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https://github.com/wpilibsuite/allwpilib
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109 lines
3.1 KiB
C++
109 lines
3.1 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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#include "DigitalInput.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "Resource.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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#include <sstream>
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/**
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* Create an instance of a Digital Input class.
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* Creates a digital input given a channel.
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*
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* @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
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*/
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DigitalInput::DigitalInput(uint32_t channel) {
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std::stringstream buf;
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if (!CheckDigitalChannel(channel)) {
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buf << "Digital Channel " << channel;
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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return;
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}
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m_channel = channel;
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int32_t status = 0;
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allocateDIO(m_digital_ports[channel], true, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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LiveWindow::GetInstance().AddSensor("DigitalInput", channel, this);
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HALReport(HALUsageReporting::kResourceType_DigitalInput, channel);
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}
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/**
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* Free resources associated with the Digital Input class.
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*/
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DigitalInput::~DigitalInput() {
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if (StatusIsFatal()) return;
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if (m_interrupt != nullptr) {
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int32_t status = 0;
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cleanInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_interrupt = nullptr;
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m_interrupts->Free(m_interruptIndex);
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}
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int32_t status = 0;
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freeDIO(m_digital_ports[m_channel], &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Get the value from a digital input channel.
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* Retrieve the value of a single digital input channel from the FPGA.
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*/
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bool DigitalInput::Get() const {
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int32_t status = 0;
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bool value = getDIO(m_digital_ports[m_channel], &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return value;
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}
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/**
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* @return The GPIO channel number that this object represents.
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*/
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uint32_t DigitalInput::GetChannel() const { return m_channel; }
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/**
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* @return The value to be written to the channel field of a routing mux.
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*/
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uint32_t DigitalInput::GetChannelForRouting() const { return GetChannel(); }
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/**
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* @return The value to be written to the module field of a routing mux.
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*/
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uint32_t DigitalInput::GetModuleForRouting() const { return 0; }
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/**
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* @return The value to be written to the analog trigger field of a routing mux.
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*/
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bool DigitalInput::GetAnalogTriggerForRouting() const { return false; }
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void DigitalInput::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutBoolean("Value", Get());
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}
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}
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void DigitalInput::StartLiveWindowMode() {}
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void DigitalInput::StopLiveWindowMode() {}
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std::string DigitalInput::GetSmartDashboardType() const {
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return "DigitalInput";
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}
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void DigitalInput::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> DigitalInput::GetTable() const { return m_table; }
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