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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
328
wpilibc/src/main/native/cpp/Compressor.cpp
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328
wpilibc/src/main/native/cpp/Compressor.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Compressor.h"
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#include "HAL/Compressor.h"
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#include "HAL/HAL.h"
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#include "HAL/Ports.h"
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#include "HAL/Solenoid.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Constructor.
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*
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* @param module The PCM ID to use (0-62)
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*/
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Compressor::Compressor(int pcmID) : m_module(pcmID) {
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int32_t status = 0;
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m_compressorHandle = HAL_InitializeCompressor(m_module, &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumPCMModules(), pcmID,
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HAL_GetErrorMessage(status));
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return;
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}
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SetClosedLoopControl(true);
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}
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/**
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* Starts closed-loop control. Note that closed loop control is enabled by
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* default.
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*/
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void Compressor::Start() {
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if (StatusIsFatal()) return;
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SetClosedLoopControl(true);
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}
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/**
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* Stops closed-loop control. Note that closed loop control is enabled by
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* default.
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*/
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void Compressor::Stop() {
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if (StatusIsFatal()) return;
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SetClosedLoopControl(false);
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}
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/**
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* Check if compressor output is active.
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*
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* @return true if the compressor is on
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*/
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bool Compressor::Enabled() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value;
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value = HAL_GetCompressor(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Check if the pressure switch is triggered.
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*
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* @return true if pressure is low
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*/
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bool Compressor::GetPressureSwitchValue() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value;
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value = HAL_GetCompressorPressureSwitch(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Query how much current the compressor is drawing.
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*
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* @return The current through the compressor, in amps
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*/
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double Compressor::GetCompressorCurrent() const {
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if (StatusIsFatal()) return 0;
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int32_t status = 0;
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double value;
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value = HAL_GetCompressorCurrent(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Enables or disables automatically turning the compressor on when the
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* pressure is low.
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*
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* @param on Set to true to enable closed loop control of the compressor. False
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* to disable.
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*/
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void Compressor::SetClosedLoopControl(bool on) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetCompressorClosedLoopControl(m_compressorHandle, on, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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}
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/**
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* Returns true if the compressor will automatically turn on when the
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* pressure is low.
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*
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* @return True if closed loop control of the compressor is enabled. False if
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* disabled.
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*/
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bool Compressor::GetClosedLoopControl() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value;
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value = HAL_GetCompressorClosedLoopControl(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Query if the compressor output has been disabled due to high current draw.
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*
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* @return true if PCM is in fault state : Compressor Drive is
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* disabled due to compressor current being too high.
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*/
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bool Compressor::GetCompressorCurrentTooHighFault() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value;
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value = HAL_GetCompressorCurrentTooHighFault(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Query if the compressor output has been disabled due to high current draw
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* (sticky).
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*
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* A sticky fault will not clear on device reboot, it must be cleared through
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* code or the webdash.
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*
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* @return true if PCM sticky fault is set : Compressor Drive is
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* disabled due to compressor current being too high.
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*/
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bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value;
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value =
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HAL_GetCompressorCurrentTooHighStickyFault(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Query if the compressor output has been disabled due to a short circuit
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* (sticky).
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*
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* A sticky fault will not clear on device reboot, it must be cleared through
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* code or the webdash.
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*
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* @return true if PCM sticky fault is set : Compressor output
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* appears to be shorted.
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*/
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bool Compressor::GetCompressorShortedStickyFault() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value;
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value = HAL_GetCompressorShortedStickyFault(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Query if the compressor output has been disabled due to a short circuit.
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*
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* @return true if PCM is in fault state : Compressor output
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* appears to be shorted.
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*/
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bool Compressor::GetCompressorShortedFault() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value;
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value = HAL_GetCompressorShortedFault(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Query if the compressor output does not appear to be wired (sticky).
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*
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* A sticky fault will not clear on device reboot, it must be cleared through
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* code or the webdash.
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*
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* @return true if PCM sticky fault is set : Compressor does not
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* appear to be wired, i.e. compressor is not drawing enough current.
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*/
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bool Compressor::GetCompressorNotConnectedStickyFault() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value;
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value = HAL_GetCompressorNotConnectedStickyFault(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Query if the compressor output does not appear to be wired.
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*
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* @return true if PCM is in fault state : Compressor does not
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* appear to be wired, i.e. compressor is not drawing enough current.
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*/
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bool Compressor::GetCompressorNotConnectedFault() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value;
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value = HAL_GetCompressorNotConnectedFault(m_compressorHandle, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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return value;
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}
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* If a sticky fault is set, then it will be persistently cleared. Compressor
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* drive maybe momentarily disable while flags are being cleared. Care should
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* be taken to not call this too frequently, otherwise normal compressor
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* functionality may be prevented.
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*
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* If no sticky faults are set then this call will have no effect.
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*/
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void Compressor::ClearAllPCMStickyFaults() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_ClearAllPCMStickyFaults(m_module, &status);
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if (status) {
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wpi_setWPIError(Timeout);
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}
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}
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void Compressor::UpdateTable() {
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if (m_table) {
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m_table->PutBoolean("Enabled", Enabled());
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m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
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}
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}
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void Compressor::StartLiveWindowMode() {}
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void Compressor::StopLiveWindowMode() {}
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std::string Compressor::GetSmartDashboardType() const { return "Compressor"; }
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void Compressor::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> Compressor::GetTable() const { return m_table; }
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void Compressor::ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) {
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if (!value->IsBoolean()) return;
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if (value->GetBoolean())
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Start();
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else
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Stop();
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}
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