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Switches AnalogInputs and AnalogTriggers to Handles (#117)

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Results in a breaking change to AnalogTrigger int constructor. If a user wants
multiple AnalogTriggers, they must use the AnalogInput constructor.
This commit is contained in:
Thad House
2016-06-27 21:32:30 -07:00
committed by Peter Johnson
parent 77a1af44c4
commit e8e052712e
18 changed files with 516 additions and 341 deletions
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18
wpilibc/athena/src/AnalogInput.cpp
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@@ -14,8 +14,6 @@
#include <sstream>
static std::unique_ptr<Resource> inputs;
const uint8_t AnalogInput::kAccumulatorModuleNumber;
const uint32_t AnalogInput::kAccumulatorNumChannels;
const uint32_t AnalogInput::kAccumulatorChannels[] = {0, 1};
@@ -29,25 +27,23 @@ const uint32_t AnalogInput::kAccumulatorChannels[] = {0, 1};
AnalogInput::AnalogInput(uint32_t channel) {
std::stringstream buf;
buf << "Analog Input " << channel;
Resource::CreateResourceObject(inputs, kAnalogInputs);
if (!checkAnalogInputChannel(channel)) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
return;
}
if (inputs->Allocate(channel, buf.str()) ==
std::numeric_limits<uint32_t>::max()) {
CloneError(*inputs);
return;
}
m_channel = channel;
HalPortHandle port = getPort(channel);
int32_t status = 0;
m_port = initializeAnalogInputPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
if (status != 0) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_channel = std::numeric_limits<uint32_t>::max();
m_port = HAL_INVALID_HANDLE;
return;
}
LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this);
HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel);
@@ -58,7 +54,7 @@ AnalogInput::AnalogInput(uint32_t channel) {
*/
AnalogInput::~AnalogInput() {
freeAnalogInputPort(m_port);
inputs->Free(m_channel);
m_port = HAL_INVALID_HANDLE;
}
/**