mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
115 lines
3.3 KiB
C++
115 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "DigitalInput.h"
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#include <limits>
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#include <sstream>
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindow.h"
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#include "Resource.h"
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#include "WPIErrors.h"
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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(uint32_t channel) {
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std::stringstream buf;
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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<uint32_t>::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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allocateDIO(m_digital_ports[channel], true, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this);
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HALReport(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 != nullptr) {
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int32_t status = 0;
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cleanInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_interrupt = nullptr;
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m_interrupts->Free(m_interruptIndex);
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}
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int32_t status = 0;
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freeDIO(m_digital_ports[m_channel], &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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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 = getDIO(m_digital_ports[m_channel], &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(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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uint32_t DigitalInput::GetChannel() const { return m_channel; }
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/**
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* @return The value to be written to the channel field of a routing mux.
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*/
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uint32_t DigitalInput::GetChannelForRouting() const { return GetChannel(); }
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/**
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* @return The value to be written to the module field of a routing mux.
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*/
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uint32_t DigitalInput::GetModuleForRouting() const { return 0; }
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/**
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* @return The value to be written to the analog trigger field of a routing mux.
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*/
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bool DigitalInput::GetAnalogTriggerForRouting() const { return false; }
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void DigitalInput::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutBoolean("Value", Get());
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}
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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<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> DigitalInput::GetTable() const { return m_table; }
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