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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.
This commit is contained in:
Peter Mitrano
committed by
Peter Johnson
Peter Johnson
parent
54092378e9
commit
e71f454b9d
242
wpilibc/sim/src/Relay.cpp
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242
wpilibc/sim/src/Relay.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "Relay.h"
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#include "MotorSafetyHelper.h"
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//#include "NetworkCommunication/UsageReporting.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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*
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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), 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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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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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
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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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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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* 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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// 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 { return m_channel; }
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/**
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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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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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*
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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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*
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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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* @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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}
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void Relay::GetDescription(std::ostringstream& 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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}
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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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