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https://github.com/wpilibsuite/allwpilib
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c3908660b1
As discussed, we don't really need the error checking specifically, as we are just going to throw exceptions anyway, so this will make sure you can check for 0 and be sure you catch any handle errors.
115 lines
3.2 KiB
C++
115 lines
3.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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/Solenoid.h"
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#include "ChipObject.h"
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#include "FRC_NetworkCommunication/LoadOut.h"
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#include "HAL/Errors.h"
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#include "ctre/PCM.h"
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#include "handles/HandlesInternal.h"
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static const int NUM_MODULE_NUMBERS = 63;
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PCM* PCM_modules[NUM_MODULE_NUMBERS] = {nullptr};
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struct solenoid_port_t {
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PCM* module;
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uint32_t pin;
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};
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void initializePCM(int module) {
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if (!PCM_modules[module]) {
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PCM_modules[module] = new PCM(module);
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}
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}
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using namespace hal;
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extern "C" {
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void* initializeSolenoidPort(HalPortHandle port_handle, int32_t* status) {
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int16_t pin = getPortHandlePin(port_handle);
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int16_t module = getPortHandleModule(port_handle);
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if (pin == InvalidHandleIndex) {
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*status = PARAMETER_OUT_OF_RANGE;
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return nullptr;
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}
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initializePCM(module);
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solenoid_port_t* solenoid_port = new solenoid_port_t;
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solenoid_port->module = PCM_modules[module];
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solenoid_port->pin = pin;
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return solenoid_port;
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}
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void freeSolenoidPort(void* solenoid_port_pointer) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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delete port;
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}
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bool checkSolenoidModule(uint8_t module) { return module < NUM_MODULE_NUMBERS; }
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bool getSolenoid(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoid(port->pin, value);
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return value;
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}
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uint8_t getAllSolenoids(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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uint8_t value;
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*status = port->module->GetAllSolenoids(value);
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return value;
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}
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void setSolenoid(void* solenoid_port_pointer, bool value, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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*status = port->module->SetSolenoid(port->pin, value);
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}
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int getPCMSolenoidBlackList(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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UINT8 value;
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*status = port->module->GetSolenoidBlackList(value);
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return value;
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}
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bool getPCMSolenoidVoltageStickyFault(void* solenoid_port_pointer,
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int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoidStickyFault(value);
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return value;
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}
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bool getPCMSolenoidVoltageFault(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoidFault(value);
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return value;
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}
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void clearAllPCMStickyFaults_sol(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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*status = port->module->ClearStickyFaults();
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}
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} // extern "C"
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