mirror of
https://github.com/wpilibsuite/allwpilib
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e1195e8b9d
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
110 lines
3.2 KiB
C++
110 lines
3.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. 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 "HAL/Relay.h"
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#include "HAL/handles/IndexedHandleResource.h"
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#include "MockData/RelayDataInternal.h"
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#include "PortsInternal.h"
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using namespace hal;
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namespace {
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struct Relay {
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uint8_t channel;
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bool fwd;
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};
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}
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static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
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HAL_HandleEnum::Relay>
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relayHandles;
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extern "C" {
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HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
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int32_t* status) {
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if (*status != 0) return HAL_kInvalidHandle;
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int16_t channel = getPortHandleChannel(portHandle);
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if (channel == InvalidHandleIndex) {
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*status = PARAMETER_OUT_OF_RANGE;
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return HAL_kInvalidHandle;
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}
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if (!fwd) channel += kNumRelayHeaders; // add 4 to reverse channels
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auto handle = relayHandles.Allocate(channel, status);
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if (*status != 0)
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return HAL_kInvalidHandle; // failed to allocate. Pass error back.
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auto port = relayHandles.Get(handle);
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if (port == nullptr) { // would only occur on thread issue.
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*status = HAL_HANDLE_ERROR;
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return HAL_kInvalidHandle;
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}
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if (!fwd) {
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// Subtract number of headers to put channel in range
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channel -= kNumRelayHeaders;
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port->fwd = false; // set to reverse
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SimRelayData[channel].SetInitializedReverse(true);
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} else {
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port->fwd = true; // set to forward
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SimRelayData[channel].SetInitializedForward(true);
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}
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port->channel = static_cast<uint8_t>(channel);
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return handle;
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}
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void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) {
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auto port = relayHandles.Get(relayPortHandle);
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relayHandles.Free(relayPortHandle);
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if (port == nullptr) return;
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if (port->fwd)
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SimRelayData[port->channel].SetInitializedForward(false);
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else
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SimRelayData[port->channel].SetInitializedReverse(false);
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}
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HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
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// roboRIO only has 4 headers, and the FPGA has
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// seperate functions for forward and reverse,
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// instead of seperate channel IDs
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return channel < kNumRelayHeaders && channel >= 0;
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}
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void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
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int32_t* status) {
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auto port = relayHandles.Get(relayPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (port->fwd)
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SimRelayData[port->channel].SetForward(on);
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else
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SimRelayData[port->channel].SetReverse(on);
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}
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HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
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auto port = relayHandles.Get(relayPortHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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if (port->fwd)
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return SimRelayData[port->channel].GetForward();
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else
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return SimRelayData[port->channel].GetReverse();
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}
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}
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