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https://github.com/wpilibsuite/allwpilib
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137 lines
3.8 KiB
C++
137 lines
3.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "hal/Relay.h"
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#include <string>
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#include "HALInitializer.h"
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#include "HALInternal.h"
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#include "PortsInternal.h"
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#include "hal/handles/IndexedHandleResource.h"
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#include "mockdata/RelayDataInternal.h"
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using namespace hal;
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namespace {
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struct Relay {
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uint8_t channel;
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bool fwd;
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std::string previousAllocation;
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};
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} // namespace
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static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
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HAL_HandleEnum::Relay>* relayHandles;
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namespace hal::init {
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void InitializeRelay() {
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static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
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HAL_HandleEnum::Relay>
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rH;
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relayHandles = &rH;
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}
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} // namespace hal::init
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extern "C" {
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HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
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const char* allocationLocation,
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int32_t* status) {
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hal::init::CheckInit();
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if (*status != 0) {
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return HAL_kInvalidHandle;
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}
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int16_t channel = getPortHandleChannel(portHandle);
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if (channel == InvalidHandleIndex || channel >= kNumRelayChannels) {
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*status = RESOURCE_OUT_OF_RANGE;
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hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Relay", 0,
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kNumRelayChannels, channel);
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return HAL_kInvalidHandle;
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}
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if (!fwd) {
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channel += kNumRelayHeaders; // add 4 to reverse channels
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}
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HAL_RelayHandle handle;
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auto port = relayHandles->Allocate(channel, &handle, status);
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if (*status != 0) {
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if (port) {
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hal::SetLastErrorPreviouslyAllocated(status, "Relay", channel,
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port->previousAllocation);
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} else {
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hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Relay", 0,
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kNumRelayChannels, channel);
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}
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return HAL_kInvalidHandle; // failed to allocate. Pass error back.
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}
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if (!fwd) {
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// Subtract number of headers to put channel in range
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channel -= kNumRelayHeaders;
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port->fwd = false; // set to reverse
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SimRelayData[channel].initializedReverse = true;
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} else {
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port->fwd = true; // set to forward
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SimRelayData[channel].initializedForward = true;
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}
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port->channel = static_cast<uint8_t>(channel);
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port->previousAllocation = allocationLocation ? allocationLocation : "";
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return handle;
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}
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void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) {
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auto port = relayHandles->Get(relayPortHandle);
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relayHandles->Free(relayPortHandle);
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if (port == nullptr) {
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return;
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}
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if (port->fwd) {
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SimRelayData[port->channel].initializedForward = false;
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} else {
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SimRelayData[port->channel].initializedReverse = false;
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}
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}
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HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
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// roboRIO only has 4 headers, and the FPGA has
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// separate functions for forward and reverse,
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// instead of separate channel IDs
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return channel < kNumRelayHeaders && channel >= 0;
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}
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void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
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int32_t* status) {
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auto port = relayHandles->Get(relayPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->fwd) {
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SimRelayData[port->channel].forward = on;
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} else {
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SimRelayData[port->channel].reverse = on;
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}
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}
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HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
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auto port = relayHandles->Get(relayPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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if (port->fwd) {
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return SimRelayData[port->channel].forward;
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} else {
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return SimRelayData[port->channel].reverse;
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}
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}
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} // extern "C"
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