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76 lines
2.4 KiB
C++
76 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "AnalogTriggerOutput.h"
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#include "AnalogTrigger.h"
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#include "HAL/HAL.h"
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#include "WPIErrors.h"
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/**
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* Create an object that represents one of the four outputs from an analog
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* trigger.
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*
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* Because this class derives from DigitalSource, it can be passed into routing
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* functions for Counter, Encoder, etc.
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*
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* @param trigger A pointer to the trigger for which this is an output.
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* @param outputType An enum that specifies the output on the trigger to
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* represent.
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*/
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AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
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AnalogTriggerType outputType)
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: m_trigger(trigger), m_outputType(outputType) {
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HALReport(HALUsageReporting::kResourceType_AnalogTriggerOutput,
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trigger.GetIndex(), outputType);
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}
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AnalogTriggerOutput::~AnalogTriggerOutput() {
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if (m_interrupt != HAL_INVALID_HANDLE) {
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int32_t status = 0;
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cleanInterrupts(m_interrupt, &status);
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// ignore status, as an invalid handle just needs to be ignored.
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m_interrupt = HAL_INVALID_HANDLE;
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}
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}
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/**
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* Get the state of the analog trigger output.
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*
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* @return The state of the analog trigger output.
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*/
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bool AnalogTriggerOutput::Get() const {
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int32_t status = 0;
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bool result =
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getAnalogTriggerOutput(m_trigger.m_trigger, m_outputType, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return result;
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}
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/**
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* @return The HAL Handle to the specified source.
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*/
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HalHandle AnalogTriggerOutput::GetPortHandleForRouting() const {
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return m_trigger.m_trigger;
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}
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/**
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* Is source an AnalogTrigger
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*/
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bool AnalogTriggerOutput::IsAnalogTrigger() const { return true; }
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/**
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* @return The type of analog trigger output to be used.
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*/
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AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const {
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return m_outputType;
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}
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/**
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* @return The channel of the source.
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*/
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uint32_t AnalogTriggerOutput::GetChannel() const { return m_trigger.m_index; }
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