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wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/DigitalOutput.h"
+
+#include <string>
+
+#include <hal/DIO.h>
+#include <hal/HALBase.h>
+#include <hal/Ports.h>
+#include <hal/UsageReporting.h>
+#include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+
+using namespace frc;
+
+DigitalOutput::DigitalOutput(int channel) {
+  m_pwmGenerator = HAL_kInvalidHandle;
+  if (!SensorUtil::CheckDigitalChannel(channel)) {
+    throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
+  }
+  m_channel = channel;
+
+  int32_t status = 0;
+  std::string stackTrace = wpi::GetStackTrace(1);
+  m_handle = HAL_InitializeDIOPort(channel, false, stackTrace.c_str(), &status);
+  FRC_CheckErrorStatus(status, "Channel {}", channel);
+
+  HAL_ReportUsage("IO", channel, "DigitalOutput");
+  wpi::SendableRegistry::Add(this, "DigitalOutput", channel);
+}
+
+DigitalOutput::~DigitalOutput() {
+  if (m_handle != HAL_kInvalidHandle) {
+    // Disable the PWM in case it was running.
+    try {
+      DisablePWM();
+    } catch (const RuntimeError& e) {
+      e.Report();
+    }
+  }
+}
+
+void DigitalOutput::Set(bool value) {
+  int32_t status = 0;
+  HAL_SetDIO(m_handle, value, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+}
+
+bool DigitalOutput::Get() const {
+  int32_t status = 0;
+  bool val = HAL_GetDIO(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+  return val;
+}
+
+int DigitalOutput::GetChannel() const {
+  return m_channel;
+}
+
+void DigitalOutput::Pulse(units::second_t pulseLength) {
+  int32_t status = 0;
+  HAL_Pulse(m_handle, pulseLength.value(), &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+}
+
+bool DigitalOutput::IsPulsing() const {
+  int32_t status = 0;
+  bool value = HAL_IsPulsing(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+  return value;
+}
+
+void DigitalOutput::SetPWMRate(double rate) {
+  int32_t status = 0;
+  HAL_SetDigitalPWMRate(rate, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+}
+
+void DigitalOutput::EnablePPS(double dutyCycle) {
+  if (m_pwmGenerator != HAL_kInvalidHandle) {
+    return;
+  }
+
+  int32_t status = 0;
+
+  m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+
+  HAL_SetDigitalPWMPPS(m_pwmGenerator, dutyCycle, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+
+  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+}
+
+void DigitalOutput::EnablePWM(double initialDutyCycle) {
+  if (m_pwmGenerator != HAL_kInvalidHandle) {
+    return;
+  }
+
+  int32_t status = 0;
+
+  m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+
+  HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+
+  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+}
+
+void DigitalOutput::DisablePWM() {
+  if (m_pwmGenerator == HAL_kInvalidHandle) {
+    return;
+  }
+
+  int32_t status = 0;
+
+  // Disable the output by routing to a dead bit.
+  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator,
+                                 SensorUtil::GetNumDigitalChannels(), &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+
+  HAL_FreeDigitalPWM(m_pwmGenerator);
+
+  m_pwmGenerator = HAL_kInvalidHandle;
+}
+
+void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
+  int32_t status = 0;
+  HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+}
+
+void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
+  HAL_SetDIOSimDevice(m_handle, device);
+}
+
+void DigitalOutput::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Digital Output");
+  builder.AddBooleanProperty(
+      "Value", [=, this] { return Get(); },
+      [=, this](bool value) { Set(value); });
+}