mirror of
https://github.com/wpilibsuite/allwpilib
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e824b1129e
Useful in the sim to force a full reset. On roboRIO, the information is still created and added, but is not checked because of speed considerations.
120 lines
3.7 KiB
C++
120 lines
3.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. 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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#pragma once
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#include <stdint.h>
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#include "HAL/Types.h"
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/* General Handle Data Layout
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* Bits 0-15: Handle Index
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* Bits 16-23: 8 bit rolling reset detection
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* Bits 24-30: Handle Type
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* Bit 31: 1 if handle error, 0 if no error
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*
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* Other specialized handles will use different formats, however Bits 24-31 are
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* always reserved for type and error handling.
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*/
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namespace hal {
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class HandleBase {
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public:
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HandleBase();
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~HandleBase();
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HandleBase(const HandleBase&) = delete;
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HandleBase& operator=(const HandleBase&) = delete;
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virtual void ResetHandles();
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static void ResetGlobalHandles();
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protected:
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int16_t m_version;
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};
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constexpr int16_t InvalidHandleIndex = -1;
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enum class HAL_HandleEnum {
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Undefined = 0,
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DIO = 1,
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Port = 2,
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Notifier = 3,
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Interrupt = 4,
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AnalogOutput = 5,
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AnalogInput = 6,
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AnalogTrigger = 7,
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Relay = 8,
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PWM = 9,
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DigitalPWM = 10,
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Counter = 11,
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FPGAEncoder = 12,
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Encoder = 13,
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Compressor = 14,
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Solenoid = 15,
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AnalogGyro = 16,
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Vendor = 17
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};
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static inline int16_t getHandleIndex(HAL_Handle handle) {
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// mask and return last 16 bits
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return static_cast<int16_t>(handle & 0xffff);
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}
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static inline HAL_HandleEnum getHandleType(HAL_Handle handle) {
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// mask first 8 bits and cast to enum
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return static_cast<HAL_HandleEnum>((handle >> 24) & 0xff);
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}
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static inline bool isHandleType(HAL_Handle handle, HAL_HandleEnum handleType) {
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return handleType == getHandleType(handle);
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}
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static inline bool isHandleCorrectVersion(HAL_Handle handle, int16_t version) {
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return (((handle & 0xFF0000) >> 16) & version) == version;
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}
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static inline int16_t getHandleTypedIndex(HAL_Handle handle,
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HAL_HandleEnum enumType,
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int16_t version) {
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if (!isHandleType(handle, enumType)) return InvalidHandleIndex;
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#if !defined(CONFIG_ATHENA)
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if (!isHandleCorrectVersion(handle, version)) return InvalidHandleIndex;
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#endif
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return getHandleIndex(handle);
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}
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/* specialized functions for Port handle
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* Port Handle Data Layout
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* Bits 0-7: Channel Number
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* Bits 8-15: Module Number
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* Bits 16-23: Unused
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* Bits 24-30: Handle Type
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* Bit 31: 1 if handle error, 0 if no error
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*/
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// using a 16 bit value so we can store 0-255 and still report error
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static inline int16_t getPortHandleChannel(HAL_PortHandle handle) {
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if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
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return static_cast<uint8_t>(handle & 0xff);
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}
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// using a 16 bit value so we can store 0-255 and still report error
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static inline int16_t getPortHandleModule(HAL_PortHandle handle) {
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if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
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return static_cast<uint8_t>((handle >> 8) & 0xff);
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}
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// using a 16 bit value so we can store 0-255 and still report error
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static inline int16_t getPortHandleSPIEnable(HAL_PortHandle handle) {
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if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
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return static_cast<uint8_t>((handle >> 16) & 0xff);
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}
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HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module);
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HAL_PortHandle createPortHandleForSPI(uint8_t channel);
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HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
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int16_t version);
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} // namespace hal
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