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/Solenoid.cpp b/wpilibc/Athena/src/Solenoid.cpp
new file mode 100644
index 0000000..5174f98
--- /dev/null
+++ b/wpilibc/Athena/src/Solenoid.cpp
@@ -0,0 +1,135 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "Solenoid.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+#include <sstream>
+
+/**
+ * Constructor using the default PCM ID (0).
+ *
+ * @param channel The channel on the PCM to control (0..7).
+ */
+Solenoid::Solenoid(uint32_t channel)
+ : Solenoid(GetDefaultSolenoidModule(), channel) {}
+
+/**
+ * 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;
+ }
+
+ LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel,
+ this);
+ HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel,
+ m_moduleNumber);
+}
+
+/**
+ * Destructor.
+ */
+Solenoid::~Solenoid() {
+ if (CheckSolenoidModule(m_moduleNumber)) {
+ m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_channel);
+ }
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the value of a solenoid.
+ *
+ * @param on Turn the solenoid output off or on.
+ */
+void Solenoid::Set(bool on) {
+ if (StatusIsFatal()) return;
+ uint8_t value = on ? 0xFF : 0x00;
+ uint8_t mask = 1 << m_channel;
+
+ SolenoidBase::Set(value, mask, m_moduleNumber);
+}
+
+/**
+ * Read the current value of the solenoid.
+ *
+ * @return The current value of the solenoid.
+ */
+bool Solenoid::Get() const {
+ if (StatusIsFatal()) return false;
+ uint8_t value = GetAll(m_moduleNumber) & (1 << m_channel);
+ return (value != 0);
+}
+/**
+ * Check if 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 Solenoid::IsBlackListed() const {
+ int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
+ return (value != 0);
+}
+
+void Solenoid::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (!value->IsBoolean()) return;
+ Set(value->GetBoolean());
+}
+
+void Solenoid::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutBoolean("Value", Get());
+ }
+}
+
+void Solenoid::StartLiveWindowMode() {
+ Set(false);
+ if (m_table != nullptr) {
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void Solenoid::StopLiveWindowMode() {
+ Set(false);
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string Solenoid::GetSmartDashboardType() const { return "Solenoid"; }
+
+void Solenoid::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Solenoid::GetTable() const { return m_table; }