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https://github.com/wpilibsuite/allwpilib
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534ea134a4
This deals with the majority of the user-facing code in wpilibC++Devices and a substantial portion of it in wpilibC++. wpilibC++Sim and wpilibC++IntegrationTests are untouched except where it is necessary to make them work with the rest of the libraries. There is still a lot to do in the following areas: -The HAL (which we may not want to touch at all). -The I2C, Serial, and SPI interfaces in wpilibC++Devices, which I haven't gotten around to doing yet. -Most wpilibC++Devices classes have void* pointers for interacting with the HAL. -InterruptableSensorBase passes a void *params for the interrupt handler. -I haven't converted all the const char* to std::strings. -There are plenty of other cases of raw pointers still existing. -This doesn't fall directly under raw pointer stuff, but move syntax and rvalue references could be introduced in many places. -I haven't touched vision code. -The Resource classes conflict (one is in the hal, the other in wpilibC++). Someone should figure out a more permanent fix (eg, just renaming them), then doing what I did (making a new namespace for one of them, essentially the same as renaming it). A few other things: -I created a NullDeleter class which is marked as deprecated. What this does is it can be passed as the deleter to a std::shared_ptr so that when you are converting raw pointers to shared_ptrs the shared_ptr doesn't do any deletion if someone else owns the raw pointer. This should only be used in making old raw pointer UIs. -I had to alter the build.gradle so that it did not emit errors when deprecated functions called deprecated functions. Unfortunately, gradle doesn't appear to be actually printing out gcc warnigns for some reason. The best way I have found to fix this is to patch the toolchains (https://bitbucket.org/byteit101/toolchain-builder/pull-request/5/make-gcc-not-throw-warnings-for-nested/diff) so that a deprecated function calling a deprecated function is fine but a non-deprecated function calling a deprecated function will throw a warning (which we then elevate with -Werror). I believe that clang deals with this properly, although I have not tried it myself. Change-Id: Ib8090c66893576fe73654f4e9d268f9d37be06a2
104 lines
3.3 KiB
C++
104 lines
3.3 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 "SolenoidBase.h"
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void* SolenoidBase::m_ports[m_maxModules][m_maxPorts];
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/**
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* Constructor
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*
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* @param moduleNumber The CAN PCM ID.
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*/
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SolenoidBase::SolenoidBase(uint8_t moduleNumber)
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: m_moduleNumber(moduleNumber) {
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for (uint32_t i = 0; i < kSolenoidChannels; i++) {
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void* port = getPortWithModule(moduleNumber, i);
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int32_t status = 0;
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SolenoidBase::m_ports[moduleNumber][i] =
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initializeSolenoidPort(port, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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}
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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 you want to set on the module.
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* @param mask The channels you want to be affected.
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*/
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void SolenoidBase::Set(uint8_t value, uint8_t mask, int module) {
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int32_t status = 0;
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for (int i = 0; i < m_maxPorts; i++) {
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uint8_t local_mask = 1 << i;
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if (mask & local_mask)
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setSolenoid(m_ports[module][i], value & local_mask, &status);
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}
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Read all 8 solenoids as a single byte
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*
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* @return The current value of all 8 solenoids on the module.
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*/
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uint8_t SolenoidBase::GetAll(int module) const {
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uint8_t value = 0;
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int32_t status = 0;
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for (int i = 0; i < m_maxPorts; i++) {
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value |= getSolenoid(m_ports[module][i], &status) << i;
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}
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return value;
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}
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/**
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* Reads complete solenoid blacklist for all 8 solenoids as a single byte.
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*
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* If a solenoid is shorted, it is added to the blacklist and
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* disabled until power cycle, or until faults are cleared.
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* @see ClearAllPCMStickyFaults()
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*
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* @return The solenoid blacklist of all 8 solenoids on the module.
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*/
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uint8_t SolenoidBase::GetPCMSolenoidBlackList(int module) const {
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int32_t status = 0;
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return getPCMSolenoidBlackList(m_ports[module][0], &status);
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}
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/**
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* @return true if PCM sticky fault is set : The common
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* highside solenoid voltage rail is too low,
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* most likely a solenoid channel is shorted.
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*/
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bool SolenoidBase::GetPCMSolenoidVoltageStickyFault(int module) const {
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int32_t status = 0;
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return getPCMSolenoidVoltageStickyFault(m_ports[module][0], &status);
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}
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/**
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* @return true if PCM is in fault state : The common
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* highside solenoid voltage rail is too low,
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* most likely a solenoid channel is shorted.
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*/
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bool SolenoidBase::GetPCMSolenoidVoltageFault(int module) const {
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int32_t status = 0;
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return getPCMSolenoidVoltageFault(m_ports[module][0], &status);
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}
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* If a sticky fault is set, then it will be persistently cleared. Compressor
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* drive
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* maybe momentarily disable while flags are being cleared. Care
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* should be
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* taken to not call this too frequently, otherwise normal
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* compressor
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* functionality may be prevented.
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*
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* If no sticky faults are set then this call will have no effect.
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*/
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void SolenoidBase::ClearAllPCMStickyFaults(int module) {
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int32_t status = 0;
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return clearAllPCMStickyFaults_sol(m_ports[module][0], &status);
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}
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