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wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.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/Compressor.h"
+
+#include <frc/PneumaticHub.h>
+
+#include <hal/Ports.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
+
+using namespace frc;
+
+Compressor::Compressor(int busId, int module, PneumaticsModuleType moduleType)
+    : m_module{PneumaticsBase::GetForType(busId, module, moduleType)},
+      m_moduleType{moduleType} {
+  if (!m_module->ReserveCompressor()) {
+    throw FRC_MakeError(err::ResourceAlreadyAllocated, "{}", module);
+  }
+
+  m_module->EnableCompressorDigital();
+
+  m_module->ReportUsage("Compressor", "");
+  wpi::SendableRegistry::Add(this, "Compressor", module);
+}
+
+Compressor::Compressor(int busId, PneumaticsModuleType moduleType)
+    : Compressor{busId, PneumaticsBase::GetDefaultForType(moduleType),
+                 moduleType} {}
+
+Compressor::~Compressor() {
+  if (m_module) {
+    m_module->UnreserveCompressor();
+  }
+}
+
+bool Compressor::IsEnabled() const {
+  return m_module->GetCompressor();
+}
+
+bool Compressor::GetPressureSwitchValue() const {
+  return m_module->GetPressureSwitch();
+}
+
+units::ampere_t Compressor::GetCurrent() const {
+  return m_module->GetCompressorCurrent();
+}
+
+units::volt_t Compressor::GetAnalogVoltage() const {
+  return m_module->GetAnalogVoltage(0);
+}
+
+units::pounds_per_square_inch_t Compressor::GetPressure() const {
+  return m_module->GetPressure(0);
+}
+
+void Compressor::Disable() {
+  m_module->DisableCompressor();
+}
+
+void Compressor::EnableDigital() {
+  m_module->EnableCompressorDigital();
+}
+
+void Compressor::EnableAnalog(units::pounds_per_square_inch_t minPressure,
+                              units::pounds_per_square_inch_t maxPressure) {
+  m_module->EnableCompressorAnalog(minPressure, maxPressure);
+}
+
+void Compressor::EnableHybrid(units::pounds_per_square_inch_t minPressure,
+                              units::pounds_per_square_inch_t maxPressure) {
+  m_module->EnableCompressorHybrid(minPressure, maxPressure);
+}
+
+CompressorConfigType Compressor::GetConfigType() const {
+  return m_module->GetCompressorConfigType();
+}
+
+void Compressor::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Compressor");
+  builder.AddBooleanProperty(
+      "Enabled", [this] { return IsEnabled(); }, nullptr);
+  builder.AddBooleanProperty(
+      "Pressure switch", [this] { return GetPressureSwitchValue(); }, nullptr);
+  builder.AddDoubleProperty(
+      "Current (A)", [this] { return GetCurrent().value(); }, nullptr);
+  // These are not supported by the CTRE PCM
+  if (m_moduleType == PneumaticsModuleType::REVPH) {
+    builder.AddDoubleProperty(
+        "Analog Voltage", [this] { return GetAnalogVoltage().value(); },
+        nullptr);
+    builder.AddDoubleProperty(
+        "Pressure (PSI)", [this] { return GetPressure().value(); }, nullptr);
+  }
+}