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[sim] Add initialized flag for all solenoids on a PCM (#2897)

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This allows much easier/faster checking for whether any solenoid has been
initialized on a particular PCM.
This commit is contained in:
Peter Johnson
2020-11-30 19:20:16 -08:00
committed by GitHub
parent bdf5ba91a4
commit f5a6fc0703
4 changed files with 24 additions and 1 deletions
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10
hal/src/main/native/sim/Solenoid.cpp
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@@ -75,6 +75,7 @@ HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
solenoidPort->channel = static_cast<uint8_t>(channel);
HALSIM_SetPCMSolenoidInitialized(module, channel, true);
HALSIM_SetPCMAnySolenoidInitialized(module, true);
return handle;
}
@@ -83,6 +84,15 @@ void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoidPortHandle) {
if (port == nullptr) return;
solenoidHandles->Free(solenoidPortHandle);
HALSIM_SetPCMSolenoidInitialized(port->module, port->channel, false);
int count = 0;
for (int i = 0; i < kNumSolenoidChannels; ++i) {
if (HALSIM_GetPCMSolenoidInitialized(port->module, i)) {
++count;
}
}
if (count == 0) {
HALSIM_SetPCMAnySolenoidInitialized(port->module, false);
}
}
HAL_Bool HAL_CheckSolenoidModule(int32_t module) {
return module < kNumPCMModules && module >= 0;