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https://github.com/wpilibsuite/allwpilib
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120 lines
3.7 KiB
C++
120 lines
3.7 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 "hal/DutyCycle.h"
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#include <string>
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#include "HALInitializer.h"
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#include "HALInternal.h"
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#include "PortsInternal.h"
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#include "hal/Errors.h"
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#include "hal/handles/HandlesInternal.h"
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#include "hal/handles/IndexedHandleResource.h"
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#include "mockdata/DutyCycleDataInternal.h"
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using namespace hal;
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namespace {
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struct DutyCycle {
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uint8_t index;
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std::string previousAllocation;
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};
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struct Empty {};
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} // namespace
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static IndexedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
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HAL_HandleEnum::DutyCycle>* dutyCycleHandles;
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namespace hal::init {
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void InitializeDutyCycle() {
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static IndexedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
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HAL_HandleEnum::DutyCycle>
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dcH;
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dutyCycleHandles = &dcH;
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}
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} // namespace hal::init
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extern "C" {
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HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
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const char* allocationLocation,
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int32_t* status) {
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hal::init::CheckInit();
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HAL_DutyCycleHandle handle = HAL_kInvalidHandle;
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auto dutyCycle = dutyCycleHandles->Allocate(channel, &handle, status);
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if (*status != 0) {
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if (dutyCycle) {
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hal::SetLastErrorPreviouslyAllocated(status, "SmartIo", channel,
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dutyCycle->previousAllocation);
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} else {
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hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Duty Cycle",
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0, kNumDutyCycles, channel);
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}
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return HAL_kInvalidHandle; // failed to allocate. Pass error back.
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}
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int16_t index = getHandleIndex(handle);
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SimDutyCycleData[index].initialized = true;
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SimDutyCycleData[index].simDevice = 0;
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dutyCycle->index = index;
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dutyCycle->previousAllocation = allocationLocation ? allocationLocation : "";
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return handle;
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}
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void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {
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auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
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dutyCycleHandles->Free(dutyCycleHandle);
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if (dutyCycle == nullptr) {
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return;
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}
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SimDutyCycleData[dutyCycle->index].initialized = false;
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}
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void HAL_SetDutyCycleSimDevice(HAL_EncoderHandle handle,
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HAL_SimDeviceHandle device) {
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auto dutyCycle = dutyCycleHandles->Get(handle);
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if (dutyCycle == nullptr) {
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return;
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}
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SimDutyCycleData[dutyCycle->index].simDevice = device;
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}
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double HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
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int32_t* status) {
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auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
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if (dutyCycle == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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return SimDutyCycleData[dutyCycle->index].frequency;
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}
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double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
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int32_t* status) {
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auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
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if (dutyCycle == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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return SimDutyCycleData[dutyCycle->index].output;
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}
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int32_t HAL_GetDutyCycleHighTime(HAL_DutyCycleHandle dutyCycleHandle,
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int32_t* status) {
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auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
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if (dutyCycle == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0;
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}
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if (SimDutyCycleData[dutyCycle->index].frequency == 0) {
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return 0;
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}
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double period = 1e9 / SimDutyCycleData[dutyCycle->index].frequency; // ns
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return period * SimDutyCycleData[dutyCycle->index].output;
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}
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} // extern "C"
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