mirror of
https://github.com/wpilibsuite/allwpilib
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58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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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#pragma once
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#include "ErrorBase.h"
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#include <stdio.h>
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#include "Base.h"
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/**
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* Base class for all sensors.
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* Stores most recent status information as well as containing utility functions
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* for checking
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* channels and error processing.
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*/
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class SensorBase : public ErrorBase {
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public:
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SensorBase();
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virtual ~SensorBase() = default;
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static void DeleteSingletons();
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static uint32_t GetDefaultSolenoidModule() { return 0; }
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static bool CheckSolenoidModule(uint8_t moduleNumber);
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static bool CheckDigitalChannel(uint32_t channel);
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static bool CheckRelayChannel(uint32_t channel);
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static bool CheckPWMChannel(uint32_t channel);
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static bool CheckAnalogInput(uint32_t channel);
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static bool CheckAnalogOutput(uint32_t channel);
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static bool CheckSolenoidChannel(uint32_t channel);
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static bool CheckPDPChannel(uint32_t channel);
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static const uint32_t kDigitalChannels = 26;
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static const uint32_t kAnalogInputs = 8;
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static const uint32_t kAnalogOutputs = 2;
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static const uint32_t kSolenoidChannels = 8;
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static const uint32_t kSolenoidModules = 2;
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static const uint32_t kPwmChannels = 20;
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static const uint32_t kRelayChannels = 8;
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static const uint32_t kPDPChannels = 16;
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static const uint32_t kChassisSlots = 8;
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protected:
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void AddToSingletonList();
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static void* m_digital_ports[kDigitalChannels];
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static void* m_relay_ports[kRelayChannels];
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static void* m_pwm_ports[kPwmChannels];
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private:
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DISALLOW_COPY_AND_ASSIGN(SensorBase);
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static SensorBase* m_singletonList;
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SensorBase* m_nextSingleton;
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};
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