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https://github.com/wpilibsuite/allwpilib
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Add format script which invokes clang-format on the C++ source code (#41)
On Windows machines, clang-format.exe must be in the PATH environment variable.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
68690643d2
commit
e14e45da76
@@ -9,118 +9,108 @@
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#include "MotorSafetyHelper.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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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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* @param channel The channel number (0-3).
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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(uint32_t channel, Relay::Direction direction)
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: m_channel (channel)
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, m_direction (direction)
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{
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char buf[64];
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if (!SensorBase::CheckRelayChannel(m_channel))
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{
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snprintf(buf, 64, "Relay Channel %d", m_channel);
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
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return;
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}
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: m_channel(channel), m_direction(direction) {
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char buf[64];
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if (!SensorBase::CheckRelayChannel(m_channel)) {
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snprintf(buf, 64, "Relay Channel %d", m_channel);
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
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return;
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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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m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
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m_safetyHelper->SetSafetyEnabled(false);
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sprintf(buf, "relay/%d", m_channel);
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impl = new SimContinuousOutput(buf); // TODO: Allow two different relays (targetting the different halves of a relay) to be combined to control one motor.
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LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
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go_pos = go_neg = false;
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sprintf(buf, "relay/%d", m_channel);
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impl = new SimContinuousOutput(buf); // TODO: Allow two different relays
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// (targetting the different halves of a
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// relay) to be combined to control one
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// motor.
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LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
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go_pos = go_neg = false;
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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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{
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impl->Set(0);
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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Relay::~Relay() {
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impl->Set(0);
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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 object.
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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 the
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* direction or you can simply specify kOff and kOn. Using only kOff and kOn is
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* recommended.
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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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{
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switch (value)
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{
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case kOff:
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if (m_direction == kBothDirections || m_direction == kForwardOnly)
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{
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go_pos = false;
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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go_neg = false;
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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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{
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go_pos = true;
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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go_neg = true;
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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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{
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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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{
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go_pos = true;
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}
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if (m_direction == kBothDirections)
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{
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go_neg = false;
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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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{
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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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{
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go_pos = false;
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly)
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{
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go_neg = true;
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}
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break;
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}
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impl->Set((go_pos ? 1 : 0) + (go_neg ? -1 : 0));
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void Relay::Set(Relay::Value value) {
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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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go_pos = false;
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly) {
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go_neg = false;
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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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go_pos = true;
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly) {
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go_neg = true;
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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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go_pos = true;
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}
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if (m_direction == kBothDirections) {
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go_neg = false;
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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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go_pos = false;
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}
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if (m_direction == kBothDirections || m_direction == kReverseOnly) {
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go_neg = true;
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}
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break;
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}
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impl->Set((go_pos ? 1 : 0) + (go_neg ? -1 : 0));
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}
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/**
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@@ -129,29 +119,29 @@ void Relay::Set(Relay::Value value)
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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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* 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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// TODO: Don't assume that the go_pos and go_neg fields are correct?
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if ((go_pos || m_direction == kReverseOnly) && (go_neg || m_direction == kForwardOnly)) {
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return kOn;
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} else if (go_pos) {
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return kForward;
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} else if (go_neg) {
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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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// TODO: Don't assume that the go_pos and go_neg fields are correct?
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if ((go_pos || m_direction == kReverseOnly) &&
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(go_neg || m_direction == kForwardOnly)) {
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return kOn;
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} else if (go_pos) {
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return kForward;
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} else if (go_neg) {
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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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uint32_t Relay::GetChannel() const {
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return m_channel;
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}
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uint32_t 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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* Set the expiration time for the Relay object.
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*
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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(float timeout) {
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@@ -160,19 +150,22 @@ void Relay::SetExpiration(float timeout) {
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/**
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* Return the expiration time for the relay object.
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*
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* @return The expiration time value.
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*/
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float 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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* @returns 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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* @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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@@ -180,7 +173,9 @@ 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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@@ -188,8 +183,9 @@ void Relay::SetSafetyEnabled(bool 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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* @returns True if motor safety is enforced for this object
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* Check if motor safety is enabled for this object.
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*
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* @return 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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@@ -202,49 +198,45 @@ void Relay::GetDescription(std::ostringstream& desc) const {
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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") Set(kOff);
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else if (value->GetString() == "Forward") Set(kForward);
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else if (value->GetString() == "Reverse") Set(kReverse);
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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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}
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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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}
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else if (Get() == kForward) {
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m_table->PutString("Value", "Forward");
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}
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else if (Get() == kReverse) {
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m_table->PutString("Value", "Reverse");
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}
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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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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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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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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 {
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return "Relay";
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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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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> Relay::GetTable() const {
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return m_table;
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}
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std::shared_ptr<ITable> Relay::GetTable() const { return m_table; }
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