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https://github.com/wpilibsuite/allwpilib
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87 lines
2.7 KiB
C++
87 lines
2.7 KiB
C++
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#include "HAL/Solenoid.hpp"
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#include "Port.h"
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#include "HAL/Errors.hpp"
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#include "ChipObject.h"
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#include "HAL/cpp/Synchronized.hpp"
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#include "NetworkCommunication/LoadOut.h"
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// XXX No solenoid abstraction :(
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// struct solenoid_port_t {
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// Port port;
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// tSolenoid *module;
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// uint32_t PWMGeneratorID;
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// };
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// typedef struct solenoid_port_t SolenoidPort;
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// static ReentrantSemaphore solenoidSemaphore;
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// static tSolenoid* solenoidModules[2] = {NULL, NULL};
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// bool solenoidModulesInitialized = false;
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// /**
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// * Initialize the digital modules.
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// */
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// void initializeSolenoid(int32_t *status) {
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// if (solenoidModulesInitialized) return;
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// for (unsigned int i = 0; i < (sizeof(solenoidModules)/sizeof(solenoidModules[0])); i++) {
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// Synchronized sync(solenoidSemaphore);
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// solenoidModules[i] = tSolenoid::create(status);
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// }
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// solenoidModulesInitialized = true;
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// }
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// void* initializeSolenoidPort(void* port_pointer, int32_t *status) {
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// initializeSolenoid(status);
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// Port* port = (Port*) port_pointer;
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// // Initialize port structure
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// SolenoidPort* solenoid_port = new SolenoidPort();
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// solenoid_port->port = *port;
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// solenoid_port->module = solenoidModules[solenoid_port->port.module-1];
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// return solenoid_port;
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// }
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// bool checkSolenoidModule(uint8_t module) {
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// if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Solenoid, module - 1))
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// return true;
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// return false;
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// }
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// bool getSolenoid(void* solenoid_port_pointer, int32_t *status) {
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// SolenoidPort* port = (SolenoidPort*) solenoid_port_pointer;
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// if (checkSolenoidModule(port->port.module)) {
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// uint8_t mask = 1 << (port->port.pin - 1);
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// return (mask & port->module->readDO7_0(port->port.module - 1, status));
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// }
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// return false;
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// }
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// void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {
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// SolenoidPort* port = (SolenoidPort*) solenoid_port_pointer;
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// if (checkSolenoidModule(port->port.module)) {
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// Synchronized sync(solenoidSemaphore);
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// uint8_t currentValue = port->module->readDO7_0(port->port.module - 1, status);
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// uint8_t mask = 1 << (port->port.pin - 1);
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// if (value) currentValue = currentValue | mask; // Flip the bit on
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// else currentValue = currentValue & ~mask; // Flip the bit off
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// port->module->writeDO7_0(port->port.module - 1, currentValue, status);
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// }
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// }
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// XXX No solenoid abstraction :(
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/**
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* Initialize the digital modules.
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*/
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void initializeSolenoid(int32_t *status) {}
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void* initializeSolenoidPort(void* port_pointer, int32_t *status) { return NULL; }
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bool checkSolenoidModule(uint8_t module) { return false; }
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bool getSolenoid(void* solenoid_port_pointer, int32_t *status) { return false; }
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void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {}
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