Implemented FRCSim artf2628, fixed bugs in non-sim Relay.java and sim PWM.cpp.

Change-Id: Ic00fcd5026ce0570c79a65be178e45eeb94b3deb
2026-06-21 01:01:43 +00:00 · 2014-07-17 11:01:14 -07:00
parent 461e359484
commit dc48dc7f7b
6 changed files with 613 additions and 5 deletions
--- a/wpilibc/wpilibC++Sim/src/Relay.cpp
+++ b/wpilibc/wpilibC++Sim/src/Relay.cpp
@@ -0,0 +1,198 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "Relay.h"
+
+//#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Common relay initialization method.
+ * This code is common to all Relay constructors and initializes the relay and reserves
+ * all resources that need to be locked. Initially the relay is set to both lines at 0v.
+ */
+void Relay::InitRelay()
+{
+	m_table = NULL;
+	char buf[64];
+	if (!SensorBase::CheckRelayChannel(m_channel))
+	{
+		snprintf(buf, 64, "Relay Channel %d", m_channel);
+		wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+		return;
+	}
+
+	sprintf(buf, "relay/%d", m_channel);
+	impl = new SimContinuousOutput(buf); // TODO: Allow two different relays (targetting the different halves of a relay) to be combined to control one motor.
+	LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
+	go_pos = go_neg = false;
+}
+
+/**
+ * Relay constructor given a channel.
+ * @param channel The channel number.
+ * @param direction The direction that the Relay object will control.
+ */
+Relay::Relay(uint32_t channel, Relay::Direction direction)
+	: m_channel (channel)
+	, m_direction (direction)
+{
+	InitRelay();
+}
+
+/**
+ * Free the resource associated with a relay.
+ * The relay channels are set to free and the relay output is turned off.
+ */
+Relay::~Relay()
+{
+	impl->Set(0);
+}
+
+/**
+ * Set the relay state.
+ *
+ * Valid values depend on which directions of the relay are controlled by the object.
+ *
+ * When set to kBothDirections, the relay can be any of the four states:
+ *    0v-0v, 0v-12v, 12v-0v, 12v-12v
+ *
+ * When set to kForwardOnly or kReverseOnly, you can specify the constant for the
+ *    direction or you can simply specify kOff and kOn.  Using only kOff and kOn is
+ *    recommended.
+ *
+ * @param value The state to set the relay.
+ */
+void Relay::Set(Relay::Value value)
+{
+	switch (value)
+	{
+	case kOff:
+		if (m_direction == kBothDirections || m_direction == kForwardOnly)
+		{
+			go_pos = false;
+		}
+		if (m_direction == kBothDirections || m_direction == kReverseOnly)
+		{
+			go_neg = false;
+		}
+		break;
+	case kOn:
+		if (m_direction == kBothDirections || m_direction == kForwardOnly)
+		{
+			go_pos = true;
+		}
+		if (m_direction == kBothDirections || m_direction == kReverseOnly)
+		{
+			go_neg = true;
+		}
+		break;
+	case kForward:
+		if (m_direction == kReverseOnly)
+		{
+			wpi_setWPIError(IncompatibleMode);
+			break;
+		}
+		if (m_direction == kBothDirections || m_direction == kForwardOnly)
+		{
+			go_pos = true;
+		}
+		if (m_direction == kBothDirections)
+		{
+			go_neg = false;
+		}
+		break;
+	case kReverse:
+		if (m_direction == kForwardOnly)
+		{
+			wpi_setWPIError(IncompatibleMode);
+			break;
+		}
+		if (m_direction == kBothDirections)
+		{
+			go_pos = false;
+		}
+		if (m_direction == kBothDirections || m_direction == kReverseOnly)
+		{
+			go_neg = true;
+		}
+		break;
+	}
+	impl->Set((go_pos ? 1 : 0) + (go_neg ? -1 : 0));
+}
+
+/**
+ * Get the Relay State
+ *
+ * Gets the current state of the relay.
+ *
+ * When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
+ * kForward/kReverse (per the recommendation in Set)
+ *
+ * @return The current state of the relay as a Relay::Value
+ */
+Relay::Value Relay::Get() {
+	// TODO: Don't assume that the go_pos and go_neg fields are correct?
+	if ((go_pos || m_direction == kReverseOnly) && (go_neg || m_direction == kForwardOnly)) {
+		return kOn;
+	} else if (go_pos) {
+		return kForward;
+	} else if (go_neg) {
+		return kReverse;
+	} else {
+		return kOff;
+	}
+}
+
+void Relay::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
+	std::string *val = (std::string *) value.ptr;
+	if (*val == "Off") Set(kOff);
+	else if (*val == "Forward") Set(kForward);
+	else if (*val == "Reverse") Set(kReverse);
+}
+
+void Relay::UpdateTable() {
+	if(m_table != NULL){
+		if (Get() == kOn) {
+			m_table->PutString("Value", "On");
+		}
+		else if (Get() == kForward) {
+			m_table->PutString("Value", "Forward");
+		}
+		else if (Get() == kReverse) {
+			m_table->PutString("Value", "Reverse");
+		}
+		else {
+			m_table->PutString("Value", "Off");
+		}
+	}
+}
+
+void Relay::StartLiveWindowMode() {
+	if(m_table != NULL){
+		m_table->AddTableListener("Value", this, true);
+	}
+}
+
+void Relay::StopLiveWindowMode() {
+	if(m_table != NULL){
+		m_table->RemoveTableListener(this);
+	}
+}
+
+std::string Relay::GetSmartDashboardType() {
+	return "Relay";
+}
+
+void Relay::InitTable(ITable *subTable) {
+	m_table = subTable;
+	UpdateTable();
+}
+
+ITable * Relay::GetTable() {
+	return m_table;
+}