mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +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
138 lines
3.9 KiB
C++
138 lines
3.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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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#include "Solenoid.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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#include <sstream>
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/**
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* Constructor using the default PCM ID (0).
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*
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* @param channel The channel on the PCM to control (0..7).
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*/
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Solenoid::Solenoid(uint32_t channel)
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: Solenoid(GetDefaultSolenoidModule(), channel) {}
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/**
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* Constructor.
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*
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* @param moduleNumber The CAN ID of the PCM the solenoid is attached to
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* @param channel The channel on the PCM to control (0..7).
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*/
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Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
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: SolenoidBase(moduleNumber), m_channel(channel) {
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std::stringstream buf;
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if (!CheckSolenoidModule(m_moduleNumber)) {
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buf << "Solenoid Module " << m_moduleNumber;
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wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
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return;
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}
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if (!CheckSolenoidChannel(m_channel)) {
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buf << "Solenoid Module " << m_channel;
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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return;
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}
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Resource::CreateResourceObject(m_allocated, kSolenoidChannels * 63);
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buf << "Solenoid " << m_channel << " (Module: " << m_moduleNumber << ")";
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if (m_allocated->Allocate(m_moduleNumber * kSolenoidChannels + m_channel,
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buf.str()) ==
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std::numeric_limits<uint32_t>::max()) {
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CloneError(*m_allocated);
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return;
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}
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LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel,
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this);
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HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel,
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m_moduleNumber);
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}
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/**
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* Destructor.
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*/
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Solenoid::~Solenoid() {
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if (CheckSolenoidModule(m_moduleNumber)) {
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m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_channel);
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}
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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}
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/**
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* Set the value of a solenoid.
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*
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* @param on Turn the solenoid output off or on.
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*/
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void Solenoid::Set(bool on) {
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if (StatusIsFatal()) return;
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uint8_t value = on ? 0xFF : 0x00;
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uint8_t mask = 1 << m_channel;
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SolenoidBase::Set(value, mask, m_moduleNumber);
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}
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/**
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* Read the current value of the solenoid.
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*
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* @return The current value of the solenoid.
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*/
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bool Solenoid::Get() const {
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if (StatusIsFatal()) return false;
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uint8_t value = GetAll(m_moduleNumber) & (1 << m_channel);
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return (value != 0);
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}
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/**
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* Check if solenoid is blacklisted.
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* If a solenoid is shorted, it is added to the blacklist and
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* disabled until power cycle, or until faults are cleared.
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* @see ClearAllPCMStickyFaults()
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*
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* @return If solenoid is disabled due to short.
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*/
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bool Solenoid::IsBlackListed() const {
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int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
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return (value != 0);
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}
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void Solenoid::ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) {
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if (!value->IsBoolean()) return;
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Set(value->GetBoolean());
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}
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void Solenoid::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutBoolean("Value", Get());
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}
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}
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void Solenoid::StartLiveWindowMode() {
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Set(false);
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if (m_table != nullptr) {
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m_table->AddTableListener("Value", this, true);
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}
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}
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void Solenoid::StopLiveWindowMode() {
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Set(false);
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if (m_table != nullptr) {
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m_table->RemoveTableListener(this);
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}
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}
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std::string Solenoid::GetSmartDashboardType() const { return "Solenoid"; }
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void Solenoid::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> Solenoid::GetTable() const { return m_table; }
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