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fc515f4572
HAL Port is using a special handle, where the module and pin are bit shifted straight into the handle. This is one of the few special cases we have, but for the way port is used it is much cleaner and uses much less memory. Plus it is generic and not specific to one type.
115 lines
3.2 KiB
C++
115 lines
3.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 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 "HAL/Solenoid.h"
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#include "ChipObject.h"
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#include "FRC_NetworkCommunication/LoadOut.h"
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#include "HAL/Errors.h"
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#include "ctre/PCM.h"
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#include "handles/HandlesInternal.h"
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static const int NUM_MODULE_NUMBERS = 63;
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PCM* PCM_modules[NUM_MODULE_NUMBERS] = {nullptr};
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struct solenoid_port_t {
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PCM* module;
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uint32_t pin;
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};
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void initializePCM(int module) {
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if (!PCM_modules[module]) {
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PCM_modules[module] = new PCM(module);
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}
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}
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using namespace hal;
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extern "C" {
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void* initializeSolenoidPort(HalPortHandle port_handle, int32_t* status) {
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int16_t pin = getPortHandlePin(port_handle);
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int16_t module = getPortHandleModule(port_handle);
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if (pin == HAL_HANDLE_INVALID_TYPE) {
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*status = PARAMETER_OUT_OF_RANGE;
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return nullptr;
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}
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initializePCM(module);
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solenoid_port_t* solenoid_port = new solenoid_port_t;
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solenoid_port->module = PCM_modules[module];
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solenoid_port->pin = pin;
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return solenoid_port;
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}
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void freeSolenoidPort(void* solenoid_port_pointer) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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delete port;
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}
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bool checkSolenoidModule(uint8_t module) { return module < NUM_MODULE_NUMBERS; }
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bool getSolenoid(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoid(port->pin, value);
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return value;
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}
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uint8_t getAllSolenoids(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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uint8_t value;
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*status = port->module->GetAllSolenoids(value);
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return value;
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}
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void setSolenoid(void* solenoid_port_pointer, bool value, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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*status = port->module->SetSolenoid(port->pin, value);
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}
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int getPCMSolenoidBlackList(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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UINT8 value;
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*status = port->module->GetSolenoidBlackList(value);
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return value;
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}
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bool getPCMSolenoidVoltageStickyFault(void* solenoid_port_pointer,
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int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoidStickyFault(value);
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return value;
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}
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bool getPCMSolenoidVoltageFault(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoidFault(value);
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return value;
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}
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void clearAllPCMStickyFaults_sol(void* solenoid_port_pointer, int32_t* status) {
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solenoid_port_t* port = (solenoid_port_t*)solenoid_port_pointer;
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*status = port->module->ClearStickyFaults();
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}
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} // extern "C"
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