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https://github.com/wpilibsuite/allwpilib
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496e7c1bba
Adds a close function pointer template parameter to hal::Handle. This allows default destructors in many places. The status parameter has been removed from close functions; in most places it was not used. Where it was, an error is printed instead.
98 lines
3.5 KiB
C++
98 lines
3.5 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/counter/ExternalDirectionCounter.h"
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#include <hal/Counter.h>
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#include <hal/FRCUsageReporting.h>
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#include <wpi/NullDeleter.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include "frc/DigitalSource.h"
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#include "frc/Errors.h"
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using namespace frc;
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ExternalDirectionCounter::ExternalDirectionCounter(
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DigitalSource& countSource, DigitalSource& directionSource)
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: ExternalDirectionCounter(
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{&countSource, wpi::NullDeleter<DigitalSource>()},
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{&directionSource, wpi::NullDeleter<DigitalSource>()}) {}
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ExternalDirectionCounter::ExternalDirectionCounter(
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std::shared_ptr<DigitalSource> countSource,
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std::shared_ptr<DigitalSource> directionSource) {
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if (countSource == nullptr) {
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throw FRC_MakeError(err::NullParameter, "countSource");
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}
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if (directionSource == nullptr) {
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throw FRC_MakeError(err::NullParameter, "directionSource");
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}
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m_countSource = countSource;
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m_directionSource = directionSource;
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int32_t status = 0;
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m_handle = HAL_InitializeCounter(
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HAL_Counter_Mode::HAL_Counter_kExternalDirection, &m_index, &status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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HAL_SetCounterUpSource(m_handle, m_countSource->GetPortHandleForRouting(),
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static_cast<HAL_AnalogTriggerType>(
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m_countSource->GetAnalogTriggerTypeForRouting()),
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&status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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HAL_SetCounterUpSourceEdge(m_handle, true, false, &status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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HAL_SetCounterDownSource(
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m_handle, m_directionSource->GetPortHandleForRouting(),
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static_cast<HAL_AnalogTriggerType>(
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m_directionSource->GetAnalogTriggerTypeForRouting()),
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&status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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HAL_SetCounterDownSourceEdge(m_handle, false, true, &status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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Reset();
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HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
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wpi::SendableRegistry::AddLW(this, "External Direction Counter", m_index);
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}
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int ExternalDirectionCounter::GetCount() const {
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int32_t status = 0;
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int val = HAL_GetCounter(m_handle, &status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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return val;
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}
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void ExternalDirectionCounter::SetReverseDirection(bool reverseDirection) {
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int32_t status = 0;
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HAL_SetCounterReverseDirection(m_handle, reverseDirection, &status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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}
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void ExternalDirectionCounter::Reset() {
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int32_t status = 0;
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HAL_ResetCounter(m_handle, &status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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}
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void ExternalDirectionCounter::SetEdgeConfiguration(
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EdgeConfiguration configuration) {
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int32_t status = 0;
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bool rising = configuration == EdgeConfiguration::kRisingEdge ||
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configuration == EdgeConfiguration::kBoth;
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bool falling = configuration == EdgeConfiguration::kFallingEdge ||
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configuration == EdgeConfiguration::kBoth;
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HAL_SetCounterUpSourceEdge(m_handle, rising, falling, &status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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}
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void ExternalDirectionCounter::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("External Direction Counter");
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builder.AddDoubleProperty("Count", [&] { return GetCount(); }, nullptr);
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}
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