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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
144 lines
3.8 KiB
C++
144 lines
3.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 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 "hal/Relay.h"
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#include "DigitalInternal.h"
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#include "HALInitializer.h"
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#include "PortsInternal.h"
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#include "hal/handles/IndexedHandleResource.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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} // namespace
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static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
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HAL_HandleEnum::Relay>* relayHandles;
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// Create a mutex to protect changes to the relay values
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static wpi::mutex digitalRelayMutex;
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namespace hal {
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namespace init {
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void InitializeRelay() {
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static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
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HAL_HandleEnum::Relay>
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rH;
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relayHandles = &rH;
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}
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} // namespace init
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} // namespace hal
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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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hal::init::CheckInit();
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initializeDigital(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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} else {
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port->fwd = true; // set to forward
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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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// no status, so no need to check for a proper free.
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relayHandles->Free(relayPortHandle);
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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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std::lock_guard<wpi::mutex> lock(digitalRelayMutex);
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uint8_t relays = 0;
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if (port->fwd) {
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relays = relaySystem->readValue_Forward(status);
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} else {
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relays = relaySystem->readValue_Reverse(status);
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}
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if (*status != 0) return; // bad status read
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if (on) {
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relays |= 1 << port->channel;
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} else {
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relays &= ~(1 << port->channel);
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}
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if (port->fwd) {
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relaySystem->writeValue_Forward(relays, status);
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} else {
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relaySystem->writeValue_Reverse(relays, status);
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}
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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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uint8_t relays = 0;
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if (port->fwd) {
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relays = relaySystem->readValue_Forward(status);
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} else {
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relays = relaySystem->readValue_Reverse(status);
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}
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return (relays & (1 << port->channel)) != 0;
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}
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} // extern "C"
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