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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
109 lines
4.1 KiB
C++
109 lines
4.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 FIRST. 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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#pragma once
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#include "frc/DigitalSource.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class AnalogTrigger;
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/**
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* Class to represent a specific output from an analog trigger.
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*
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* This class is used to get the current output value and also as a
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* DigitalSource to provide routing of an output to digital subsystems on the
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* FPGA such as Counter, Encoder, and Interrupt.
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*
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* The TriggerState output indicates the primary output value of the trigger.
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* If the analog signal is less than the lower limit, the output is false. If
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* the analog value is greater than the upper limit, then the output is true.
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* If the analog value is in between, then the trigger output state maintains
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* its most recent value.
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*
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* The InWindow output indicates whether or not the analog signal is inside the
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* range defined by the limits.
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*
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* The RisingPulse and FallingPulse outputs detect an instantaneous transition
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* from above the upper limit to below the lower limit, and vise versa. These
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* pulses represent a rollover condition of a sensor and can be routed to an up
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* / down counter or to interrupts. Because the outputs generate a pulse, they
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* cannot be read directly. To help ensure that a rollover condition is not
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* missed, there is an average rejection filter available that operates on the
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* upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples.
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* This will reject a sample that is (due to averaging or sampling) errantly
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* between the two limits. This filter will fail if more than one sample in a
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* row is errantly in between the two limits. You may see this problem if
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* attempting to use this feature with a mechanical rollover sensor, such as a
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* 360 degree no-stop potentiometer without signal conditioning, because the
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* rollover transition is not sharp / clean enough. Using the averaging engine
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* may help with this, but rotational speeds of the sensor will then be limited.
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*/
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class AnalogTriggerOutput : public DigitalSource,
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public Sendable,
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public SendableHelper<AnalogTriggerOutput> {
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friend class AnalogTrigger;
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public:
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/**
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* Get the state of the analog trigger output.
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*
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* @return The state of the analog trigger output.
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*/
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bool Get() const;
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// DigitalSource interface
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/**
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* @return The HAL Handle to the specified source.
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*/
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HAL_Handle GetPortHandleForRouting() const override;
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/**
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* @return The type of analog trigger output to be used.
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*/
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AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
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/**
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* Is source an AnalogTrigger
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*/
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bool IsAnalogTrigger() const override;
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/**
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* @return The channel of the source.
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*/
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int GetChannel() const override;
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void InitSendable(SendableBuilder& builder) override;
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protected:
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/**
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* Create an object that represents one of the four outputs from an analog
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* trigger.
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*
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* Because this class derives from DigitalSource, it can be passed into
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* routing functions for Counter, Encoder, etc.
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*
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* @param trigger A pointer to the trigger for which this is an output.
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* @param outputType An enum that specifies the output on the trigger to
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* represent.
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*/
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AnalogTriggerOutput(const AnalogTrigger& trigger,
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AnalogTriggerType outputType);
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private:
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// Uses pointer rather than smart pointer because a user can not construct
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// an AnalogTriggerOutput themselves and because the AnalogTriggerOutput
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// should always be in scope at the same time as an AnalogTrigger.
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const AnalogTrigger* m_trigger;
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AnalogTriggerType m_outputType;
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};
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} // namespace frc
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