allwpilib/wpilibc/lib/AnalogTrigger.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "AnalogTrigger.h"

#include "AnalogChannel.h"
#include "AnalogModule.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "Resource.h"
#include "WPIErrors.h"

/**
 * Initialize an analog trigger from a slot and channel.
 * This is the common code for the two constructors that use a slot and channel.
 */
void AnalogTrigger::InitTrigger(uint8_t moduleNumber, uint32_t channel)
{
	void* port = getPortWithModule(moduleNumber, channel);
	int32_t status = 0;
	uint32_t index = 0;
	m_trigger = initializeAnalogTrigger(port, &index, &status);
	wpi_setErrorWithContext(status, getHALErrorMessage(status));
	m_index = index;
	
	HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel, moduleNumber - 1);
}

/**
 * Constructor for an analog trigger given a channel number.
 * The default module is used in this case.
 *
 * @param channel The analog channel (1..8).
 */
AnalogTrigger::AnalogTrigger(uint32_t channel)
{
	InitTrigger(GetDefaultAnalogModule(), channel);
}

/**
 * Constructor for an analog trigger given both the slot and channel.
 *
 * @param moduleNumber The analog module (1 or 2).
 * @param channel The analog channel (1..8).
 */
AnalogTrigger::AnalogTrigger(uint8_t moduleNumber, uint32_t channel)
{
	InitTrigger(moduleNumber, channel);
}

/**
 * Construct an analog trigger given an analog channel.
 * This should be used in the case of sharing an analog channel between the trigger
 * and an analog input object.
 */
AnalogTrigger::AnalogTrigger(AnalogChannel *channel)
{
	InitTrigger(channel->GetModuleNumber(), channel->GetChannel());
}

AnalogTrigger::~AnalogTrigger()
{
	int32_t status = 0;
	cleanAnalogTrigger(m_trigger, &status);
	wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Set the upper and lower limits of the analog trigger.
 * The limits are given in ADC codes.  If oversampling is used, the units must be scaled
 * appropriately.
 */
void AnalogTrigger::SetLimitsRaw(int32_t lower, int32_t upper)
{
	if (StatusIsFatal()) return;
	int32_t status = 0;
	setAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
	wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Set the upper and lower limits of the analog trigger.
 * The limits are given as floating point voltage values.
 */
void AnalogTrigger::SetLimitsVoltage(float lower, float upper)
{
	if (StatusIsFatal()) return;
	int32_t status = 0;
	setAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
	wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Configure the analog trigger to use the averaged vs. raw values.
 * If the value is true, then the averaged value is selected for the analog trigger, otherwise
 * the immediate value is used.
 */
void AnalogTrigger::SetAveraged(bool useAveragedValue)
{
	if (StatusIsFatal()) return;
	int32_t status = 0;
	setAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
	wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Configure the analog trigger to use a filtered value.
 * The analog trigger will operate with a 3 point average rejection filter. This is designed to
 * help with 360 degree pot applications for the period where the pot crosses through zero.
 */
void AnalogTrigger::SetFiltered(bool useFilteredValue)
{
	if (StatusIsFatal()) return;
	int32_t status = 0;
	setAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
	wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Return the index of the analog trigger.
 * This is the FPGA index of this analog trigger instance.
 * @return The index of the analog trigger.
 */
uint32_t AnalogTrigger::GetIndex()
{
	if (StatusIsFatal()) return ~0ul;
	return m_index;
}

/**
 * Return the InWindow output of the analog trigger.
 * True if the analog input is between the upper and lower limits.
 * @return The InWindow output of the analog trigger.
 */
bool AnalogTrigger::GetInWindow()
{
	if (StatusIsFatal()) return false;
	int32_t status = 0;
	bool result = getAnalogTriggerInWindow(m_trigger, &status);
	wpi_setErrorWithContext(status, getHALErrorMessage(status));
	return result;
}

/**
 * Return the TriggerState output of the analog trigger.
 * True if above upper limit.
 * False if below lower limit.
 * If in Hysteresis, maintain previous state.
 * @return The TriggerState output of the analog trigger.
 */
bool AnalogTrigger::GetTriggerState()
{
	if (StatusIsFatal()) return false;
	int32_t status = 0;
	bool result = getAnalogTriggerTriggerState(m_trigger, &status);
	wpi_setErrorWithContext(status, getHALErrorMessage(status));
	return result;
}

/**
 * Creates an AnalogTriggerOutput object.
 * Gets an output object that can be used for routing.
 * Caller is responsible for deleting the AnalogTriggerOutput object.
 * @param type An enum of the type of output object to create.
 * @return A pointer to a new AnalogTriggerOutput object.
 */
AnalogTriggerOutput *AnalogTrigger::CreateOutput(AnalogTriggerType type)
{
	if (StatusIsFatal()) return NULL;
	return new AnalogTriggerOutput(this, type);
}