mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
94 lines
3.8 KiB
C++
94 lines
3.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "HAL/HAL.hpp"
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#include "CounterBase.h"
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#include "SensorBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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/**
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* Class for counting the number of ticks on a digital input channel.
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* This is a general purpose class for counting repetitive events. It can return the number
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* of counts, the period of the most recent cycle, and detect when the signal being counted
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* has stopped by supplying a maximum cycle time.
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*
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* All counters will immediately start counting - Reset() them if you need them
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* to be zeroed before use.
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*/
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class Counter : public SensorBase, public CounterBase, public LiveWindowSendable
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{
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public:
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explicit Counter(Mode mode = kTwoPulse);
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explicit Counter(uint32_t channel);
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// TODO: [Not Supported] explicit Counter(DigitalSource *source);
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// TODO: [Not Supported] explicit Counter(DigitalSource &source);
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// TODO: [Not Supported] explicit Counter(AnalogTrigger *source);
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// TODO: [Not Supported] explicit Counter(AnalogTrigger &source);
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// TODO: [Not Supported] Counter(EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted);
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virtual ~Counter();
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void SetUpSource(uint32_t channel);
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// TODO: [Not Supported] void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
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// TODO: [Not Supported] void SetUpSource(AnalogTrigger &analogTrigger, AnalogTriggerType triggerType);
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// TODO: [Not Supported] void SetUpSource(DigitalSource *source);
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// TODO: [Not Supported] void SetUpSource(DigitalSource &source);
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void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearUpSource();
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void SetDownSource(uint32_t channel);
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// TODO: [Not Supported] void SetDownSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
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// TODO: [Not Supported] void SetDownSource(AnalogTrigger &analogTrigger, AnalogTriggerType triggerType);
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// TODO: [Not Supported] void SetDownSource(DigitalSource *source);
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// TODO: [Not Supported] void SetDownSource(DigitalSource &source);
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void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearDownSource();
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void SetUpDownCounterMode();
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void SetExternalDirectionMode();
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void SetSemiPeriodMode(bool highSemiPeriod);
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void SetPulseLengthMode(float threshold);
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void SetReverseDirection(bool reverseDirection);
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// CounterBase interface
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int32_t Get() const override;
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void Reset() override;
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double GetPeriod() const override;
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void SetMaxPeriod(double maxPeriod) override;
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void SetUpdateWhenEmpty(bool enabled);
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bool GetStopped() const override;
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bool GetDirection() const override;
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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uint32_t GetFPGAIndex() const
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{
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return m_index;
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}
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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virtual std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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protected:
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// TODO: [Not Supported] DigitalSource *m_upSource; ///< What makes the counter count up.
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// TODO: [Not Supported] DigitalSource *m_downSource; ///< What makes the counter count down.
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void* m_counter; ///< The FPGA counter object.
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private:
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bool m_allocatedUpSource; ///< Was the upSource allocated locally?
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bool m_allocatedDownSource; ///< Was the downSource allocated locally?
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uint32_t m_index; ///< The index of this counter.
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std::shared_ptr<ITable> m_table;
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};
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