mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
83 lines
2.6 KiB
C++
83 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2008-2017 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "AnalogTriggerOutput.h"
|
|
|
|
#include <HAL/HAL.h>
|
|
|
|
#include "AnalogTrigger.h"
|
|
#include "WPIErrors.h"
|
|
|
|
using namespace frc;
|
|
|
|
/**
|
|
* Create an object that represents one of the four outputs from an analog
|
|
* trigger.
|
|
*
|
|
* Because this class derives from DigitalSource, it can be passed into routing
|
|
* functions for Counter, Encoder, etc.
|
|
*
|
|
* @param trigger A pointer to the trigger for which this is an output.
|
|
* @param outputType An enum that specifies the output on the trigger to
|
|
* represent.
|
|
*/
|
|
AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
|
|
AnalogTriggerType outputType)
|
|
: m_trigger(trigger), m_outputType(outputType) {
|
|
HAL_Report(HALUsageReporting::kResourceType_AnalogTriggerOutput,
|
|
trigger.GetIndex(), static_cast<uint8_t>(outputType));
|
|
}
|
|
|
|
AnalogTriggerOutput::~AnalogTriggerOutput() {
|
|
if (m_interrupt != HAL_kInvalidHandle) {
|
|
int32_t status = 0;
|
|
HAL_CleanInterrupts(m_interrupt, &status);
|
|
// ignore status, as an invalid handle just needs to be ignored.
|
|
m_interrupt = HAL_kInvalidHandle;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Get the state of the analog trigger output.
|
|
*
|
|
* @return The state of the analog trigger output.
|
|
*/
|
|
bool AnalogTriggerOutput::Get() const {
|
|
int32_t status = 0;
|
|
bool result = HAL_GetAnalogTriggerOutput(
|
|
m_trigger.m_trigger, static_cast<HAL_AnalogTriggerType>(m_outputType),
|
|
&status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
return result;
|
|
}
|
|
|
|
/**
|
|
* @return The HAL Handle to the specified source.
|
|
*/
|
|
HAL_Handle AnalogTriggerOutput::GetPortHandleForRouting() const {
|
|
return m_trigger.m_trigger;
|
|
}
|
|
|
|
/**
|
|
* Is source an AnalogTrigger
|
|
*/
|
|
bool AnalogTriggerOutput::IsAnalogTrigger() const { return true; }
|
|
|
|
/**
|
|
* @return The type of analog trigger output to be used.
|
|
*/
|
|
AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const {
|
|
return m_outputType;
|
|
}
|
|
|
|
/**
|
|
* @return The channel of the source.
|
|
*/
|
|
int AnalogTriggerOutput::GetChannel() const { return m_trigger.m_index; }
|
|
|
|
void AnalogTriggerOutput::InitSendable(SendableBuilder&) {}
|