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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
321
wpilibc/src/main/native/cpp/Relay.cpp
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321
wpilibc/src/main/native/cpp/Relay.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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 "HAL/Relay.h"
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#include "Relay.h"
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#include "HAL/HAL.h"
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#include "HAL/Ports.h"
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#include "LiveWindow/LiveWindow.h"
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#include "MotorSafetyHelper.h"
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#include "WPIErrors.h"
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#include "llvm/SmallString.h"
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using namespace frc;
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/**
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* Relay constructor given a channel.
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*
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* This code initializes the relay and reserves all resources that need to be
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* locked. Initially the relay is set to both lines at 0v.
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*
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* @param channel The channel number (0-3).
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* @param direction The direction that the Relay object will control.
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*/
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Relay::Relay(int channel, Relay::Direction direction)
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: m_channel(channel), m_direction(direction) {
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llvm::SmallString<128> str;
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llvm::raw_svector_ostream buf(str);
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if (!SensorBase::CheckRelayChannel(m_channel)) {
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buf << "Relay Channel " << m_channel;
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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return;
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}
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HAL_PortHandle portHandle = HAL_GetPort(channel);
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if (m_direction == kBothDirections || m_direction == kForwardOnly) {
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int32_t status = 0;
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m_forwardHandle = HAL_InitializeRelayPort(portHandle, true, &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(),
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channel, HAL_GetErrorMessage(status));
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m_forwardHandle = HAL_kInvalidHandle;
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m_reverseHandle = HAL_kInvalidHandle;
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_Relay, m_channel);
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly) {
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int32_t status = 0;
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m_reverseHandle = HAL_InitializeRelayPort(portHandle, false, &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(),
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channel, HAL_GetErrorMessage(status));
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m_forwardHandle = HAL_kInvalidHandle;
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m_reverseHandle = HAL_kInvalidHandle;
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_Relay, m_channel + 128);
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}
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int32_t status = 0;
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if (m_forwardHandle != HAL_kInvalidHandle) {
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HAL_SetRelay(m_forwardHandle, false, &status);
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if (status != 0) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_forwardHandle = HAL_kInvalidHandle;
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m_reverseHandle = HAL_kInvalidHandle;
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return;
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}
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}
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if (m_reverseHandle != HAL_kInvalidHandle) {
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HAL_SetRelay(m_reverseHandle, false, &status);
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if (status != 0) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_forwardHandle = HAL_kInvalidHandle;
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m_reverseHandle = HAL_kInvalidHandle;
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return;
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}
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}
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m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
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m_safetyHelper->SetSafetyEnabled(false);
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LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
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}
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/**
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* Free the resource associated with a relay.
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*
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* The relay channels are set to free and the relay output is turned off.
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*/
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Relay::~Relay() {
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int32_t status = 0;
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HAL_SetRelay(m_forwardHandle, false, &status);
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HAL_SetRelay(m_reverseHandle, false, &status);
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// ignore errors, as we want to make sure a free happens.
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if (m_forwardHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_forwardHandle);
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if (m_reverseHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_reverseHandle);
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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}
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/**
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* Set the relay state.
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*
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* Valid values depend on which directions of the relay are controlled by the
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* object.
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*
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* When set to kBothDirections, the relay can be any of the four states:
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* 0v-0v, 0v-12v, 12v-0v, 12v-12v
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*
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* When set to kForwardOnly or kReverseOnly, you can specify the constant for
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* the direction or you can simply specify kOff and kOn. Using only kOff and
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* kOn is recommended.
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*
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* @param value The state to set the relay.
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*/
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void Relay::Set(Relay::Value value) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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switch (value) {
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case kOff:
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if (m_direction == kBothDirections || m_direction == kForwardOnly) {
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HAL_SetRelay(m_forwardHandle, false, &status);
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly) {
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HAL_SetRelay(m_reverseHandle, false, &status);
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}
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break;
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case kOn:
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if (m_direction == kBothDirections || m_direction == kForwardOnly) {
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HAL_SetRelay(m_forwardHandle, true, &status);
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly) {
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HAL_SetRelay(m_reverseHandle, true, &status);
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}
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break;
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case kForward:
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if (m_direction == kReverseOnly) {
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wpi_setWPIError(IncompatibleMode);
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break;
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}
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if (m_direction == kBothDirections || m_direction == kForwardOnly) {
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HAL_SetRelay(m_forwardHandle, true, &status);
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}
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if (m_direction == kBothDirections) {
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HAL_SetRelay(m_reverseHandle, false, &status);
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}
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break;
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case kReverse:
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if (m_direction == kForwardOnly) {
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wpi_setWPIError(IncompatibleMode);
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break;
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}
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if (m_direction == kBothDirections) {
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HAL_SetRelay(m_forwardHandle, false, &status);
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly) {
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HAL_SetRelay(m_reverseHandle, true, &status);
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}
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break;
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}
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the Relay State
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*
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* Gets the current state of the relay.
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*
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* When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
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* kForward/kReverse (per the recommendation in Set)
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*
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* @return The current state of the relay as a Relay::Value
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*/
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Relay::Value Relay::Get() const {
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int32_t status;
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if (m_direction == kForwardOnly) {
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if (HAL_GetRelay(m_forwardHandle, &status)) {
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return kOn;
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} else {
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return kOff;
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}
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} else if (m_direction == kReverseOnly) {
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if (HAL_GetRelay(m_reverseHandle, &status)) {
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return kOn;
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} else {
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return kOff;
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}
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} else {
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if (HAL_GetRelay(m_forwardHandle, &status)) {
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if (HAL_GetRelay(m_reverseHandle, &status)) {
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return kOn;
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} else {
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return kForward;
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}
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} else {
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if (HAL_GetRelay(m_reverseHandle, &status)) {
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return kReverse;
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} else {
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return kOff;
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}
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}
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}
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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int Relay::GetChannel() const { return m_channel; }
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/**
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* Set the expiration time for the Relay object
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* @param timeout The timeout (in seconds) for this relay object
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*/
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void Relay::SetExpiration(double timeout) {
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m_safetyHelper->SetExpiration(timeout);
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}
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/**
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* Return the expiration time for the relay object.
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* @return The expiration time value.
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*/
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double Relay::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
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/**
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* Check if the relay object is currently alive or stopped due to a timeout.
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*
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* @return a bool value that is true if the motor has NOT timed out and should
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* still be running.
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*/
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bool Relay::IsAlive() const { return m_safetyHelper->IsAlive(); }
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/**
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* Stop the motor associated with this PWM object.
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*
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* This is called by the MotorSafetyHelper object when it has a timeout for this
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* relay and needs to stop it from running.
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*/
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void Relay::StopMotor() { Set(kOff); }
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/**
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* Enable/disable motor safety for this device.
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*
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* Turn on and off the motor safety option for this relay object.
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*
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* @param enabled True if motor safety is enforced for this object
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*/
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void Relay::SetSafetyEnabled(bool enabled) {
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m_safetyHelper->SetSafetyEnabled(enabled);
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}
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/**
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* Check if motor safety is enabled for this object.
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*
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* @returns True if motor safety is enforced for this object
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*/
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bool Relay::IsSafetyEnabled() const {
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return m_safetyHelper->IsSafetyEnabled();
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}
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void Relay::GetDescription(llvm::raw_ostream& desc) const {
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desc << "Relay " << GetChannel();
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}
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void Relay::ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) {
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if (!value->IsString()) return;
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if (value->GetString() == "Off")
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Set(kOff);
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else if (value->GetString() == "Forward")
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Set(kForward);
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else if (value->GetString() == "Reverse")
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Set(kReverse);
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else if (value->GetString() == "On")
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Set(kOn);
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}
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void Relay::UpdateTable() {
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if (m_table != nullptr) {
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if (Get() == kOn) {
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m_table->PutString("Value", "On");
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} else if (Get() == kForward) {
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m_table->PutString("Value", "Forward");
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} else if (Get() == kReverse) {
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m_table->PutString("Value", "Reverse");
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} else {
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m_table->PutString("Value", "Off");
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}
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}
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}
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void Relay::StartLiveWindowMode() {
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if (m_table != nullptr) {
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m_table->AddTableListener("Value", this, true);
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}
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}
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void Relay::StopLiveWindowMode() {
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if (m_table != nullptr) {
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m_table->RemoveTableListener(this);
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}
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}
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std::string Relay::GetSmartDashboardType() const { return "Relay"; }
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void Relay::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> Relay::GetTable() const { return m_table; }
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