SCRIPT Move cc files

wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.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/DoubleSolenoid.h"
+
+#include <utility>
+
+#include <hal/Ports.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+
+using namespace frc;
+
+DoubleSolenoid::DoubleSolenoid(int busId, int module,
+                               PneumaticsModuleType moduleType,
+                               int forwardChannel, int reverseChannel)
+    : m_module{PneumaticsBase::GetForType(busId, module, moduleType)},
+      m_forwardChannel{forwardChannel},
+      m_reverseChannel{reverseChannel} {
+  if (!m_module->CheckSolenoidChannel(m_forwardChannel)) {
+    throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
+                        m_forwardChannel);
+  }
+  if (!m_module->CheckSolenoidChannel(m_reverseChannel)) {
+    throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
+                        m_reverseChannel);
+  }
+
+  m_forwardMask = 1 << forwardChannel;
+  m_reverseMask = 1 << reverseChannel;
+  m_mask = m_forwardMask | m_reverseMask;
+
+  int allocMask = m_module->CheckAndReserveSolenoids(m_mask);
+  if (allocMask != 0) {
+    if (allocMask == m_mask) {
+      throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channels {} and {}",
+                          m_forwardChannel, m_reverseChannel);
+    } else if (allocMask == m_forwardMask) {
+      throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}",
+                          m_forwardChannel);
+    } else {
+      throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}",
+                          m_reverseChannel);
+    }
+  }
+
+  m_module->ReportUsage(
+      fmt::format("Solenoid[{},{}]", m_forwardChannel, m_reverseChannel),
+      "DoubleSolenoid");
+
+  wpi::SendableRegistry::Add(this, "DoubleSolenoid",
+                             m_module->GetModuleNumber(), m_forwardChannel);
+}
+
+DoubleSolenoid::DoubleSolenoid(int busId, PneumaticsModuleType moduleType,
+                               int forwardChannel, int reverseChannel)
+    : DoubleSolenoid{busId, PneumaticsBase::GetDefaultForType(moduleType),
+                     moduleType, forwardChannel, reverseChannel} {}
+
+DoubleSolenoid::~DoubleSolenoid() {
+  if (m_module) {
+    m_module->UnreserveSolenoids(m_mask);
+  }
+}
+
+void DoubleSolenoid::Set(Value value) {
+  int setValue = 0;
+
+  switch (value) {
+    case kOff:
+      setValue = 0;
+      break;
+    case kForward:
+      setValue = m_forwardMask;
+      break;
+    case kReverse:
+      setValue = m_reverseMask;
+      break;
+  }
+
+  m_module->SetSolenoids(m_mask, setValue);
+}
+
+DoubleSolenoid::Value DoubleSolenoid::Get() const {
+  auto values = m_module->GetSolenoids();
+
+  if ((values & m_forwardMask) != 0) {
+    return Value::kForward;
+  } else if ((values & m_reverseMask) != 0) {
+    return Value::kReverse;
+  } else {
+    return Value::kOff;
+  }
+}
+
+void DoubleSolenoid::Toggle() {
+  Value value = Get();
+
+  if (value == kForward) {
+    Set(kReverse);
+  } else if (value == kReverse) {
+    Set(kForward);
+  }
+}
+
+int DoubleSolenoid::GetFwdChannel() const {
+  return m_forwardChannel;
+}
+
+int DoubleSolenoid::GetRevChannel() const {
+  return m_reverseChannel;
+}
+
+bool DoubleSolenoid::IsFwdSolenoidDisabled() const {
+  return (m_module->GetSolenoidDisabledList() & m_forwardMask) != 0;
+}
+
+bool DoubleSolenoid::IsRevSolenoidDisabled() const {
+  return (m_module->GetSolenoidDisabledList() & m_reverseMask) != 0;
+}
+
+void DoubleSolenoid::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Double Solenoid");
+  builder.SetActuator(true);
+  builder.AddSmallStringProperty(
+      "Value",
+      [=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
+        switch (Get()) {
+          case kForward:
+            return "Forward";
+          case kReverse:
+            return "Reverse";
+          default:
+            return "Off";
+        }
+      },
+      [=, this](std::string_view value) {
+        Value lvalue = kOff;
+        if (value == "Forward") {
+          lvalue = kForward;
+        } else if (value == "Reverse") {
+          lvalue = kReverse;
+        }
+        Set(lvalue);
+      });
+}