mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
144 lines
3.3 KiB
C++
144 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(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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/**
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* Common function to implement constructor behavior.
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*/
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void Solenoid::InitSolenoid()
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{
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m_table = NULL;
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char buf[64];
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if (!CheckSolenoidModule(m_moduleNumber))
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{
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snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
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wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
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return;
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}
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if (!CheckSolenoidChannel(m_channel))
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{
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snprintf(buf, 64, "Solenoid Channel %d", m_channel);
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
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return;
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}
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Resource::CreateResourceObject(&m_allocated, solenoid_kNumDO7_0Elements * kSolenoidChannels);
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snprintf(buf, 64, "Solenoid %d (Module: %d)", m_channel, m_moduleNumber);
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if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1, buf) == ~0ul)
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{
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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, this);
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HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel, m_moduleNumber - 1);
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}
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/**
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* Constructor.
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*
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* @param channel The channel on the solenoid module to control (1..8).
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*/
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Solenoid::Solenoid(uint32_t channel)
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: SolenoidBase (GetDefaultSolenoidModule())
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, m_channel (channel)
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{
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InitSolenoid();
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}
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/**
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* Constructor.
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*
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* @param moduleNumber The solenoid module (1 or 2).
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* @param channel The channel on the solenoid module to control (1..8).
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*/
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Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
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: SolenoidBase (moduleNumber)
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, m_channel (channel)
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{
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InitSolenoid();
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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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{
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if (CheckSolenoidModule(m_moduleNumber))
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{
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m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1);
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}
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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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{
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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 - 1);
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SolenoidBase::Set(value, mask);
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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()
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{
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if (StatusIsFatal()) return false;
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uint8_t value = GetAll() & ( 1 << (m_channel - 1));
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return (value != 0);
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}
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void Solenoid::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
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Set(value.b);
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}
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void Solenoid::UpdateTable() {
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if (m_table != NULL) {
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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 != NULL) {
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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 != NULL) {
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m_table->RemoveTableListener(this);
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}
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}
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std::string Solenoid::GetSmartDashboardType() {
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return "Solenoid";
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}
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void Solenoid::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * Solenoid::GetTable() {
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return m_table;
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}
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