mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
fbdc810887
* Use explicit this capture required by C++20 * Use C++20 span * Replace wpi::numbers with std::numbers * Fix C++20 clang-tidy warning false positive in fmt * Remove ciso646 include since C++20 removed that header * Fix global-buffer-overflow asan warnings in ntcore tests * Add DIOSetProxy constructor to HAL * Upgrade MSVC compiler to 2022 * Bump native-utils to 2023.2.7 (changes to std=c++20) Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
90 lines
2.5 KiB
C++
90 lines
2.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/Compressor.h"
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#include <hal/FRCUsageReporting.h>
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#include <hal/Ports.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Errors.h"
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using namespace frc;
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Compressor::Compressor(int module, PneumaticsModuleType moduleType)
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: m_module{PneumaticsBase::GetForType(module, moduleType)} {
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if (!m_module->ReserveCompressor()) {
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throw FRC_MakeError(err::ResourceAlreadyAllocated, "{}", module);
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}
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m_module->EnableCompressorDigital();
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HAL_Report(HALUsageReporting::kResourceType_Compressor, module + 1);
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wpi::SendableRegistry::AddLW(this, "Compressor", module);
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}
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Compressor::Compressor(PneumaticsModuleType moduleType)
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: Compressor{PneumaticsBase::GetDefaultForType(moduleType), moduleType} {}
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Compressor::~Compressor() {
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if (m_module) {
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m_module->UnreserveCompressor();
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}
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}
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bool Compressor::Enabled() const {
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return IsEnabled();
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}
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bool Compressor::IsEnabled() const {
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return m_module->GetCompressor();
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}
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bool Compressor::GetPressureSwitchValue() const {
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return m_module->GetPressureSwitch();
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}
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units::ampere_t Compressor::GetCurrent() const {
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return m_module->GetCompressorCurrent();
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}
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units::volt_t Compressor::GetAnalogVoltage() const {
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return m_module->GetAnalogVoltage(0);
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}
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units::pounds_per_square_inch_t Compressor::GetPressure() const {
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return m_module->GetPressure(0);
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}
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void Compressor::Disable() {
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m_module->DisableCompressor();
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}
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void Compressor::EnableDigital() {
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m_module->EnableCompressorDigital();
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}
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void Compressor::EnableAnalog(units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) {
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m_module->EnableCompressorAnalog(minPressure, maxPressure);
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}
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void Compressor::EnableHybrid(units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) {
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m_module->EnableCompressorHybrid(minPressure, maxPressure);
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}
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CompressorConfigType Compressor::GetConfigType() const {
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return m_module->GetCompressorConfigType();
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}
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void Compressor::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Compressor");
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builder.AddBooleanProperty(
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"Enabled", [this] { return IsEnabled(); }, nullptr);
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builder.AddBooleanProperty(
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"Pressure switch", [this] { return GetPressureSwitchValue(); }, nullptr);
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}
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