mirror of
https://github.com/wpilibsuite/allwpilib
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110 lines
3.4 KiB
C++
110 lines
3.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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 "AnalogTrigger.h"
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#include <memory>
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#include <HAL/HAL.h>
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#include "AnalogInput.h"
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#include "WPIErrors.h"
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using namespace frc;
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AnalogTrigger::AnalogTrigger(int channel)
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: AnalogTrigger(new AnalogInput(channel)) {
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m_ownsAnalog = true;
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AddChild(m_analogInput);
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}
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AnalogTrigger::AnalogTrigger(AnalogInput* input) {
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m_analogInput = input;
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int32_t status = 0;
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int index = 0;
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m_trigger = HAL_InitializeAnalogTrigger(input->m_port, &index, &status);
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if (status != 0) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_index = std::numeric_limits<int>::max();
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m_trigger = HAL_kInvalidHandle;
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return;
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}
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m_index = index;
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HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, input->m_channel);
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SetName("AnalogTrigger", input->GetChannel());
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}
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AnalogTrigger::~AnalogTrigger() {
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int32_t status = 0;
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HAL_CleanAnalogTrigger(m_trigger, &status);
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if (m_ownsAnalog && m_analogInput != nullptr) {
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delete m_analogInput;
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}
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}
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void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void AnalogTrigger::SetLimitsRaw(int lower, int upper) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void AnalogTrigger::SetAveraged(bool useAveragedValue) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void AnalogTrigger::SetFiltered(bool useFilteredValue) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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int AnalogTrigger::GetIndex() const {
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if (StatusIsFatal()) return -1;
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return m_index;
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}
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bool AnalogTrigger::GetInWindow() {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return result;
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}
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bool AnalogTrigger::GetTriggerState() {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return result;
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}
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std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
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AnalogTriggerType type) const {
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if (StatusIsFatal()) return nullptr;
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return std::shared_ptr<AnalogTriggerOutput>(
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new AnalogTriggerOutput(*this, type), NullDeleter<AnalogTriggerOutput>());
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}
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void AnalogTrigger::InitSendable(SendableBuilder& builder) {
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if (m_ownsAnalog) m_analogInput->InitSendable(builder);
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}
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