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
67 lines
1.8 KiB
C++
67 lines
1.8 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 "SolenoidBase.h"
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// Needs to be global since the protected resource spans all Solenoid objects.
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Resource *SolenoidBase::m_allocated = NULL;
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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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*/
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SolenoidBase::SolenoidBase(uint8_t moduleNumber)
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: m_moduleNumber (moduleNumber)
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{
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for (uint32_t i = 0; i < kSolenoidChannels; i++)
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{
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void* port = getPortWithModule(moduleNumber, i+1);
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int32_t status = 0;
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m_ports[i] = initializeSolenoidPort(port, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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}
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/**
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* Destructor.
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*/
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SolenoidBase::~SolenoidBase()
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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 value The value you want to set on the module.
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* @param mask The channels you want to be affected.
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*/
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void SolenoidBase::Set(uint8_t value, uint8_t mask)
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{
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int32_t status = 0;
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for (int i = 0; i < 8; i++) { // XXX: Unhardcode
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uint8_t local_mask = 1 << i;
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if (mask & local_mask)
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setSolenoid(m_ports[i], value & local_mask, &status);
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}
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Read all 8 solenoids as a single byte
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*
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* @return The current value of all 8 solenoids on the module.
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*/
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uint8_t SolenoidBase::GetAll()
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{
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uint8_t value = 0;
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int32_t status = 0;
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for (int i = 0; i < 8; i++) { // XXX: Unhardcode
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value |= getSolenoid(m_ports[i], &status) << i;
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}
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return value;
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}
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