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[wpilib] Make solenoids exclusive use, PCM act like old sendable compressor (#3464)

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This commit is contained in:
Thad House
2021-07-09 15:11:12 -07:00
committed by GitHub
parent 6ddef1cca6
commit c154e5262e
9 changed files with 166 additions and 8 deletions
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18
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
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@@ -49,6 +49,20 @@ DoubleSolenoid::DoubleSolenoid(std::shared_ptr<PneumaticsBase> module,
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);
}
}
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel + 1,
m_module->GetModuleNumber() + 1);
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
@@ -58,7 +72,9 @@ DoubleSolenoid::DoubleSolenoid(std::shared_ptr<PneumaticsBase> module,
m_module->GetModuleNumber(), m_forwardChannel);
}
DoubleSolenoid::~DoubleSolenoid() {}
DoubleSolenoid::~DoubleSolenoid() {
m_module->UnreserveSolenoids(m_mask);
}
void DoubleSolenoid::Set(Value value) {
int setValue = 0;