Made SensorBase a utility class and renamed it to SensorUtil (#813)

wpilibc/src/main/native/cpp/SensorUtil.cpp

@@ -0,0 +1,115 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "SensorUtil.h"
+
+#include <HAL/AnalogInput.h>
+#include <HAL/AnalogOutput.h>
+#include <HAL/DIO.h>
+#include <HAL/HAL.h>
+#include <HAL/PDP.h>
+#include <HAL/PWM.h>
+#include <HAL/Ports.h>
+#include <HAL/Relay.h>
+#include <HAL/Solenoid.h>
+
+using namespace frc;
+
+const int SensorUtil::kDigitalChannels = HAL_GetNumDigitalChannels();
+const int SensorUtil::kAnalogInputs = HAL_GetNumAnalogInputs();
+const int SensorUtil::kSolenoidChannels = HAL_GetNumSolenoidChannels();
+const int SensorUtil::kSolenoidModules = HAL_GetNumPCMModules();
+const int SensorUtil::kPwmChannels = HAL_GetNumPWMChannels();
+const int SensorUtil::kRelayChannels = HAL_GetNumRelayHeaders();
+const int SensorUtil::kPDPChannels = HAL_GetNumPDPChannels();
+
+/**
+ * Check that the solenoid module number is valid.
+ *
+ * @return Solenoid module is valid and present
+ */
+bool SensorUtil::CheckSolenoidModule(int moduleNumber) {
+  return HAL_CheckSolenoidModule(moduleNumber);
+}
+
+/**
+ * Check that the digital channel number is valid.
+ *
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are 1-based.
+ *
+ * @return Digital channel is valid
+ */
+bool SensorUtil::CheckDigitalChannel(int channel) {
+  return HAL_CheckDIOChannel(channel);
+}
+
+/**
+ * Check that the relay channel number is valid.
+ *
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are 0-based.
+ *
+ * @return Relay channel is valid
+ */
+bool SensorUtil::CheckRelayChannel(int channel) {
+  return HAL_CheckRelayChannel(channel);
+}
+
+/**
+ * Check that the digital channel number is valid.
+ *
+ * Verify that the channel number is one of the legal channel numbers. Channel
+ * numbers are 1-based.
+ *
+ * @return PWM channel is valid
+ */
+bool SensorUtil::CheckPWMChannel(int channel) {
+  return HAL_CheckPWMChannel(channel);
+}
+
+/**
+ * Check that the analog input number is value.
+ *
+ * Verify that the analog input number is one of the legal channel numbers.
+ * Channel numbers are 0-based.
+ *
+ * @return Analog channel is valid
+ */
+bool SensorUtil::CheckAnalogInputChannel(int channel) {
+  return HAL_CheckAnalogInputChannel(channel);
+}
+
+/**
+ * Check that the analog output number is valid.
+ *
+ * Verify that the analog output number is one of the legal channel numbers.
+ * Channel numbers are 0-based.
+ *
+ * @return Analog channel is valid
+ */
+bool SensorUtil::CheckAnalogOutputChannel(int channel) {
+  return HAL_CheckAnalogOutputChannel(channel);
+}
+
+/**
+ * Verify that the solenoid channel number is within limits.
+ *
+ * @return Solenoid channel is valid
+ */
+bool SensorUtil::CheckSolenoidChannel(int channel) {
+  return HAL_CheckSolenoidChannel(channel);
+}
+
+/**
+ * Verify that the power distribution channel number is within limits.
+ *
+ * @return PDP channel is valid
+ */
+bool SensorUtil::CheckPDPChannel(int channel) {
+  return HAL_CheckPDPModule(channel);
+}