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

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

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

@@ -0,0 +1,327 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DigitalOutput.h"
+//#include "NetworkCommunication/UsageReporting.h"
+#include "Resource.h"
+#include "WPIErrors.h"
+
+/**
+ * Create an instance of a DigitalOutput.
+ * Creates a digital output given a channel. Common creation routine for all
+ * constructors.
+ */
+void DigitalOutput::InitDigitalOutput(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;
+	m_pwmGenerator = (void *)~0ul;
+
+	int32_t status = 0;
+	allocateDIO(m_digital_ports[channel], false, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel);
+}
+
+/**
+ * Create an instance of a digital output.
+ * Create a digital output given a channel.
+ *
+ * @param channel The digital channel (0..19)
+ */
+DigitalOutput::DigitalOutput(uint32_t channel)
+{
+	InitDigitalOutput(channel);
+}
+
+/**
+ * Free the resources associated with a digital output.
+ */
+DigitalOutput::~DigitalOutput()
+{
+	if (StatusIsFatal()) return;
+	// Disable the PWM in case it was running.
+	DisablePWM();
+
+	int32_t status = 0;
+	freeDIO(m_digital_ports[m_channel], &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Set the value of a digital output.
+ * Set the value of a digital output to either one (true) or zero (false).
+ */
+void DigitalOutput::Set(uint32_t value)
+{
+	if (StatusIsFatal()) return;
+
+	int32_t status = 0;
+	setDIO(m_digital_ports[m_channel], value, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * @return The GPIO channel number that this object represents.
+ */
+uint32_t DigitalOutput::GetChannel()
+{
+	return m_channel;
+}
+
+/**
+ * Output a single pulse on the digital output line.
+ * Send a single pulse on the digital output line where the pulse diration is specified in seconds.
+ * Maximum pulse length is 0.0016 seconds.
+ * @param length The pulselength in seconds
+ */
+void DigitalOutput::Pulse(float length)
+{
+	if (StatusIsFatal()) return;
+
+	int32_t status = 0;
+	pulse(m_digital_ports[m_channel], length, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Determine if the pulse is still going.
+ * Determine if a previously started pulse is still going.
+ */
+bool DigitalOutput::IsPulsing()
+{
+	if (StatusIsFatal()) return false;
+
+	int32_t status = 0;
+	bool value = isPulsing(m_digital_ports[m_channel], &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return value;
+}
+
+/**
+ * Change the PWM frequency of the PWM output on a Digital Output line.
+ *
+ * The valid range is from 0.6 Hz to 19 kHz.  The frequency resolution is logarithmic.
+ *
+ * There is only one PWM frequency for all digital channels.
+ *
+ * @param rate The frequency to output all digital output PWM signals.
+ */
+void DigitalOutput::SetPWMRate(float rate)
+{
+	if (StatusIsFatal()) return;
+
+	int32_t status = 0;
+	setPWMRate(rate, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Enable a PWM Output on this line.
+ *
+ * Allocate one of the 4 DO PWM generator resources from this module.
+ *
+ * Supply the initial duty-cycle to output so as to avoid a glitch when first starting.
+ *
+ * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
+ * but is reduced the higher the frequency of the PWM signal is.
+ *
+ * @param initialDutyCycle The duty-cycle to start generating. [0..1]
+ */
+void DigitalOutput::EnablePWM(float initialDutyCycle)
+{
+	if(m_pwmGenerator != (void *)~0ul) return;
+
+	int32_t status = 0;
+
+	if(StatusIsFatal()) return;
+	m_pwmGenerator = allocatePWM(&status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	if(StatusIsFatal()) return;
+	setPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	if(StatusIsFatal()) return;
+	setPWMOutputChannel(m_pwmGenerator, m_channel, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Change this line from a PWM output back to a static Digital Output line.
+ *
+ * Free up one of the 4 DO PWM generator resources that were in use.
+ */
+void DigitalOutput::DisablePWM()
+{
+	if (StatusIsFatal()) return;
+	if(m_pwmGenerator == (void *)~0ul) return;
+
+	int32_t status = 0;
+
+	// Disable the output by routing to a dead bit.
+	setPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	freePWM(m_pwmGenerator, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+	m_pwmGenerator = (void *)~0ul;
+}
+
+/**
+ * Change the duty-cycle that is being generated on the line.
+ *
+ * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
+ * but is reduced the higher the frequency of the PWM signal is.
+ *
+ * @param dutyCycle The duty-cycle to change to. [0..1]
+ */
+void DigitalOutput::UpdateDutyCycle(float dutyCycle)
+{
+	if (StatusIsFatal()) return;
+
+	int32_t status = 0;
+	setPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * @return The value to be written to the channel field of a routing mux.
+ */
+uint32_t DigitalOutput::GetChannelForRouting()
+{
+	return GetChannel();
+}
+
+/**
+ * @return The value to be written to the module field of a routing mux.
+ */
+uint32_t DigitalOutput::GetModuleForRouting()
+{
+	return 0;
+}
+
+/**
+ * @return The value to be written to the analog trigger field of a routing mux.
+ */
+bool DigitalOutput::GetAnalogTriggerForRouting()
+{
+	return false;
+}
+
+/**
+ * Request interrupts asynchronously on this digital 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 output port.
+ * Request interrupts in synchronus mode where the user program interrupt handler will be
+ * called when an interrupt occurs.
+ * The default is interrupt on rising edges only.
+ */
+void DigitalOutput::RequestInterrupts(InterruptHandlerFunction handler, void *param)
+{
+	if (StatusIsFatal()) return;
+	uint32_t index = m_interrupts->Allocate("Sync Interrupt");
+	if (index == ~0ul)
+	{
+		CloneError(m_interrupts);
+		return;
+	}
+	m_interruptIndex = index;
+
+	// Creates a manager too
+	AllocateInterrupts(false);
+
+	int32_t status = 0;
+    	requestInterrupts(m_interrupt, 1, GetChannelForRouting(),
+					  GetAnalogTriggerForRouting(), &status);
+	SetUpSourceEdge(true, false);
+	attachInterruptHandler(m_interrupt, handler, param, &status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Request interrupts synchronously on this digital output.
+ * 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 DigitalOutput::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 DigitalOutput::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 DigitalOutput::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
+	Set(value.b);
+}
+
+void DigitalOutput::UpdateTable() {
+}
+
+void DigitalOutput::StartLiveWindowMode() {
+	if (m_table != NULL) {
+		m_table->AddTableListener("Value", this, true);
+	}
+}
+
+void DigitalOutput::StopLiveWindowMode() {
+	if (m_table != NULL) {
+		m_table->RemoveTableListener(this);
+	}
+}
+
+std::string DigitalOutput::GetSmartDashboardType() {
+	return "Digital Output";
+}
+
+void DigitalOutput::InitTable(ITable *subTable) {
+	m_table = subTable;
+	UpdateTable();
+}
+
+ITable * DigitalOutput::GetTable() {
+	return m_table;
+}