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https://github.com/wpilibsuite/allwpilib
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b417d961ec
The non-NT portion has been moved to wpiutil. The NT portion has been moved to ntcore (as NTSendable). SendableBuilder similarly split and moved. SendableRegistry moved to wpiutil. In C++, SendableHelper also moved to wpiutil. This enables use of Sendable from wpimath and also enables moving several classes from wpilib to wpimath.
88 lines
2.2 KiB
C++
88 lines
2.2 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 <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/DigitalSource.h"
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namespace frc {
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class DigitalGlitchFilter;
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/**
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* Class to read a digital input.
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*
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* This class will read digital inputs and return the current value on the
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* channel. Other devices such as encoders, gear tooth sensors, etc. that are
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* implemented elsewhere will automatically allocate digital inputs and outputs
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* as required. This class is only for devices like switches etc. that aren't
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* implemented anywhere else.
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*/
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class DigitalInput : public DigitalSource,
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public wpi::Sendable,
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public wpi::SendableHelper<DigitalInput> {
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public:
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/**
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* Create an instance of a Digital Input class.
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*
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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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explicit DigitalInput(int channel);
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~DigitalInput() override;
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DigitalInput(DigitalInput&&) = default;
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DigitalInput& operator=(DigitalInput&&) = default;
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/**
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* Get the value from a digital input channel.
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*
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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 Get() const;
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// Digital Source Interface
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/**
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* @return The HAL Handle to the specified source.
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*/
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HAL_Handle GetPortHandleForRouting() const override;
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/**
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* @return The type of analog trigger output to be used. 0 for Digitals
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*/
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AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
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/**
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* Is source an AnalogTrigger
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*/
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bool IsAnalogTrigger() const override;
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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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int GetChannel() const override;
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/**
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* Indicates this input is used by a simulated device.
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*
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* @param device simulated device handle
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*/
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void SetSimDevice(HAL_SimDeviceHandle device);
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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int m_channel;
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hal::Handle<HAL_DigitalHandle> m_handle;
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friend class DigitalGlitchFilter;
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};
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} // namespace frc
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