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https://github.com/wpilibsuite/allwpilib
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114 lines
3.9 KiB
C++
114 lines
3.9 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 <type_traits>
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#include <hal/AnalogInput.h>
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#include <hal/DMA.h>
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#include <units/time.h>
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#include "frc/AnalogInput.h"
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#include "frc/Counter.h"
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#include "frc/DMA.h"
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#include "frc/DutyCycle.h"
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#include "frc/Encoder.h"
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namespace frc {
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class DMASample : public HAL_DMASample {
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public:
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enum class DMAReadStatus {
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kOk = HAL_DMA_OK,
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kTimeout = HAL_DMA_TIMEOUT,
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kError = HAL_DMA_ERROR
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};
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DMAReadStatus Update(const DMA* dma, units::second_t timeout,
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int32_t* remaining, int32_t* status) {
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return static_cast<DMAReadStatus>(HAL_ReadDMA(
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dma->dmaHandle, this, timeout.to<double>(), remaining, status));
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}
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uint64_t GetTime() const { return timeStamp; }
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units::second_t GetTimeStamp() const {
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return units::second_t{static_cast<double>(GetTime()) * 1.0e-6};
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}
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int32_t GetEncoderRaw(const Encoder* encoder, int32_t* status) const {
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return HAL_GetDMASampleEncoderRaw(this, encoder->m_encoder, status);
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}
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double GetEncoderDistance(const Encoder* encoder, int32_t* status) const {
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double val = GetEncoderRaw(encoder, status);
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val *= encoder->DecodingScaleFactor();
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val *= encoder->GetDistancePerPulse();
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return val;
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}
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int32_t GetEncoderPeriodRaw(const Encoder* encoder, int32_t* status) const {
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return HAL_GetDMASampleEncoderPeriodRaw(this, encoder->m_encoder, status);
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}
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int32_t GetCounter(const Counter* counter, int32_t* status) const {
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return HAL_GetDMASampleCounter(this, counter->m_counter, status);
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}
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int32_t GetCounterPeriod(const Counter* counter, int32_t* status) const {
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return HAL_GetDMASampleCounterPeriod(this, counter->m_counter, status);
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}
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bool GetDigitalSource(const DigitalSource* digitalSource,
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int32_t* status) const {
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return HAL_GetDMASampleDigitalSource(
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this, digitalSource->GetPortHandleForRouting(), status);
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}
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int32_t GetAnalogInputRaw(const AnalogInput* analogInput,
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int32_t* status) const {
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return HAL_GetDMASampleAnalogInputRaw(this, analogInput->m_port, status);
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}
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double GetAnalogInputVoltage(const AnalogInput* analogInput,
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int32_t* status) {
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return HAL_GetAnalogValueToVolts(
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analogInput->m_port, GetAnalogInputRaw(analogInput, status), status);
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}
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int32_t GetAveragedAnalogInputRaw(const AnalogInput* analogInput,
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int32_t* status) const {
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return HAL_GetDMASampleAveragedAnalogInputRaw(this, analogInput->m_port,
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status);
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}
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double GetAveragedAnalogInputVoltage(const AnalogInput* analogInput,
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int32_t* status) {
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return HAL_GetAnalogValueToVolts(
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analogInput->m_port, GetAveragedAnalogInputRaw(analogInput, status),
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status);
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}
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void GetAnalogAccumulator(const AnalogInput* analogInput, int64_t* count,
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int64_t* value, int32_t* status) const {
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return HAL_GetDMASampleAnalogAccumulator(this, analogInput->m_port, count,
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value, status);
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}
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int32_t GetDutyCycleOutputRaw(const DutyCycle* dutyCycle,
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int32_t* status) const {
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return HAL_GetDMASampleDutyCycleOutputRaw(this, dutyCycle->m_handle,
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status);
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}
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double GetDutyCycleOutput(const DutyCycle* dutyCycle, int32_t* status) {
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return GetDutyCycleOutputRaw(dutyCycle, status) /
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static_cast<double>(dutyCycle->GetOutputScaleFactor());
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}
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};
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static_assert(std::is_standard_layout_v<frc::DMASample>,
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"frc::DMASample must have standard layout");
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} // namespace frc
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