HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
int32_t* status) {
/*initializeDigital(status);
if (*status != 0) return HAL_kInvalidHandle;*/
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
if (!fwd) channel += kNumRelayHeaders; // add 4 to reverse channels
auto handle = relayHandles.Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = relayHandles.Get(handle);
if (port == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
if (!fwd) {
// Subtract number of headers to put channel in range
channel -= kNumRelayHeaders;
port->fwd = false; // set to reverse
} else {
port->fwd = true; // set to forward
}
port->channel = static_cast<uint8_t>(channel);
return handle;
}
HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
int32_t* status) {
int16_t channel = getPortHandleChannel(portHandle);
int16_t module = getPortHandleModule(portHandle);
if (channel == InvalidHandleIndex) {
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
// initializePCM will check the module
if (!HAL_CheckSolenoidChannel(channel)) {
*status = RESOURCE_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
initializePCM(module, status);
if (*status != 0) {
return HAL_kInvalidHandle;
}
auto handle =
solenoidHandles.Allocate(module * kNumSolenoidChannels + channel, status);
if (handle == HAL_kInvalidHandle) { // out of resources
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
}
auto solenoidPort = solenoidHandles.Get(handle);
if (solenoidPort == nullptr) { // would only occur on thread issues
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
solenoidPort->module = static_cast<uint8_t>(module);
solenoidPort->channel = static_cast<uint8_t>(channel);
return handle;
}
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle, int32_t* status) {
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
HAL_AnalogOutputHandle handle = analogOutputHandles.Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = analogOutputHandles.Get(handle);
if (port == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
port->channel = static_cast<uint8_t>(channel);
// Initialize sim analog input
SimAnalogOutData[channel].SetInitialized(true);
return handle;
}