Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Move Analog Outputs to Handles (#112)

Browse Source
This commit is contained in:
Thad House
2016-06-27 11:32:40 -07:00
committed by Peter Johnson
parent 95d40ed01f
commit e1d4845ccd
8 changed files with 85 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
wpilibc/athena/src/AnalogOutput.cpp
View File

@@ -8,14 +8,11 @@
#include "AnalogOutput.h"
#include "HAL/HAL.h"
#include "LiveWindow/LiveWindow.h"
#include "Resource.h"
#include "WPIErrors.h"
#include <limits>
#include <sstream>
static std::unique_ptr<Resource> outputs;
/**
* Construct an analog output on the given channel.
*
@@ -24,23 +21,13 @@ static std::unique_ptr<Resource> outputs;
* @param channel The channel number on the roboRIO to represent.
*/
AnalogOutput::AnalogOutput(uint32_t channel) {
Resource::CreateResourceObject(outputs, kAnalogOutputs);
std::stringstream buf;
buf << "analog input " << channel;
if (!checkAnalogOutputChannel(channel)) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
m_channel = std::numeric_limits<uint32_t>::max();
m_port = nullptr;
return;
}
if (outputs->Allocate(channel, buf.str()) ==
std::numeric_limits<uint32_t>::max()) {
CloneError(*outputs);
m_channel = std::numeric_limits<uint32_t>::max();
m_port = nullptr;
m_port = HAL_INVALID_HANDLE;
return;
}
@@ -49,8 +36,13 @@ AnalogOutput::AnalogOutput(uint32_t channel) {
HalPortHandle port = getPort(m_channel);
int32_t status = 0;
m_port = initializeAnalogOutputPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
freePort(port);
if (status != 0) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_channel = std::numeric_limits<uint32_t>::max();
m_port = HAL_INVALID_HANDLE;
return;
}
LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
HALReport(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
@@ -61,10 +53,7 @@ AnalogOutput::AnalogOutput(uint32_t channel) {
*
* Frees analog output resource.
*/
AnalogOutput::~AnalogOutput() {
freeAnalogOutputPort(m_port);
outputs->Free(m_channel);
}
AnalogOutput::~AnalogOutput() { freeAnalogOutputPort(m_port); }
/**
* Set the value of the analog output.