mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
9dc30797e4
According to NI, 0 is unspecified, and all the indices need to be index + 1, so the first index becomes 1.
78 lines
2.5 KiB
C++
78 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2008-2019 FIRST. 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 "frc/DigitalInput.h"
|
|
|
|
#include <limits>
|
|
#include <utility>
|
|
|
|
#include <hal/DIO.h>
|
|
#include <hal/HAL.h>
|
|
#include <hal/Ports.h>
|
|
|
|
#include "frc/SensorUtil.h"
|
|
#include "frc/WPIErrors.h"
|
|
#include "frc/smartdashboard/SendableBuilder.h"
|
|
#include "frc/smartdashboard/SendableRegistry.h"
|
|
|
|
using namespace frc;
|
|
|
|
DigitalInput::DigitalInput(int channel) {
|
|
if (!SensorUtil::CheckDigitalChannel(channel)) {
|
|
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
|
|
"Digital Channel " + wpi::Twine(channel));
|
|
m_channel = std::numeric_limits<int>::max();
|
|
return;
|
|
}
|
|
m_channel = channel;
|
|
|
|
int32_t status = 0;
|
|
m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status);
|
|
if (status != 0) {
|
|
wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(),
|
|
channel, HAL_GetErrorMessage(status));
|
|
m_handle = HAL_kInvalidHandle;
|
|
m_channel = std::numeric_limits<int>::max();
|
|
return;
|
|
}
|
|
|
|
HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
|
|
SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
|
|
}
|
|
|
|
DigitalInput::~DigitalInput() {
|
|
if (StatusIsFatal()) return;
|
|
HAL_FreeDIOPort(m_handle);
|
|
}
|
|
|
|
bool DigitalInput::Get() const {
|
|
if (StatusIsFatal()) return false;
|
|
int32_t status = 0;
|
|
bool value = HAL_GetDIO(m_handle, &status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
return value;
|
|
}
|
|
|
|
HAL_Handle DigitalInput::GetPortHandleForRouting() const { return m_handle; }
|
|
|
|
AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
|
|
return (AnalogTriggerType)0;
|
|
}
|
|
|
|
bool DigitalInput::IsAnalogTrigger() const { return false; }
|
|
|
|
void DigitalInput::SetSimDevice(HAL_SimDeviceHandle device) {
|
|
HAL_SetDIOSimDevice(m_handle, device);
|
|
}
|
|
|
|
int DigitalInput::GetChannel() const { return m_channel; }
|
|
|
|
void DigitalInput::InitSendable(SendableBuilder& builder) {
|
|
builder.SetSmartDashboardType("Digital Input");
|
|
builder.AddBooleanProperty("Value", [=]() { return Get(); }, nullptr);
|
|
}
|