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Allowed sharing of common C++ code between RoboRIO and Simulation.
Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8
This commit is contained in:
Alex Henning
committed by
Thomas Clark
Thomas Clark
parent
b371600f0f
commit
7c8124d76c
262
wpilibc/wpilibC++Devices/src/Relay.cpp
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262
wpilibc/wpilibC++Devices/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 "NetworkCommunication/UsageReporting.h"
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#include "Resource.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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#include "HAL/HAL.hpp"
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// Allocate each direction separately.
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static Resource *relayChannels = NULL;
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/**
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* Common relay initialization method.
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* This code is common to all Relay constructors and initializes the relay and reserves
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* all resources that need to be locked. Initially the relay is set to both lines at 0v.
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*/
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void Relay::InitRelay()
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{
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m_table = NULL;
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char buf[64];
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Resource::CreateResourceObject(&relayChannels, dio_kNumSystems * kRelayChannels * 2);
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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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if (m_direction == kBothDirections || m_direction == kForwardOnly)
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{
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snprintf(buf, 64, "Forward Relay %d", m_channel);
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if (relayChannels->Allocate(m_channel * 2, buf) == ~0ul)
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{
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CloneError(relayChannels);
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return;
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}
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HALReport(HALUsageReporting::kResourceType_Relay, m_channel);
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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snprintf(buf, 64, "Reverse Relay %d", m_channel);
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if (relayChannels->Allocate(m_channel * 2 + 1, buf) == ~0ul)
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{
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CloneError(relayChannels);
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return;
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}
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HALReport(HALUsageReporting::kResourceType_Relay, m_channel + 128);
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}
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int32_t status = 0;
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setRelayForward(m_relay_ports[m_channel], false, &status);
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setRelayReverse(m_relay_ports[m_channel], false, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
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}
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/**
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* Relay constructor given a channel.
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* @param channel The channel number.
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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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InitRelay();
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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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int32_t status = 0;
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setRelayForward(m_relay_ports[m_channel], false, &status);
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setRelayReverse(m_relay_ports[m_channel], false, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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if (m_direction == kBothDirections || m_direction == kForwardOnly)
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{
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relayChannels->Free(m_channel * 2);
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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relayChannels->Free(m_channel * 2 + 1);
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}
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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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if (StatusIsFatal()) return;
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int32_t status = 0;
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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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setRelayForward(m_relay_ports[m_channel], false, &status);
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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setRelayReverse(m_relay_ports[m_channel], false, &status);
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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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setRelayForward(m_relay_ports[m_channel], true, &status);
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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setRelayReverse(m_relay_ports[m_channel], true, &status);
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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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setRelayForward(m_relay_ports[m_channel], true, &status);
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}
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if (m_direction == kBothDirections)
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{
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setRelayReverse(m_relay_ports[m_channel], false, &status);
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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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setRelayForward(m_relay_ports[m_channel], false, &status);
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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setRelayReverse(m_relay_ports[m_channel], true, &status);
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}
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break;
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}
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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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() {
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int32_t status;
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if(getRelayForward(m_relay_ports[m_channel], &status)) {
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if(getRelayReverse(m_relay_ports[m_channel], &status)) {
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return kOn;
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} else {
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if(m_direction == kForwardOnly) {
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return kOn;
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} else {
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return kForward;
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}
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}
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} else {
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if(getRelayReverse(m_relay_ports[m_channel], &status)) {
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if(m_direction == kReverseOnly) {
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return kOn;
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} else {
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return kReverse;
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}
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} else {
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return kOff;
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}
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}
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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void Relay::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
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std::string *val = (std::string *) value.ptr;
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if (*val == "Off") Set(kOff);
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else if (*val == "Forward") Set(kForward);
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else if (*val == "Reverse") Set(kReverse);
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}
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void Relay::UpdateTable() {
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if(m_table != NULL){
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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 != NULL){
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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 != NULL){
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m_table->RemoveTableListener(this);
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}
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}
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std::string Relay::GetSmartDashboardType() {
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return "Relay";
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}
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void Relay::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * Relay::GetTable() {
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return m_table;
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}
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