Renamed folders for consistency, using sim/athena/shared schema (#27)

Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
2026-06-27 02:01:42 +00:00 · 2016-05-22 17:55:51 -04:00
parent 54092378e9
commit e71f454b9d
308 changed files with 14 additions and 14 deletions
--- a/wpilibc/athena/src/Solenoid.cpp
+++ b/wpilibc/athena/src/Solenoid.cpp
@@ -0,0 +1,138 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Solenoid.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+#include <sstream>
+
+/**
+ * Constructor using the default PCM ID (0).
+ *
+ * @param channel The channel on the PCM to control (0..7).
+ */
+Solenoid::Solenoid(uint32_t channel)
+    : Solenoid(GetDefaultSolenoidModule(), channel) {}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The CAN ID of the PCM the solenoid is attached to
+ * @param channel      The channel on the PCM to control (0..7).
+ */
+Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
+    : SolenoidBase(moduleNumber), m_channel(channel) {
+  std::stringstream buf;
+  if (!CheckSolenoidModule(m_moduleNumber)) {
+    buf << "Solenoid Module " << m_moduleNumber;
+    wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
+    return;
+  }
+  if (!CheckSolenoidChannel(m_channel)) {
+    buf << "Solenoid Module " << m_channel;
+    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    return;
+  }
+  Resource::CreateResourceObject(m_allocated, m_maxModules * m_maxPorts);
+  buf << "Solenoid " << m_channel << " (Module: " << m_moduleNumber << ")";
+  if (m_allocated->Allocate(m_moduleNumber * kSolenoidChannels + m_channel,
+                            buf.str()) ==
+      std::numeric_limits<uint32_t>::max()) {
+    CloneError(*m_allocated);
+    return;
+  }
+
+  LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel,
+                                         this);
+  HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel,
+            m_moduleNumber);
+}
+
+/**
+ * Destructor.
+ */
+Solenoid::~Solenoid() {
+  if (CheckSolenoidModule(m_moduleNumber)) {
+    m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_channel);
+  }
+  if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the value of a solenoid.
+ *
+ * @param on Turn the solenoid output off or on.
+ */
+void Solenoid::Set(bool on) {
+  if (StatusIsFatal()) return;
+  uint8_t value = on ? 0xFF : 0x00;
+  uint8_t mask = 1 << m_channel;
+
+  SolenoidBase::Set(value, mask, m_moduleNumber);
+}
+
+/**
+ * Read the current value of the solenoid.
+ *
+ * @return The current value of the solenoid.
+ */
+bool Solenoid::Get() const {
+  if (StatusIsFatal()) return false;
+  uint8_t value = GetAll(m_moduleNumber) & (1 << m_channel);
+  return (value != 0);
+}
+
+/**
+ * Check if solenoid is blacklisted.
+ *
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ *
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool Solenoid::IsBlackListed() const {
+  int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
+  return (value != 0);
+}
+
+void Solenoid::ValueChanged(ITable* source, llvm::StringRef key,
+                            std::shared_ptr<nt::Value> value, bool isNew) {
+  if (!value->IsBoolean()) return;
+  Set(value->GetBoolean());
+}
+
+void Solenoid::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutBoolean("Value", Get());
+  }
+}
+
+void Solenoid::StartLiveWindowMode() {
+  Set(false);
+  if (m_table != nullptr) {
+    m_table->AddTableListener("Value", this, true);
+  }
+}
+
+void Solenoid::StopLiveWindowMode() {
+  Set(false);
+  if (m_table != nullptr) {
+    m_table->RemoveTableListener(this);
+  }
+}
+
+std::string Solenoid::GetSmartDashboardType() const { return "Solenoid"; }
+
+void Solenoid::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> Solenoid::GetTable() const { return m_table; }