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Switches Solenoids to Handles (#126)

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This commit is contained in:
Thad House
2016-07-02 09:24:54 -07:00
committed by Peter Johnson
parent 62c217cd01
commit 8c4ad62422
15 changed files with 257 additions and 255 deletions
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30
wpilibc/athena/src/Solenoid.cpp
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@@ -39,12 +39,13 @@ Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
return;
}
Resource::CreateResourceObject(m_allocated, m_maxModules * m_maxPorts);
buf << "Solenoid " << m_channel << " (Module: " << m_moduleNumber << ")";
if (m_allocated->Allocate(m_moduleNumber * kSolenoidChannels + m_channel,
buf.str()) ==
std::numeric_limits<uint32_t>::max()) {
CloneError(*m_allocated);
int32_t status = 0;
m_solenoidHandle =
initializeSolenoidPort(getPortWithModule(moduleNumber, channel), &status);
if (status != 0) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_solenoidHandle = HAL_INVALID_HANDLE;
return;
}
@@ -58,9 +59,7 @@ Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
* Destructor.
*/
Solenoid::~Solenoid() {
if (CheckSolenoidModule(m_moduleNumber)) {
m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_channel);
}
freeSolenoidPort(m_solenoidHandle);
if (m_table != nullptr) m_table->RemoveTableListener(this);
}
@@ -71,10 +70,9 @@ Solenoid::~Solenoid() {
*/
void Solenoid::Set(bool on) {
if (StatusIsFatal()) return;
uint8_t value = on ? 0xFF : 0x00;
uint8_t mask = 1 << m_channel;
SolenoidBase::Set(value, mask, m_moduleNumber);
int32_t status = 0;
setSolenoid(m_solenoidHandle, on, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -84,8 +82,10 @@ void Solenoid::Set(bool on) {
*/
bool Solenoid::Get() const {
if (StatusIsFatal()) return false;
uint8_t value = GetAll(m_moduleNumber) & (1 << m_channel);
return (value != 0);
int32_t status = 0;
bool value = getSolenoid(m_solenoidHandle, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}
/**