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https://github.com/wpilibsuite/allwpilib
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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
3.0 KiB
C++
115 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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 "AnalogOutput.h"
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindow.h"
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#include "Resource.h"
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#include "WPIErrors.h"
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#include <limits>
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#include <sstream>
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static std::unique_ptr<Resource> outputs;
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/**
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* Construct an analog output on the given channel.
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*
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* All analog outputs are located on the MXP port.
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*
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* @param channel The channel number on the roboRIO to represent.
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*/
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AnalogOutput::AnalogOutput(uint32_t channel) {
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Resource::CreateResourceObject(outputs, kAnalogOutputs);
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std::stringstream buf;
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buf << "analog input " << channel;
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if (!checkAnalogOutputChannel(channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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m_channel = std::numeric_limits<uint32_t>::max();
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m_port = nullptr;
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return;
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}
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if (outputs->Allocate(channel, buf.str()) ==
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std::numeric_limits<uint32_t>::max()) {
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CloneError(*outputs);
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m_channel = std::numeric_limits<uint32_t>::max();
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m_port = nullptr;
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return;
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}
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m_channel = channel;
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HalPortHandle port = getPort(m_channel);
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int32_t status = 0;
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m_port = initializeAnalogOutputPort(port, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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freePort(port);
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LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
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HALReport(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
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}
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/**
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* Destructor.
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*
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* Frees analog output resource.
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*/
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AnalogOutput::~AnalogOutput() {
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freeAnalogOutputPort(m_port);
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outputs->Free(m_channel);
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}
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/**
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* Set the value of the analog output.
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*
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* @param voltage The output value in Volts, from 0.0 to +5.0
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*/
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void AnalogOutput::SetVoltage(float voltage) {
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int32_t status = 0;
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setAnalogOutput(m_port, voltage, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Get the voltage of the analog output
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*
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* @return The value in Volts, from 0.0 to +5.0
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*/
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float AnalogOutput::GetVoltage() const {
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int32_t status = 0;
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float voltage = getAnalogOutput(m_port, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return voltage;
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}
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void AnalogOutput::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Value", GetVoltage());
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}
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}
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void AnalogOutput::StartLiveWindowMode() {}
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void AnalogOutput::StopLiveWindowMode() {}
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std::string AnalogOutput::GetSmartDashboardType() const {
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return "Analog Output";
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}
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void AnalogOutput::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> AnalogOutput::GetTable() const { return m_table; }
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