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https://github.com/wpilibsuite/allwpilib
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eee30c49e2
This will be replaced by a different mechanism, but removing it eases the initial implementation burden of a new Telemetry/Sendable framework.
133 lines
4.2 KiB
C++
133 lines
4.2 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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#include "frc/AnalogTrigger.h"
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#include <memory>
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#include <utility>
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#include <hal/AnalogTrigger.h>
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#include <hal/FRCUsageReporting.h>
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#include <wpi/NullDeleter.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/AnalogInput.h"
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#include "frc/DutyCycle.h"
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#include "frc/Errors.h"
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using namespace frc;
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AnalogTrigger::AnalogTrigger(int channel)
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: AnalogTrigger(std::make_shared<AnalogInput>(channel)) {
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m_ownsAnalog = true;
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wpi::SendableRegistry::AddChild(this, m_analogInput.get());
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}
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AnalogTrigger::AnalogTrigger(AnalogInput& input)
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: AnalogTrigger{{&input, wpi::NullDeleter<AnalogInput>{}}} {}
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AnalogTrigger::AnalogTrigger(AnalogInput* input)
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: AnalogTrigger{{input, wpi::NullDeleter<AnalogInput>{}}} {}
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AnalogTrigger::AnalogTrigger(std::shared_ptr<AnalogInput> input)
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: m_analogInput{std::move(input)} {
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int32_t status = 0;
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m_trigger = HAL_InitializeAnalogTrigger(m_analogInput->m_port, &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_analogInput->GetChannel());
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int index = GetIndex();
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HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
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wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
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}
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AnalogTrigger::AnalogTrigger(DutyCycle& input)
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: AnalogTrigger{{&input, wpi::NullDeleter<DutyCycle>{}}} {}
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AnalogTrigger::AnalogTrigger(DutyCycle* input)
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: AnalogTrigger{{input, wpi::NullDeleter<DutyCycle>{}}} {}
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AnalogTrigger::AnalogTrigger(std::shared_ptr<DutyCycle> input)
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: m_dutyCycle{input} {
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int32_t status = 0;
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m_trigger = HAL_InitializeAnalogTriggerDutyCycle(input->m_handle, &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_dutyCycle->GetSourceChannel());
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int index = GetIndex();
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HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
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wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
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}
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void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {
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int32_t status = 0;
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HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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}
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void AnalogTrigger::SetLimitsDutyCycle(double lower, double upper) {
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int32_t status = 0;
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HAL_SetAnalogTriggerLimitsDutyCycle(m_trigger, lower, upper, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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}
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void AnalogTrigger::SetLimitsRaw(int lower, int upper) {
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int32_t status = 0;
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HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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}
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void AnalogTrigger::SetAveraged(bool useAveragedValue) {
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int32_t status = 0;
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HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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}
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void AnalogTrigger::SetFiltered(bool useFilteredValue) {
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int32_t status = 0;
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HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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}
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int AnalogTrigger::GetIndex() const {
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int32_t status = 0;
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auto ret = HAL_GetAnalogTriggerFPGAIndex(m_trigger, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return ret;
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}
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bool AnalogTrigger::GetInWindow() {
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int32_t status = 0;
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bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return result;
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}
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bool AnalogTrigger::GetTriggerState() {
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int32_t status = 0;
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bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status);
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FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return result;
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}
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std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
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AnalogTriggerType type) const {
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return std::shared_ptr<AnalogTriggerOutput>(
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new AnalogTriggerOutput(*this, type));
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}
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void AnalogTrigger::InitSendable(wpi::SendableBuilder& builder) {
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if (m_ownsAnalog) {
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m_analogInput->InitSendable(builder);
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}
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}
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int AnalogTrigger::GetSourceChannel() const {
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if (m_analogInput) {
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return m_analogInput->GetChannel();
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} else if (m_dutyCycle) {
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return m_dutyCycle->GetSourceChannel();
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} else {
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return -1;
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}
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}
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