mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
9bcff37b93
Cleans up error writing, and allows fewer headers to be included in many of the wpilibc cpp files. This removes all usages of the hal/HAL.h header.
160 lines
4.4 KiB
C++
160 lines
4.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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 "frc/DigitalOutput.h"
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#include <limits>
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#include <utility>
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#include <hal/DIO.h>
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#include <hal/FRCUsageReporting.h>
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#include <hal/HALBase.h>
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#include <hal/Ports.h>
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#include "frc/SensorUtil.h"
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#include "frc/WPIErrors.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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DigitalOutput::DigitalOutput(int channel) {
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m_pwmGenerator = HAL_kInvalidHandle;
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if (!SensorUtil::CheckDigitalChannel(channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
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"Digital Channel " + wpi::Twine(channel));
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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), false, &status);
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if (status != 0) {
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wpi_setHALErrorWithRange(status, 0, HAL_GetNumDigitalChannels(), channel);
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m_channel = std::numeric_limits<int>::max();
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m_handle = HAL_kInvalidHandle;
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
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SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
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}
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DigitalOutput::~DigitalOutput() {
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if (StatusIsFatal()) return;
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// Disable the PWM in case it was running.
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DisablePWM();
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HAL_FreeDIOPort(m_handle);
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}
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void DigitalOutput::Set(bool value) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetDIO(m_handle, value, &status);
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wpi_setHALError(status);
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}
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bool DigitalOutput::Get() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool val = HAL_GetDIO(m_handle, &status);
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wpi_setHALError(status);
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return val;
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}
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HAL_Handle DigitalOutput::GetPortHandleForRouting() const { return m_handle; }
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AnalogTriggerType DigitalOutput::GetAnalogTriggerTypeForRouting() const {
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return (AnalogTriggerType)0;
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}
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bool DigitalOutput::IsAnalogTrigger() const { return false; }
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int DigitalOutput::GetChannel() const { return m_channel; }
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void DigitalOutput::Pulse(double length) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_Pulse(m_handle, length, &status);
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wpi_setHALError(status);
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}
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bool DigitalOutput::IsPulsing() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value = HAL_IsPulsing(m_handle, &status);
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wpi_setHALError(status);
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return value;
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}
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void DigitalOutput::SetPWMRate(double rate) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetDigitalPWMRate(rate, &status);
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wpi_setHALError(status);
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}
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void DigitalOutput::EnablePWM(double initialDutyCycle) {
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if (m_pwmGenerator != HAL_kInvalidHandle) return;
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int32_t status = 0;
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if (StatusIsFatal()) return;
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m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
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wpi_setHALError(status);
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if (StatusIsFatal()) return;
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HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
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wpi_setHALError(status);
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if (StatusIsFatal()) return;
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HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
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wpi_setHALError(status);
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}
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void DigitalOutput::DisablePWM() {
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if (StatusIsFatal()) return;
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if (m_pwmGenerator == HAL_kInvalidHandle) return;
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int32_t status = 0;
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// Disable the output by routing to a dead bit.
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HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, SensorUtil::kDigitalChannels,
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&status);
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wpi_setHALError(status);
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HAL_FreeDigitalPWM(m_pwmGenerator, &status);
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wpi_setHALError(status);
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m_pwmGenerator = HAL_kInvalidHandle;
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}
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void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
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wpi_setHALError(status);
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}
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void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
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HAL_SetDIOSimDevice(m_handle, device);
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}
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void DigitalOutput::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Digital Output");
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builder.AddBooleanProperty("Value", [=]() { return Get(); },
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[=](bool value) { Set(value); });
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}
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