mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
144 lines
3.3 KiB
C++
144 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Solenoid.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Common function to implement constructor behavior.
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*/
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void Solenoid::InitSolenoid()
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{
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m_table = NULL;
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char buf[64];
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if (!CheckSolenoidModule(m_moduleNumber))
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{
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snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
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wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
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return;
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}
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if (!CheckSolenoidChannel(m_channel))
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{
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snprintf(buf, 64, "Solenoid Channel %d", m_channel);
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
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return;
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}
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Resource::CreateResourceObject(&m_allocated, solenoid_kNumDO7_0Elements * kSolenoidChannels);
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snprintf(buf, 64, "Solenoid %d (Module: %d)", m_channel, m_moduleNumber);
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if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1, buf) == ~0ul)
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{
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CloneError(m_allocated);
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return;
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}
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LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel, this);
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HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel, m_moduleNumber - 1);
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}
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/**
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* Constructor.
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*
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* @param channel The channel on the solenoid module to control (1..8).
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*/
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Solenoid::Solenoid(uint32_t channel)
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: SolenoidBase (GetDefaultSolenoidModule())
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, m_channel (channel)
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{
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InitSolenoid();
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}
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/**
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* Constructor.
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*
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* @param moduleNumber The solenoid module (1 or 2).
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* @param channel The channel on the solenoid module to control (1..8).
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*/
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Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
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: SolenoidBase (moduleNumber)
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, m_channel (channel)
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{
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InitSolenoid();
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}
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/**
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* Destructor.
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*/
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Solenoid::~Solenoid()
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{
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if (CheckSolenoidModule(m_moduleNumber))
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{
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m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1);
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}
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}
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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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void Solenoid::Set(bool on)
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{
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if (StatusIsFatal()) return;
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uint8_t value = on ? 0xFF : 0x00;
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uint8_t mask = 1 << (m_channel - 1);
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SolenoidBase::Set(value, mask);
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}
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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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bool Solenoid::Get()
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{
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if (StatusIsFatal()) return false;
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uint8_t value = GetAll() & ( 1 << (m_channel - 1));
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return (value != 0);
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}
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void Solenoid::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
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Set(value.b);
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}
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void Solenoid::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutBoolean("Value", Get());
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}
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}
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void Solenoid::StartLiveWindowMode() {
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Set(false);
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if (m_table != NULL) {
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m_table->AddTableListener("Value", this, true);
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}
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}
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void Solenoid::StopLiveWindowMode() {
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Set(false);
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if (m_table != NULL) {
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m_table->RemoveTableListener(this);
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}
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}
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std::string Solenoid::GetSmartDashboardType() {
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return "Solenoid";
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}
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void Solenoid::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * Solenoid::GetTable() {
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return m_table;
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}
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