Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/src/DoubleSolenoid.cpp b/wpilibc/Athena/src/DoubleSolenoid.cpp
new file mode 100644
index 0000000..4fb2943
--- /dev/null
+++ b/wpilibc/Athena/src/DoubleSolenoid.cpp
@@ -0,0 +1,197 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "DoubleSolenoid.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+#include <sstream>
+
+/**
+ * Constructor.
+ * Uses the default PCM ID of 0
+ * @param forwardChannel The forward channel number on the PCM (0..7).
+ * @param reverseChannel The reverse channel number on the PCM (0..7).
+ */
+DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
+ : DoubleSolenoid(GetDefaultSolenoidModule(), forwardChannel, reverseChannel) {}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The CAN ID of the PCM.
+ * @param forwardChannel The forward channel on the PCM to control (0..7).
+ * @param reverseChannel The reverse channel on the PCM to control (0..7).
+ */
+DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel,
+ uint32_t reverseChannel)
+ : SolenoidBase(moduleNumber),
+ m_forwardChannel(forwardChannel),
+ m_reverseChannel(reverseChannel) {
+ std::stringstream buf;
+ if (!CheckSolenoidModule(m_moduleNumber)) {
+ buf << "Solenoid Module " << m_moduleNumber;
+ wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
+ return;
+ }
+ if (!CheckSolenoidChannel(m_forwardChannel)) {
+ buf << "Solenoid Module " << m_forwardChannel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+ if (!CheckSolenoidChannel(m_reverseChannel)) {
+ buf << "Solenoid Module " << m_reverseChannel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+ Resource::CreateResourceObject(
+ m_allocated, m_maxModules * m_maxPorts);
+
+ buf << "Solenoid " << m_forwardChannel << " (Module: " << m_moduleNumber
+ << ")";
+ if (m_allocated->Allocate(
+ m_moduleNumber * kSolenoidChannels + m_forwardChannel, buf.str()) ==
+ std::numeric_limits<uint32_t>::max()) {
+ CloneError(*m_allocated);
+ return;
+ }
+
+ buf << "Solenoid " << m_reverseChannel << " (Module: " << m_moduleNumber
+ << ")";
+ if (m_allocated->Allocate(
+ m_moduleNumber * kSolenoidChannels + m_reverseChannel, buf.str()) ==
+ std::numeric_limits<uint32_t>::max()) {
+ CloneError(*m_allocated);
+ return;
+ }
+
+ m_forwardMask = 1 << m_forwardChannel;
+ m_reverseMask = 1 << m_reverseChannel;
+ HALReport(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel,
+ m_moduleNumber);
+ HALReport(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel,
+ m_moduleNumber);
+ LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber,
+ m_forwardChannel, this);
+}
+
+/**
+ * Destructor.
+ */
+DoubleSolenoid::~DoubleSolenoid() {
+ if (CheckSolenoidModule(m_moduleNumber)) {
+ m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
+ m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
+ }
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the value of a solenoid.
+ *
+ * @param value The value to set (Off, Forward or Reverse)
+ */
+void DoubleSolenoid::Set(Value value) {
+ if (StatusIsFatal()) return;
+ uint8_t rawValue = 0x00;
+
+ switch (value) {
+ case kOff:
+ rawValue = 0x00;
+ break;
+ case kForward:
+ rawValue = m_forwardMask;
+ break;
+ case kReverse:
+ rawValue = m_reverseMask;
+ break;
+ }
+
+ SolenoidBase::Set(rawValue, m_forwardMask | m_reverseMask, m_moduleNumber);
+}
+
+/**
+ * Read the current value of the solenoid.
+ *
+ * @return The current value of the solenoid.
+ */
+DoubleSolenoid::Value DoubleSolenoid::Get() const {
+ if (StatusIsFatal()) return kOff;
+ uint8_t value = GetAll(m_moduleNumber);
+
+ if (value & m_forwardMask) return kForward;
+ if (value & m_reverseMask) return kReverse;
+ return kOff;
+}
+/**
+ * Check if the forward solenoid is blacklisted.
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool DoubleSolenoid::IsFwdSolenoidBlackListed() const {
+ int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
+ return (blackList & m_forwardMask) ? 1 : 0;
+}
+/**
+ * Check if the reverse solenoid is blacklisted.
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
+ int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
+ return (blackList & m_reverseMask) ? 1 : 0;
+}
+
+void DoubleSolenoid::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value,
+ bool isNew) {
+ if (!value->IsString()) return;
+ Value lvalue = kOff;
+ if (value->GetString() == "Forward")
+ lvalue = kForward;
+ else if (value->GetString() == "Reverse")
+ lvalue = kReverse;
+ Set(lvalue);
+}
+
+void DoubleSolenoid::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutString(
+ "Value", (Get() == kForward ? "Forward"
+ : (Get() == kReverse ? "Reverse" : "Off")));
+ }
+}
+
+void DoubleSolenoid::StartLiveWindowMode() {
+ Set(kOff);
+ if (m_table != nullptr) {
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void DoubleSolenoid::StopLiveWindowMode() {
+ Set(kOff);
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string DoubleSolenoid::GetSmartDashboardType() const {
+ return "Double Solenoid";
+}
+
+void DoubleSolenoid::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> DoubleSolenoid::GetTable() const { return m_table; }