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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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29
wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
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@@ -6,6 +6,8 @@
#include <hal/CTREPCM.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
@@ -21,6 +23,7 @@ PneumaticsControlModule::PneumaticsControlModule(int module) {
m_handle = HAL_InitializeCTREPCM(module, stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "Module {}", module);
m_module = module;
wpi::SendableRegistry::AddLW(this, "Compressor", module);
}
PneumaticsControlModule::~PneumaticsControlModule() {
@@ -160,3 +163,29 @@ void PneumaticsControlModule::SetOneShotDuration(int index,
bool PneumaticsControlModule::CheckSolenoidChannel(int channel) const {
return HAL_CheckCTREPCMSolenoidChannel(channel);
}
int PneumaticsControlModule::CheckAndReserveSolenoids(int mask) {
std::scoped_lock lock{m_reservedLock};
uint32_t uMask = static_cast<uint32_t>(mask);
if ((m_reservedMask & uMask) != 0) {
return m_reservedMask & uMask;
}
m_reservedMask |= uMask;
return 0;
}
void PneumaticsControlModule::UnreserveSolenoids(int mask) {
std::scoped_lock lock{m_reservedLock};
m_reservedMask &= ~(static_cast<uint32_t>(mask));
}
void PneumaticsControlModule::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Compressor");
builder.AddBooleanProperty(
"Closed Loop Control", [=]() { return GetClosedLoopControl(); },
[=](bool value) { SetClosedLoopControl(value); });
builder.AddBooleanProperty(
"Enabled", [=] { return GetCompressor(); }, nullptr);
builder.AddBooleanProperty(
"Pressure switch", [=]() { return GetPressureSwitch(); }, nullptr);
}