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60ede67abd
Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places. In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested. In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one. This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM. After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors. Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
129 lines
3.6 KiB
C++
129 lines
3.6 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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#pragma once
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#include <memory>
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#include <hal/Types.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/PneumaticsBase.h"
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#include "frc/PneumaticsModuleType.h"
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namespace frc {
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/**
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* DoubleSolenoid class for running 2 channels of high voltage Digital Output
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* on a pneumatics module.
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*
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* The DoubleSolenoid class is typically used for pneumatics solenoids that
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* have two positions controlled by two separate channels.
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*/
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class DoubleSolenoid : public wpi::Sendable,
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public wpi::SendableHelper<DoubleSolenoid> {
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public:
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enum Value { kOff, kForward, kReverse };
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/**
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* Constructs a double solenoid for a specified module of a specific module
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* type.
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*
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* @param module The module of the solenoid module to use.
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* @param moduleType The module type to use.
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* @param forwardChannel The forward channel on the module to control.
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* @param reverseChannel The reverse channel on the module to control.
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*/
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DoubleSolenoid(int module, PneumaticsModuleType moduleType,
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int forwardChannel, int reverseChannel);
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/**
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* Constructs a double solenoid for a default module of a specific module
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* type.
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*
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* @param moduleType The module type to use.
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* @param forwardChannel The forward channel on the module to control.
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* @param reverseChannel The reverse channel on the module to control.
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*/
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DoubleSolenoid(PneumaticsModuleType moduleType, int forwardChannel,
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int reverseChannel);
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~DoubleSolenoid() override;
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DoubleSolenoid(DoubleSolenoid&&) = default;
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DoubleSolenoid& operator=(DoubleSolenoid&&) = default;
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/**
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* Set the value of a solenoid.
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*
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* @param value The value to set (Off, Forward or Reverse)
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*/
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virtual void Set(Value value);
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/**
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* Read the current value of the solenoid.
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*
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* @return The current value of the solenoid.
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*/
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virtual Value Get() const;
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/**
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* Toggle the value of the solenoid.
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*
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* If the solenoid is set to forward, it'll be set to reverse. If the solenoid
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* is set to reverse, it'll be set to forward. If the solenoid is set to off,
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* nothing happens.
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*/
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void Toggle();
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/**
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* Get the forward channel.
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*
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* @return the forward channel.
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*/
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int GetFwdChannel() const;
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/**
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* Get the reverse channel.
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*
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* @return the reverse channel.
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*/
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int GetRevChannel() const;
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/**
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* Check if the forward solenoid is Disabled.
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*
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* If a solenoid is shorted, it is added to the DisabledList and disabled
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* until power cycle, or until faults are cleared.
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*
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* @see ClearAllPCMStickyFaults()
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* @return If solenoid is disabled due to short.
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*/
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bool IsFwdSolenoidDisabled() const;
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/**
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* Check if the reverse solenoid is Disabled.
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*
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* If a solenoid is shorted, it is added to the DisabledList and disabled
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* until power cycle, or until faults are cleared.
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*
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* @see ClearAllPCMStickyFaults()
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* @return If solenoid is disabled due to short.
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*/
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bool IsRevSolenoidDisabled() const;
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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std::shared_ptr<PneumaticsBase> m_module;
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int m_forwardChannel; // The forward channel on the module to control.
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int m_reverseChannel; // The reverse channel on the module to control.
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int m_forwardMask; // The mask for the forward channel.
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int m_reverseMask; // The mask for the reverse channel.
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int m_mask;
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};
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} // namespace frc
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