mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
87 lines
2.7 KiB
C++
87 lines
2.7 KiB
C++
|
|
#include "HAL/Solenoid.h"
|
|
|
|
#include "Port.h"
|
|
#include "HAL/Errors.h"
|
|
#include "ChipObject.h"
|
|
#include "HAL/cpp/Synchronized.h"
|
|
#include "NetworkCommunication/LoadOut.h"
|
|
|
|
// XXX No solenoid abstraction :(
|
|
|
|
// struct solenoid_port_t {
|
|
// Port port;
|
|
// tSolenoid *module;
|
|
// uint32_t PWMGeneratorID;
|
|
// };
|
|
// typedef struct solenoid_port_t SolenoidPort;
|
|
|
|
// static ReentrantSemaphore solenoidSemaphore;
|
|
// static tSolenoid* solenoidModules[2] = {NULL, NULL};
|
|
|
|
// bool solenoidModulesInitialized = false;
|
|
|
|
// /**
|
|
// * Initialize the digital modules.
|
|
// */
|
|
// void initializeSolenoid(int32_t *status) {
|
|
// if (solenoidModulesInitialized) return;
|
|
|
|
// for (unsigned int i = 0; i < (sizeof(solenoidModules)/sizeof(solenoidModules[0])); i++) {
|
|
// Synchronized sync(solenoidSemaphore);
|
|
// solenoidModules[i] = tSolenoid::create(status);
|
|
// }
|
|
// solenoidModulesInitialized = true;
|
|
// }
|
|
|
|
// void* initializeSolenoidPort(void* port_pointer, int32_t *status) {
|
|
// initializeSolenoid(status);
|
|
// Port* port = (Port*) port_pointer;
|
|
|
|
// // Initialize port structure
|
|
// SolenoidPort* solenoid_port = new SolenoidPort();
|
|
// solenoid_port->port = *port;
|
|
// solenoid_port->module = solenoidModules[solenoid_port->port.module-1];
|
|
|
|
// return solenoid_port;
|
|
// }
|
|
|
|
// bool checkSolenoidModule(uint8_t module) {
|
|
// if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Solenoid, module - 1))
|
|
// return true;
|
|
// return false;
|
|
// }
|
|
|
|
// bool getSolenoid(void* solenoid_port_pointer, int32_t *status) {
|
|
// SolenoidPort* port = (SolenoidPort*) solenoid_port_pointer;
|
|
// if (checkSolenoidModule(port->port.module)) {
|
|
// uint8_t mask = 1 << (port->port.pin - 1);
|
|
// return (mask & port->module->readDO7_0(port->port.module - 1, status));
|
|
// }
|
|
// return false;
|
|
// }
|
|
|
|
// void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {
|
|
// SolenoidPort* port = (SolenoidPort*) solenoid_port_pointer;
|
|
// if (checkSolenoidModule(port->port.module)) {
|
|
// Synchronized sync(solenoidSemaphore);
|
|
// uint8_t currentValue = port->module->readDO7_0(port->port.module - 1, status);
|
|
// uint8_t mask = 1 << (port->port.pin - 1);
|
|
// if (value) currentValue = currentValue | mask; // Flip the bit on
|
|
// else currentValue = currentValue & ~mask; // Flip the bit off
|
|
// port->module->writeDO7_0(port->port.module - 1, currentValue, status);
|
|
// }
|
|
// }
|
|
|
|
// XXX No solenoid abstraction :(
|
|
|
|
/**
|
|
* Initialize the digital modules.
|
|
*/
|
|
void initializeSolenoid(int32_t *status) {}
|
|
void* initializeSolenoidPort(void* port_pointer, int32_t *status) { return NULL; }
|
|
bool checkSolenoidModule(uint8_t module) { return false; }
|
|
bool getSolenoid(void* solenoid_port_pointer, int32_t *status) { return false; }
|
|
void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {}
|
|
|