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wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsControlModule.hpp

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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.
+
+#pragma once
+
+#include <memory>
+
+#include <hal/Types.h>
+#include <wpi/DenseMap.h>
+#include <wpi/mutex.h>
+
+#include "PneumaticsBase.h"
+
+namespace frc {
+/** Module class for controlling a Cross The Road Electronics Pneumatics Control
+ * Module. */
+class PneumaticsControlModule : public PneumaticsBase {
+ public:
+  /**
+   * Constructs a PneumaticsControlModule with the default ID (0).
+   *
+   * @param busId The bus ID.
+   */
+  explicit PneumaticsControlModule(int busId);
+
+  /**
+   * Constructs a PneumaticsControlModule.
+   *
+   * @param busId The bus ID.
+   * @param module module number to construct
+   */
+  PneumaticsControlModule(int busId, int module);
+
+  ~PneumaticsControlModule() override = default;
+
+  bool GetCompressor() const override;
+
+  /**
+   * Disables the compressor. The compressor will not turn on until
+   * EnableCompressorDigital() is called.
+   */
+  void DisableCompressor() override;
+
+  void EnableCompressorDigital() override;
+
+  /**
+   * Enables the compressor in digital mode. Analog mode is unsupported by the
+   * CTRE PCM.
+   *
+   * @param minPressure Unsupported.
+   * @param maxPressure Unsupported.
+   * @see EnableCompressorDigital()
+   */
+  void EnableCompressorAnalog(
+      units::pounds_per_square_inch_t minPressure,
+      units::pounds_per_square_inch_t maxPressure) override;
+
+  /**
+   * Enables the compressor in digital mode. Hybrid mode is unsupported by the
+   * CTRE PCM.
+   *
+   * @param minPressure Unsupported.
+   * @param maxPressure Unsupported.
+   * @see EnableCompressorDigital()
+   */
+  void EnableCompressorHybrid(
+      units::pounds_per_square_inch_t minPressure,
+      units::pounds_per_square_inch_t maxPressure) override;
+
+  CompressorConfigType GetCompressorConfigType() const override;
+
+  bool GetPressureSwitch() const override;
+
+  units::ampere_t GetCompressorCurrent() const override;
+
+  /**
+   * Return whether the compressor current is currently too high.
+   *
+   * @return True if the compressor current is too high, otherwise false.
+   * @see GetCompressorCurrentTooHighStickyFault()
+   */
+  bool GetCompressorCurrentTooHighFault() const;
+
+  /**
+   * Returns whether the compressor current has been too high since sticky
+   * faults were last cleared. This fault is persistent and can be cleared by
+   * ClearAllStickyFaults()
+   *
+   * @return True if the compressor current has been too high since sticky
+   * faults were last cleared.
+   * @see GetCompressorCurrentTooHighFault()
+   */
+  bool GetCompressorCurrentTooHighStickyFault() const;
+
+  /**
+   * Returns whether the compressor is currently shorted.
+   *
+   * @return True if the compressor is currently shorted, otherwise false.
+   * @see GetCompressorShortedStickyFault()
+   */
+  bool GetCompressorShortedFault() const;
+
+  /**
+   * Returns whether the compressor has been shorted since sticky faults were
+   * last cleared. This fault is persistent and can be cleared by
+   * ClearAllStickyFaults()
+   *
+   * @return True if the compressor has been shorted since sticky faults were
+   * last cleared, otherwise false.
+   * @see GetCompressorShortedFault()
+   */
+  bool GetCompressorShortedStickyFault() const;
+
+  /**
+   * Returns whether the compressor is currently disconnected.
+   *
+   * @return True if compressor is currently disconnected, otherwise false.
+   * @see GetCompressorNotConnectedStickyFault()
+   */
+  bool GetCompressorNotConnectedFault() const;
+
+  /**
+   * Returns whether the compressor has been disconnected since sticky faults
+   * were last cleared. This fault is persistent and can be cleared by
+   * ClearAllStickyFaults()
+   *
+   * @return True if the compressor has been disconnected since sticky faults
+   * were last cleared, otherwise false.
+   * @see GetCompressorNotConnectedFault()
+   */
+  bool GetCompressorNotConnectedStickyFault() const;
+
+  /**
+   * Returns whether the solenoid is currently reporting a voltage fault.
+   *
+   * @return True if solenoid is reporting a fault, otherwise false.
+   * @see GetSolenoidVoltageStickyFault()
+   */
+  bool GetSolenoidVoltageFault() const;
+
+  /**
+   * Returns whether the solenoid has reported a voltage fault since sticky
+   * faults were last cleared. This fault is persistent and can be cleared by
+   * ClearAllStickyFaults()
+   *
+   * @return True if solenoid is reporting a fault, otherwise false.
+   * @see GetSolenoidVoltageFault()
+   */
+  bool GetSolenoidVoltageStickyFault() const;
+
+  /** Clears all sticky faults on this device. */
+  void ClearAllStickyFaults();
+
+  void SetSolenoids(int mask, int values) override;
+
+  int GetSolenoids() const override;
+
+  int GetModuleNumber() const override;
+
+  int GetSolenoidDisabledList() const override;
+
+  void FireOneShot(int index) override;
+
+  void SetOneShotDuration(int index, units::second_t duration) override;
+
+  bool CheckSolenoidChannel(int channel) const override;
+
+  int CheckAndReserveSolenoids(int mask) override;
+
+  void UnreserveSolenoids(int mask) override;
+
+  bool ReserveCompressor() override;
+
+  void UnreserveCompressor() override;
+
+  /**
+   * Unsupported by the CTRE PCM.
+   *
+   * @param channel Unsupported.
+   * @return 0
+   */
+  units::volt_t GetAnalogVoltage(int channel) const override;
+
+  /**
+   * Unsupported by the CTRE PCM.
+   *
+   * @param channel Unsupported.
+   * @return 0
+   */
+  units::pounds_per_square_inch_t GetPressure(int channel) const override;
+
+  Solenoid MakeSolenoid(int channel) override;
+  DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
+                                    int reverseChannel) override;
+  Compressor MakeCompressor() override;
+
+  void ReportUsage(std::string_view device, std::string_view data) override;
+
+ private:
+  class DataStore;
+  friend class DataStore;
+  friend class PneumaticsBase;
+  PneumaticsControlModule(int busId, HAL_CTREPCMHandle handle, int module);
+
+  static std::shared_ptr<PneumaticsBase> GetForModule(int busId, int module);
+
+  std::shared_ptr<DataStore> m_dataStore;
+  HAL_CTREPCMHandle m_handle;
+  int m_module;
+
+  static wpi::mutex m_handleLock;
+  static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>[]>
+      m_handleMaps;
+  static std::weak_ptr<DataStore>& GetDataStore(int busId, int module);
+};
+}  // namespace frc