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60ede67abd
Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places. In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested. In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one. This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM. After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors. Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
118 lines
2.9 KiB
C++
118 lines
2.9 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 <memory>
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#include <hal/Types.h>
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#include <units/time.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/PneumaticsBase.h"
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#include "frc/PneumaticsModuleType.h"
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namespace frc {
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/**
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* Solenoid class for running high voltage Digital Output on a pneumatics
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* module.
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*
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* The Solenoid class is typically used for pneumatics solenoids, but could be
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* used for any device within the current spec of the module.
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*/
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class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
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public:
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/**
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* Constructs a solenoid for a specified module and type.
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*
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* @param module The module ID to use.
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* @param moduleType The module type to use.
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* @param channel The channel the solenoid is on.
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*/
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Solenoid(int module, PneumaticsModuleType moduleType, int channel);
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/**
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* Constructs a solenoid for a default module and specified type.
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*
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* @param moduleType The module type to use.
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* @param channel The channel the solenoid is on.
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*/
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Solenoid(PneumaticsModuleType moduleType, int channel);
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~Solenoid() override;
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Solenoid(Solenoid&&) = default;
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Solenoid& operator=(Solenoid&&) = default;
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/**
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* Set the value of a solenoid.
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*
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* @param on Turn the solenoid output off or on.
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*/
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virtual void Set(bool on);
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/**
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* Read the current value of the solenoid.
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*
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* @return The current value of the solenoid.
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*/
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virtual bool Get() const;
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/**
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* Toggle the value of the solenoid.
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*
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* If the solenoid is set to on, it'll be turned off. If the solenoid is set
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* to off, it'll be turned on.
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*/
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void Toggle();
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/**
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* Get the channel this solenoid is connected to.
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*/
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int GetChannel() const;
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/**
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* Check if solenoid is Disabled.
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*
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* If a solenoid is shorted, it is added to the DisabledList and
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* disabled until power cycle, or until faults are cleared.
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*
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* @see ClearAllPCMStickyFaults()
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*
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* @return If solenoid is disabled due to short.
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*/
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bool IsDisabled() const;
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/**
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* Set the pulse duration in the PCM. This is used in conjunction with
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* the startPulse method to allow the PCM to control the timing of a pulse.
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* The timing can be controlled in 0.01 second increments.
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*
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* @param durationSeconds The duration of the pulse, from 0.01 to 2.55
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* seconds.
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*
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* @see startPulse()
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*/
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void SetPulseDuration(units::second_t duration);
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/**
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* %Trigger the PCM to generate a pulse of the duration set in
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* setPulseDuration.
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*
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* @see setPulseDuration()
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*/
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void StartPulse();
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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std::shared_ptr<PneumaticsBase> m_module;
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int m_mask;
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int m_channel;
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};
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} // namespace frc
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