mirror of
https://github.com/wpilibsuite/allwpilib
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140 lines
3.9 KiB
C++
140 lines
3.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Solenoid.h"
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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#include <sstream>
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/**
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* Constructor using the default PCM ID (0).
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*
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* @param channel The channel on the PCM to control (0..7).
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*/
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Solenoid::Solenoid(uint32_t channel)
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: Solenoid(GetDefaultSolenoidModule(), channel) {}
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/**
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* Constructor.
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*
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* @param moduleNumber The CAN ID of the PCM the solenoid is attached to
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* @param channel The channel on the PCM to control (0..7).
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*/
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Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
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: SolenoidBase(moduleNumber), m_channel(channel) {
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std::stringstream buf;
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if (!CheckSolenoidModule(m_moduleNumber)) {
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buf << "Solenoid Module " << m_moduleNumber;
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wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
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return;
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}
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if (!CheckSolenoidChannel(m_channel)) {
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buf << "Solenoid Module " << m_channel;
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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return;
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}
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int32_t status = 0;
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m_solenoidHandle =
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initializeSolenoidPort(getPortWithModule(moduleNumber, channel), &status);
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if (status != 0) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_solenoidHandle = HAL_INVALID_HANDLE;
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return;
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}
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LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel,
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this);
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HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel,
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m_moduleNumber);
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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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freeSolenoidPort(m_solenoidHandle);
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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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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if (StatusIsFatal()) return;
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int32_t status = 0;
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setSolenoid(m_solenoidHandle, on, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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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() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value = getSolenoid(m_solenoidHandle, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return value;
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}
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/**
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* Check if solenoid is blacklisted.
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*
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* If a solenoid is shorted, it is added to the blacklist and
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* disabled until power cycle, or until faults are cleared.
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*
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* @see ClearAllPCMStickyFaults()
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*
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* @return If solenoid is disabled due to short.
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*/
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bool Solenoid::IsBlackListed() const {
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int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
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return (value != 0);
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}
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void Solenoid::ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) {
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if (!value->IsBoolean()) return;
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Set(value->GetBoolean());
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}
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void Solenoid::UpdateTable() {
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if (m_table != nullptr) {
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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 != nullptr) {
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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 != nullptr) {
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m_table->RemoveTableListener(this);
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}
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}
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std::string Solenoid::GetSmartDashboardType() const { return "Solenoid"; }
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void Solenoid::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> Solenoid::GetTable() const { return m_table; }
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