mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
135 lines
3.6 KiB
C++
135 lines
3.6 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "HAL/Relay.h"
|
|
|
|
#include "DigitalInternal.h"
|
|
#include "HAL/handles/IndexedHandleResource.h"
|
|
#include "PortsInternal.h"
|
|
|
|
using namespace hal;
|
|
|
|
namespace {
|
|
struct Relay {
|
|
uint8_t channel;
|
|
bool fwd;
|
|
};
|
|
}
|
|
|
|
static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
|
|
HAL_HandleEnum::Relay>
|
|
relayHandles;
|
|
|
|
// Create a mutex to protect changes to the relay values
|
|
static priority_recursive_mutex digitalRelayMutex;
|
|
|
|
extern "C" {
|
|
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
|
|
int32_t* status) {
|
|
initializeDigital(status);
|
|
|
|
if (*status != 0) return HAL_kInvalidHandle;
|
|
|
|
int16_t channel = getPortHandleChannel(portHandle);
|
|
if (channel == InvalidHandleIndex) {
|
|
*status = PARAMETER_OUT_OF_RANGE;
|
|
return HAL_kInvalidHandle;
|
|
}
|
|
|
|
if (!fwd) channel += kNumRelayHeaders; // add 4 to reverse channels
|
|
|
|
auto handle = relayHandles.Allocate(channel, status);
|
|
|
|
if (*status != 0)
|
|
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
|
|
|
|
auto port = relayHandles.Get(handle);
|
|
if (port == nullptr) { // would only occur on thread issue.
|
|
*status = HAL_HANDLE_ERROR;
|
|
return HAL_kInvalidHandle;
|
|
}
|
|
|
|
if (!fwd) {
|
|
// Subtract number of headers to put channel in range
|
|
channel -= kNumRelayHeaders;
|
|
|
|
port->fwd = false; // set to reverse
|
|
} else {
|
|
port->fwd = true; // set to forward
|
|
}
|
|
|
|
port->channel = static_cast<uint8_t>(channel);
|
|
return handle;
|
|
}
|
|
|
|
void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) {
|
|
// no status, so no need to check for a proper free.
|
|
relayHandles.Free(relayPortHandle);
|
|
}
|
|
|
|
HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
|
|
// roboRIO only has 4 headers, and the FPGA has
|
|
// seperate functions for forward and reverse,
|
|
// instead of seperate channel IDs
|
|
return channel < kNumRelayHeaders && channel >= 0;
|
|
}
|
|
|
|
/**
|
|
* Set the state of a relay.
|
|
* Set the state of a relay output.
|
|
*/
|
|
void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
|
|
int32_t* status) {
|
|
auto port = relayHandles.Get(relayPortHandle);
|
|
if (port == nullptr) {
|
|
*status = HAL_HANDLE_ERROR;
|
|
return;
|
|
}
|
|
std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
|
|
uint8_t relays = 0;
|
|
if (port->fwd) {
|
|
relays = relaySystem->readValue_Forward(status);
|
|
} else {
|
|
relays = relaySystem->readValue_Reverse(status);
|
|
}
|
|
|
|
if (*status != 0) return; // bad status read
|
|
|
|
if (on) {
|
|
relays |= 1 << port->channel;
|
|
} else {
|
|
relays &= ~(1 << port->channel);
|
|
}
|
|
|
|
if (port->fwd) {
|
|
relaySystem->writeValue_Forward(relays, status);
|
|
} else {
|
|
relaySystem->writeValue_Reverse(relays, status);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Get the current state of the relay channel
|
|
*/
|
|
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
|
|
auto port = relayHandles.Get(relayPortHandle);
|
|
if (port == nullptr) {
|
|
*status = HAL_HANDLE_ERROR;
|
|
return false;
|
|
}
|
|
|
|
uint8_t relays = 0;
|
|
if (port->fwd) {
|
|
relays = relaySystem->readValue_Forward(status);
|
|
} else {
|
|
relays = relaySystem->readValue_Reverse(status);
|
|
}
|
|
|
|
return (relays & (1 << port->channel)) != 0;
|
|
}
|
|
}
|