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60ede67abd
Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places. In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested. In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one. This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM. After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors. Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
82 lines
2.3 KiB
C++
82 lines
2.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/Solenoid.h"
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#include <utility>
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#include <hal/FRCUsageReporting.h>
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#include <wpi/NullDeleter.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Errors.h"
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#include "frc/SensorUtil.h"
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using namespace frc;
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Solenoid::Solenoid(int module, PneumaticsModuleType moduleType, int channel)
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: m_module{PneumaticsBase::GetForType(module, moduleType)},
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m_channel{channel} {
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if (!m_module->CheckSolenoidChannel(m_channel)) {
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throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", m_channel);
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}
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m_mask = 1 << channel;
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if (m_module->CheckAndReserveSolenoids(m_mask) != 0) {
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throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}", m_channel);
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}
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HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
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m_module->GetModuleNumber() + 1);
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wpi::SendableRegistry::AddLW(this, "Solenoid", m_module->GetModuleNumber(),
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m_channel);
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}
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Solenoid::Solenoid(PneumaticsModuleType moduleType, int channel)
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: Solenoid{PneumaticsBase::GetDefaultForType(moduleType), moduleType,
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channel} {}
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Solenoid::~Solenoid() {
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m_module->UnreserveSolenoids(m_mask);
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}
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void Solenoid::Set(bool on) {
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int value = on ? (0xFFFF & m_mask) : 0;
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m_module->SetSolenoids(m_mask, value);
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}
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bool Solenoid::Get() const {
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int currentAll = m_module->GetSolenoids();
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return (currentAll & m_mask) != 0;
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}
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void Solenoid::Toggle() {
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Set(!Get());
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}
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int Solenoid::GetChannel() const {
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return m_channel;
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}
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bool Solenoid::IsDisabled() const {
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return (m_module->GetSolenoidDisabledList() & m_mask) != 0;
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}
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void Solenoid::SetPulseDuration(units::second_t duration) {
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m_module->SetOneShotDuration(m_channel, duration);
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}
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void Solenoid::StartPulse() {
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m_module->FireOneShot(m_channel);
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}
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void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Solenoid");
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builder.SetActuator(true);
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builder.SetSafeState([=] { Set(false); });
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builder.AddBooleanProperty(
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"Value", [=] { return Get(); }, [=](bool value) { Set(value); });
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}
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