artf3622: Each Solenoid creates handles for all other Solenoids as well

Fixed so that one static handle is called for all Solenoids.

Change-Id: Ib5f3bbaa160d253e0533259bfe0e9e2a6f11733f

wpilibc/wpilibC++Devices/include/SolenoidBase.h

@@ -9,6 +9,7 @@
 #include "SensorBase.h"
 #include "HAL/HAL.hpp"
 #include "HAL/cpp/Synchronized.hpp"
+#include "Port.h"
 
 /**
  * SolenoidBase class is the common base class for the Solenoid and
@@ -18,20 +19,19 @@ class SolenoidBase : public SensorBase
 {
 public:
 	virtual ~SolenoidBase();
-	uint8_t GetAll();
-
-	uint8_t GetPCMSolenoidBlackList();
-	bool GetPCMSolenoidVoltageStickyFault();
-	bool GetPCMSolenoidVoltageFault();
-	void ClearAllPCMStickyFaults();
+	uint8_t GetAll(int module = 0);
+	
+	uint8_t GetPCMSolenoidBlackList(int module);
+	bool GetPCMSolenoidVoltageStickyFault(int module);
+	bool GetPCMSolenoidVoltageFault(int module);
+	void ClearAllPCMStickyFaults(int module);
 protected:
 	explicit SolenoidBase(uint8_t pcmID);
-	void Set(uint8_t value, uint8_t mask);
+	void Set(uint8_t value, uint8_t mask, int module);
 	virtual void InitSolenoid() = 0;
-
+	const static int m_maxModules = 63;
+	const static int m_maxPorts = 8;
+	static void* m_ports[m_maxModules][m_maxPorts];
 	uint32_t m_moduleNumber; ///< Slot number where the module is plugged into the chassis.
 	static Resource *m_allocated;
-
-private:
-	void* m_ports[kSolenoidChannels];
 };

wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp

@@ -121,7 +121,7 @@ void DoubleSolenoid::Set(Value value)
 		break;
 	}
 
-	SolenoidBase::Set(rawValue, m_forwardMask | m_reverseMask);
+	SolenoidBase::Set(rawValue, m_forwardMask | m_reverseMask, m_moduleNumber);
 }
 
 /**
@@ -132,7 +132,7 @@ void DoubleSolenoid::Set(Value value)
 DoubleSolenoid::Value DoubleSolenoid::Get()
 {
 	if (StatusIsFatal()) return kOff;
-	uint8_t value = GetAll();
+	uint8_t value = GetAll(m_moduleNumber);
 
 	if (value & m_forwardMask) return kForward;
 	if (value & m_reverseMask) return kReverse;
@@ -148,7 +148,7 @@ DoubleSolenoid::Value DoubleSolenoid::Get()
  */
 bool DoubleSolenoid::IsFwdSolenoidBlackListed()
 {
-	int blackList = GetPCMSolenoidBlackList();
+	int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
 	return (blackList & m_forwardMask) ? 1 : 0;
 }
 /**
@@ -161,7 +161,7 @@ bool DoubleSolenoid::IsFwdSolenoidBlackListed()
  */
 bool DoubleSolenoid::IsRevSolenoidBlackListed()
 {
-	int blackList = GetPCMSolenoidBlackList();
+	int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
 	return (blackList & m_reverseMask) ? 1 : 0;
 }
 

wpilibc/wpilibC++Devices/src/Solenoid.cpp

@@ -88,7 +88,7 @@ void Solenoid::Set(bool on)
 	uint8_t value = on ? 0xFF : 0x00;
 	uint8_t mask = 1 << m_channel;
 
-	SolenoidBase::Set(value, mask);
+	SolenoidBase::Set(value, mask, m_moduleNumber);
 }
 
 /**
@@ -99,7 +99,7 @@ void Solenoid::Set(bool on)
 bool Solenoid::Get()
 {
 	if (StatusIsFatal()) return false;
-	uint8_t value = GetAll() & ( 1 << m_channel);
+	uint8_t value = GetAll(m_moduleNumber) & ( 1 << m_channel);
 	return (value != 0);
 }
 /**
@@ -112,7 +112,7 @@ bool Solenoid::Get()
  */
 bool Solenoid::IsBlackListed()
 {
-	int value = GetPCMSolenoidBlackList() & ( 1 << m_channel);
+	int value = GetPCMSolenoidBlackList(m_moduleNumber) & ( 1 << m_channel);
 	return (value != 0);
 }
 

wpilibc/wpilibC++Devices/src/SolenoidBase.cpp

@@ -9,6 +9,7 @@
 // Needs to be global since the protected resource spans all Solenoid objects.
 Resource *SolenoidBase::m_allocated = NULL;
 
+void* SolenoidBase::m_ports[m_maxModules][m_maxPorts];
 /**
  * Constructor
  * 
@@ -17,12 +18,12 @@ Resource *SolenoidBase::m_allocated = NULL;
 SolenoidBase::SolenoidBase(uint8_t moduleNumber)
 	: m_moduleNumber (moduleNumber)
 {
-  	for (uint32_t i = 0; i < kSolenoidChannels; i++)
+	for (uint32_t i = 0; i < kSolenoidChannels; i++)
 	{
-	  void* port = getPortWithModule(moduleNumber, i);
-	  int32_t status = 0;
-	  m_ports[i] = initializeSolenoidPort(port, &status);
-	  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+		void* port = getPortWithModule(moduleNumber, i);
+		int32_t status = 0;
+		SolenoidBase::m_ports[moduleNumber][i] = initializeSolenoidPort(port, &status);
+		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
 }
 
@@ -39,13 +40,13 @@ SolenoidBase::~SolenoidBase()
  * @param value The value you want to set on the module.
  * @param mask The channels you want to be affected.
  */
-void SolenoidBase::Set(uint8_t value, uint8_t mask)
+void SolenoidBase::Set(uint8_t value, uint8_t mask, int module)
 {
   	int32_t status = 0;
-	for (int i = 0; i < 8; i++) { // XXX: Unhardcode
+	for (int i = 0; i < m_maxPorts; i++) { 
 	  uint8_t local_mask = 1 << i;
 	  if (mask & local_mask)
-		setSolenoid(m_ports[i], value & local_mask, &status);
+		setSolenoid(m_ports[module][i], value & local_mask, &status);
 	}
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
@@ -55,12 +56,12 @@ void SolenoidBase::Set(uint8_t value, uint8_t mask)
  * 
  * @return The current value of all 8 solenoids on the module.
  */
-uint8_t SolenoidBase::GetAll()
+uint8_t SolenoidBase::GetAll(int module)
 {
   	uint8_t value = 0;
   	int32_t status = 0;
-	for (int i = 0; i < 8; i++) { // XXX: Unhardcode
-	  value |= getSolenoid(m_ports[i], &status) << i;
+	for (int i = 0; i < m_maxPorts; i++) {
+		value |= getSolenoid(m_ports[module][i], &status) << i;
 	}
 	return value;
 }
@@ -73,30 +74,30 @@ uint8_t SolenoidBase::GetAll()
  * 
  * @return The solenoid blacklist of all 8 solenoids on the module.
  */
-uint8_t SolenoidBase::GetPCMSolenoidBlackList()
+uint8_t SolenoidBase::GetPCMSolenoidBlackList(int module)
 {
 	int32_t status = 0;
-	return getPCMSolenoidBlackList(m_ports[0], &status);
+	return getPCMSolenoidBlackList(m_ports[module][0], &status);
 }
 /**
  * @return true if PCM sticky fault is set : The common 
  *			highside solenoid voltage rail is too low,
  *	 		most likely a solenoid channel is shorted.
  */
-bool SolenoidBase::GetPCMSolenoidVoltageStickyFault()
+bool SolenoidBase::GetPCMSolenoidVoltageStickyFault(int module)
 {
 	int32_t status = 0;
-	return getPCMSolenoidVoltageStickyFault(m_ports[0], &status);
+	return getPCMSolenoidVoltageStickyFault(m_ports[module][0], &status);
 }
 /**
  * @return true if PCM is in fault state : The common 
  *			highside solenoid voltage rail is too low,
  *	 		most likely a solenoid channel is shorted.
  */
-bool SolenoidBase::GetPCMSolenoidVoltageFault()
+bool SolenoidBase::GetPCMSolenoidVoltageFault(int module)
 {
 	int32_t status = 0;
-	return getPCMSolenoidVoltageFault(m_ports[0], &status);
+	return getPCMSolenoidVoltageFault(m_ports[module][0], &status);
 }
 /**
  * Clear ALL sticky faults inside PCM that Compressor is wired to.
@@ -108,8 +109,8 @@ bool SolenoidBase::GetPCMSolenoidVoltageFault()
  *
  * If no sticky faults are set then this call will have no effect.
  */
-void SolenoidBase::ClearAllPCMStickyFaults()
+void SolenoidBase::ClearAllPCMStickyFaults(int module)
 {
 	int32_t status = 0;
-	return clearAllPCMStickyFaults_sol(m_ports[0], &status);
+	return clearAllPCMStickyFaults_sol(m_ports[module][0], &status);
 }