mirror of
https://github.com/wpilibsuite/allwpilib
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126 lines
3.5 KiB
C++
126 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. 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 "DigitalInput.h"
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#include <limits>
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#include <HAL/DIO.h>
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#include <HAL/HAL.h>
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#include <HAL/Ports.h>
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#include <llvm/SmallString.h>
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#include <llvm/raw_ostream.h>
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Create an instance of a Digital Input class.
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*
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* Creates a digital input given a channel.
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*
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* @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
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*/
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DigitalInput::DigitalInput(int channel) {
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llvm::SmallString<32> str;
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llvm::raw_svector_ostream buf(str);
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if (!CheckDigitalChannel(channel)) {
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buf << "Digital Channel " << channel;
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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m_channel = std::numeric_limits<int>::max();
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return;
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}
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m_channel = channel;
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int32_t status = 0;
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m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(),
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channel, HAL_GetErrorMessage(status));
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m_handle = HAL_kInvalidHandle;
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m_channel = std::numeric_limits<int>::max();
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return;
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}
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LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this);
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HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel);
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}
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/**
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* Free resources associated with the Digital Input class.
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*/
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DigitalInput::~DigitalInput() {
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if (StatusIsFatal()) return;
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if (m_interrupt != HAL_kInvalidHandle) {
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int32_t status = 0;
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HAL_CleanInterrupts(m_interrupt, &status);
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// Ignore status, as an invalid handle just needs to be ignored.
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m_interrupt = HAL_kInvalidHandle;
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}
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HAL_FreeDIOPort(m_handle);
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}
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/**
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* Get the value from a digital input channel.
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*
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* Retrieve the value of a single digital input channel from the FPGA.
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*/
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bool DigitalInput::Get() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value = HAL_GetDIO(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* @return The GPIO channel number that this object represents.
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*/
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int DigitalInput::GetChannel() const { return m_channel; }
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/**
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* @return The HAL Handle to the specified source.
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*/
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HAL_Handle DigitalInput::GetPortHandleForRouting() const { return m_handle; }
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/**
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* Is source an AnalogTrigger
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*/
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bool DigitalInput::IsAnalogTrigger() const { return false; }
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/**
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* @return The type of analog trigger output to be used. 0 for Digitals
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*/
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AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
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return (AnalogTriggerType)0;
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}
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void DigitalInput::UpdateTable() {
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if (m_valueEntry) m_valueEntry.SetBoolean(Get());
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}
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void DigitalInput::StartLiveWindowMode() {}
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void DigitalInput::StopLiveWindowMode() {}
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std::string DigitalInput::GetSmartDashboardType() const {
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return "DigitalInput";
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}
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void DigitalInput::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
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if (subTable) {
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m_valueEntry = subTable->GetEntry("Value");
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UpdateTable();
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} else {
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m_valueEntry = nt::NetworkTableEntry();
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}
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}
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