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https://github.com/wpilibsuite/allwpilib
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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
148 lines
4.5 KiB
C++
148 lines
4.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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/DigitalOutput.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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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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DigitalOutput::DigitalOutput(int channel) {
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m_pwmGenerator = HAL_kInvalidHandle;
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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), false, &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_channel = std::numeric_limits<int>::max();
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m_handle = HAL_kInvalidHandle;
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel);
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SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
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}
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DigitalOutput::~DigitalOutput() {
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if (StatusIsFatal()) return;
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// Disable the PWM in case it was running.
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DisablePWM();
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HAL_FreeDIOPort(m_handle);
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}
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void DigitalOutput::Set(bool value) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetDIO(m_handle, value, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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bool DigitalOutput::Get() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool val = HAL_GetDIO(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return val;
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}
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int DigitalOutput::GetChannel() const { return m_channel; }
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void DigitalOutput::Pulse(double length) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_Pulse(m_handle, length, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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bool DigitalOutput::IsPulsing() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value = HAL_IsPulsing(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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void DigitalOutput::SetPWMRate(double rate) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetDigitalPWMRate(rate, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void DigitalOutput::EnablePWM(double initialDutyCycle) {
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if (m_pwmGenerator != HAL_kInvalidHandle) return;
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int32_t status = 0;
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if (StatusIsFatal()) return;
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m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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if (StatusIsFatal()) return;
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HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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if (StatusIsFatal()) return;
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HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void DigitalOutput::DisablePWM() {
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if (StatusIsFatal()) return;
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if (m_pwmGenerator == HAL_kInvalidHandle) return;
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int32_t status = 0;
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// Disable the output by routing to a dead bit.
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HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, SensorUtil::kDigitalChannels,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_FreeDigitalPWM(m_pwmGenerator, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_pwmGenerator = HAL_kInvalidHandle;
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}
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void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void DigitalOutput::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Digital Output");
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builder.AddBooleanProperty("Value", [=]() { return Get(); },
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[=](bool value) { Set(value); });
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}
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