mirror of
https://github.com/wpilibsuite/allwpilib
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143 lines
4.0 KiB
C++
143 lines
4.0 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 "wpi/hal/Counter.h"
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#include <cstdio>
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#include <thread>
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#include <fmt/format.h>
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#include "HALInitializer.hpp"
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#include "HALInternal.hpp"
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#include "PortsInternal.hpp"
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#include "SmartIo.hpp"
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#include "wpi/hal/monotonic_clock.hpp"
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using namespace wpi::hal;
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namespace wpi::hal::init {
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void InitializeCounter() {}
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} // namespace wpi::hal::init
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extern "C" {
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HAL_CounterHandle HAL_InitializeCounter(int channel, HAL_Bool risingEdge,
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const char* allocationLocation,
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int32_t* status) {
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wpi::hal::init::CheckInit();
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if (channel == INVALID_HANDLE_INDEX || channel >= kNumSmartIo) {
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*status = RESOURCE_OUT_OF_RANGE;
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wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Counter",
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0, kNumSmartIo, channel);
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return HAL_kInvalidHandle;
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}
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HAL_CounterHandle handle;
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auto port = smartIoHandles->Allocate(channel, HAL_HandleEnum::COUNTER,
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&handle, status);
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if (*status != 0) {
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if (port) {
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wpi::hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
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port->previousAllocation);
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} else {
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wpi::hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Counter",
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0, kNumSmartIo, channel);
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}
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return HAL_kInvalidHandle; // failed to allocate. Pass error back.
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}
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port->channel = channel;
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*status =
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port->InitializeMode(risingEdge ? SmartIoMode::SingleCounterRising
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: SmartIoMode::SingleCounterFalling);
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if (*status != 0) {
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smartIoHandles->Free(handle, HAL_HandleEnum::COUNTER);
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return HAL_kInvalidHandle;
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}
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port->previousAllocation = allocationLocation ? allocationLocation : "";
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return handle;
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}
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void HAL_FreeCounter(HAL_CounterHandle counterHandle) {
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auto port = smartIoHandles->Get(counterHandle, HAL_HandleEnum::COUNTER);
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if (port == nullptr) {
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return;
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}
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smartIoHandles->Free(counterHandle, HAL_HandleEnum::COUNTER);
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// Wait for no other object to hold this handle.
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auto start = wpi::hal::monotonic_clock::now();
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while (port.use_count() != 1) {
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auto current = wpi::hal::monotonic_clock::now();
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if (start + std::chrono::seconds(1) < current) {
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std::puts("DIO handle free timeout");
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std::fflush(stdout);
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break;
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}
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std::this_thread::yield();
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}
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}
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void HAL_SetCounterEdgeConfiguration(HAL_CounterHandle counterHandle,
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HAL_Bool risingEdge, int32_t* status) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
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// TODO
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return;
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}
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int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
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auto port = smartIoHandles->Get(counterHandle, HAL_HandleEnum::COUNTER);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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int32_t ret = 0;
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*status = port->GetCounter(&ret);
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return ret;
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return 0;
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}
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double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
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int32_t* status) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
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int32_t* status) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
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int32_t* status) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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void HAL_SetCounterDirection(HAL_CounterHandle counterHandle, HAL_Bool countUp,
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int32_t* status) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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} // extern "C"
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