocateInterrupts(false);
+
+	int32_t status = 0;
+	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
+					  GetAnalogTriggerForRouting(), &status);
+	SetUpSourceEdge(true, false);
+	attachInterruptHandler(m_interrupt, handler, param, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Request interrupts synchronously on this digital input.
+ * Request interrupts in synchronus mode where the user program will have to explicitly
+ * wait for the interrupt to occur.
+ * The default is interrupt on rising edges only.
+ */
+void DigitalInput::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));
+	SetUpSourceEdge(true, false);
+}
+
+void DigitalInput::SetUpSourceEdge(bool risingEdge, bool fallingEdge)
+{
+	if (StatusIsFatal()) return;
+	if (m_interrupt == NULL)
+	{
+		wpi_setWPIErrorWithContext(NullParameter, "You must call RequestInterrupts before SetUpSourceEdge");
+		return;
+	}
+	if (m_interrupt != NULL)
+	{
+		int32_t status = 0;
+		setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	}
+}
+
+void DigitalInput::UpdateTable() {
+	if (m_table != NULL) {
+		m_table->PutBoolean("Value", Get());
+	}
+}
+
+void DigitalInput::StartLiveWindowMode() {
+
+}
+
+void DigitalInput::StopLiveWindowMode() {
+
+}
+
+std::string DigitalInput::GetSmartDashboardType() {
+	return "DigitalInput";
+}
+
+void DigitalInput::InitTable(ITable *subTable) {
+	m_table = subTable;
+	UpdateTable();
+}
+
+ITable * DigitalInput::GetTable() {
+	return m_table;
+}