/**
* Destructor.
*/
Solenoid::~Solenoid()
{
if (CheckSolenoidModule(m_moduleNumber))
{
m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1);
}
}
/**
* Common function to implement constructor behavior.
*/
void Solenoid::InitSolenoid()
{
m_table = NULL;
char buf[64];
if (!CheckSolenoidModule(m_moduleNumber))
{
snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
if (!CheckSolenoidChannel(m_channel))
{
snprintf(buf, 64, "Solenoid Channel %d", m_channel);
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
return;
}
Resource::CreateResourceObject(&m_allocated, tSolenoid::kNumDO7_0Elements * kSolenoidChannels);
snprintf(buf, 64, "Solenoid %d (Module: %d)", m_channel, m_moduleNumber);
if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1, buf) == ~0ul)
{
CloneError(m_allocated);
return;
}
LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel, this);
nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_channel, m_moduleNumber - 1);
}
/**
* Constructor.
*
* @param moduleNumber The CAN ID of the PCM the solenoid is attached to
* @param channel The channel on the PCM to control (0..7).
*/
Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
: SolenoidBase(moduleNumber), m_channel(channel) {
std::stringstream buf;
if (!CheckSolenoidModule(m_moduleNumber)) {
buf << "Solenoid Module " << m_moduleNumber;
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
return;
}
if (!CheckSolenoidChannel(m_channel)) {
buf << "Solenoid Module " << m_channel;
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
return;
}
Resource::CreateResourceObject(m_allocated, m_maxModules * m_maxPorts);
buf << "Solenoid " << m_channel << " (Module: " << m_moduleNumber << ")";
if (m_allocated->Allocate(m_moduleNumber * kSolenoidChannels + m_channel,
buf.str()) ==
std::numeric_limits<uint32_t>::max()) {
CloneError(*m_allocated);
return;
}
#if FULL_WPILIB
LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel,
this);
#endif
HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel,
m_moduleNumber);
}
/**
* Destructor.
*/
DoubleSolenoid::~DoubleSolenoid()
{
if (CheckSolenoidModule(m_moduleNumber))
{
m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
}
}
/**
* Destructor.
*/
Solenoid::~Solenoid() {
if (CheckSolenoidModule(m_moduleNumber)) {
m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_channel);
}
#if FULL_WPILIB
if (m_table != nullptr) m_table->RemoveTableListener(this);
#endif
}
/**
* Read all 8 solenoids as a single byte
*
* @return The current value of all 8 solenoids on the module.
*/
UINT8 SolenoidBase::GetAll()
{
if (CheckSolenoidModule(m_moduleNumber))
{
tRioStatusCode localStatus = NiFpga_Status_Success;
UINT8 solenoids = m_fpgaSolenoidModule->readDO7_0(m_moduleNumber - 1, &localStatus);
wpi_setError(localStatus);
return solenoids;
}
return 0;
}
/**
* Destructor.
*/
SolenoidBase::~SolenoidBase()
{
Synchronized sync(m_semaphore);
if (CheckSolenoidModule(m_moduleNumber))
{
if (m_refCount == 1)
{
delete m_fpgaSolenoidModule;
m_fpgaSolenoidModule = NULL;
}
m_refCount--;
}
}
/**
* Set the value of a solenoid.
*
* @param value The value you want to set on the module.
* @param mask The channels you want to be affected.
*/
void SolenoidBase::Set(UINT8 value, UINT8 mask)
{
tRioStatusCode localStatus = NiFpga_Status_Success;
if (CheckSolenoidModule(m_moduleNumber))
{
Synchronized sync(m_semaphore);
UINT8 currentValue = m_fpgaSolenoidModule->readDO7_0(m_moduleNumber - 1, &localStatus);
// Zero out the values to change
currentValue = currentValue & ~mask;
currentValue = currentValue | (value & mask);
m_fpgaSolenoidModule->writeDO7_0(m_moduleNumber - 1, currentValue, &localStatus);
}
wpi_setError(localStatus);
}
/**
* Common function to implement constructor behavior.
*/
void Solenoid::InitSolenoid()
{
Resource::CreateResourceObject(&allocated, tSolenoid::kNumSystems * kSolenoidChannels);
CheckSolenoidModule(m_chassisSlot);
CheckSolenoidChannel(m_channel);
m_refCount++;
if (m_refCount == 1)
{
// Needs to be global since the protected resource spans all Solenoid objects.
m_semaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
m_fpgaSolenoidModule = new tSolenoid(&status);
}
allocated->Allocate(SlotToIndex(m_chassisSlot) * kSolenoidChannels + m_channel - 1);
wpi_assertCleanStatus(status);
}
/**
* Common function to implement constructor behavior.
*/
void DoubleSolenoid::InitSolenoid()
{
char buf[64];
if (!CheckSolenoidModule(m_moduleNumber))
{
snprintf(buf, 64, "Solenoid Module %lu", m_moduleNumber);
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return;
}
if (!CheckSolenoidChannel(m_forwardChannel))
{
snprintf(buf, 64, "Solenoid Channel %lu", m_forwardChannel);
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
return;
}
if (!CheckSolenoidChannel(m_reverseChannel))
{
snprintf(buf, 64, "Solenoid Channel %lu", m_reverseChannel);
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
return;
}
Resource::CreateResourceObject(&m_allocated, tSolenoid::kNumDO7_0Elements * kSolenoidChannels);
snprintf(buf, 64, "Solenoid %lu (Module %lu)", m_forwardChannel, m_moduleNumber);
if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1, buf) == ~0ul)
{
CloneError(m_allocated);
return;
}
snprintf(buf, 64, "Solenoid %lu (Module %lu)", m_reverseChannel, m_moduleNumber);
if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1, buf) == ~0ul)
{
CloneError(m_allocated);
return;
}
m_forwardMask = 1 << (m_forwardChannel - 1);
m_reverseMask = 1 << (m_reverseChannel - 1);
nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_forwardChannel, m_moduleNumber - 1);
nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_reverseChannel, m_moduleNumber - 1);
LiveWindow::GetInstance()->AddActuator("Double Solenoid", m_moduleNumber, m_forwardChannel, this);
}
