mirror of
https://github.com/wpilibsuite/allwpilib
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94 lines
2.9 KiB
C++
94 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/DigitalInput.h"
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#include <limits>
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#include <utility>
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#include <hal/DIO.h>
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#include <hal/HAL.h>
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#include <hal/Ports.h>
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#include "frc/SensorUtil.h"
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#include "frc/WPIErrors.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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DigitalInput::DigitalInput(int channel) {
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if (!SensorUtil::CheckDigitalChannel(channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
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"Digital Channel " + wpi::Twine(channel));
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m_channel = std::numeric_limits<int>::max();
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return;
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}
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m_channel = channel;
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int32_t status = 0;
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m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(),
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channel, HAL_GetErrorMessage(status));
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m_handle = HAL_kInvalidHandle;
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m_channel = std::numeric_limits<int>::max();
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel);
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SetName("DigitalInput", channel);
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}
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DigitalInput::~DigitalInput() {
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if (StatusIsFatal()) return;
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if (m_interrupt != HAL_kInvalidHandle) {
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int32_t status = 0;
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HAL_CleanInterrupts(m_interrupt, &status);
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// Ignore status, as an invalid handle just needs to be ignored.
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m_interrupt = HAL_kInvalidHandle;
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}
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HAL_FreeDIOPort(m_handle);
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}
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DigitalInput::DigitalInput(DigitalInput&& rhs)
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: DigitalSource(std::move(rhs)), m_channel(std::move(rhs.m_channel)) {
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std::swap(m_handle, rhs.m_handle);
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}
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DigitalInput& DigitalInput::operator=(DigitalInput&& rhs) {
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DigitalSource::operator=(std::move(rhs));
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m_channel = std::move(rhs.m_channel);
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std::swap(m_handle, rhs.m_handle);
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return *this;
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}
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bool DigitalInput::Get() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value = HAL_GetDIO(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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HAL_Handle DigitalInput::GetPortHandleForRouting() const { return m_handle; }
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AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
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return (AnalogTriggerType)0;
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}
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bool DigitalInput::IsAnalogTrigger() const { return false; }
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int DigitalInput::GetChannel() const { return m_channel; }
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void DigitalInput::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Digital Input");
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builder.AddBooleanProperty("Value", [=]() { return Get(); }, nullptr);
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}
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