mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
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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