mirror of
https://github.com/wpilibsuite/allwpilib
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8d961dfd25
Replace with new exception-based error reporting, consistent with Java. This also builds stacktraces into the reporting/exceptions.
98 lines
2.9 KiB
C++
98 lines
2.9 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 "frc/Solenoid.h"
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#include <utility>
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#include <hal/FRCUsageReporting.h>
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#include <hal/HALBase.h>
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#include <hal/Ports.h>
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#include <hal/Solenoid.h>
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#include "frc/Errors.h"
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#include "frc/SensorUtil.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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Solenoid::Solenoid(int channel)
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: Solenoid(SensorUtil::GetDefaultSolenoidModule(), channel) {}
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Solenoid::Solenoid(int moduleNumber, int channel)
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: SolenoidBase(moduleNumber), m_channel(channel) {
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if (!SensorUtil::CheckSolenoidModule(m_moduleNumber)) {
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throw FRC_MakeError(err::ModuleIndexOutOfRange,
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"Solenoid Module " + wpi::Twine{m_moduleNumber});
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}
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if (!SensorUtil::CheckSolenoidChannel(m_channel)) {
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throw FRC_MakeError(err::ChannelIndexOutOfRange,
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"Solenoid Channel " + wpi::Twine{m_channel});
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}
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int32_t status = 0;
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m_solenoidHandle = HAL_InitializeSolenoidPort(
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HAL_GetPortWithModule(moduleNumber, channel), &status);
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FRC_CheckErrorStatus(status, "Solenoid Module " + wpi::Twine{m_moduleNumber} +
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" Channel " + wpi::Twine{m_channel});
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HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
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m_moduleNumber + 1);
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SendableRegistry::GetInstance().AddLW(this, "Solenoid", m_moduleNumber,
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m_channel);
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}
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Solenoid::~Solenoid() {
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HAL_FreeSolenoidPort(m_solenoidHandle);
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}
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void Solenoid::Set(bool on) {
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int32_t status = 0;
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HAL_SetSolenoid(m_solenoidHandle, on, &status);
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FRC_CheckErrorStatus(status, "Set");
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}
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bool Solenoid::Get() const {
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int32_t status = 0;
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bool value = HAL_GetSolenoid(m_solenoidHandle, &status);
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FRC_CheckErrorStatus(status, "Get");
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return value;
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}
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void Solenoid::Toggle() {
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Set(!Get());
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}
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int Solenoid::GetChannel() const {
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return m_channel;
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}
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bool Solenoid::IsBlackListed() const {
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int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
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return (value != 0);
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}
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void Solenoid::SetPulseDuration(double durationSeconds) {
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int32_t durationMS = durationSeconds * 1000;
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int32_t status = 0;
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HAL_SetOneShotDuration(m_solenoidHandle, durationMS, &status);
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FRC_CheckErrorStatus(status, "SetPulseDuration");
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}
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void Solenoid::StartPulse() {
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int32_t status = 0;
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HAL_FireOneShot(m_solenoidHandle, &status);
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FRC_CheckErrorStatus(status, "StartPulse");
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}
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void Solenoid::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Solenoid");
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builder.SetActuator(true);
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builder.SetSafeState([=]() { Set(false); });
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builder.AddBooleanProperty(
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"Value", [=]() { return Get(); }, [=](bool value) { Set(value); });
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}
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