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/shared/include/SensorBase.h b/wpilibc/shared/include/SensorBase.h
new file mode 100644
index 0000000..8638b5e
--- /dev/null
+++ b/wpilibc/shared/include/SensorBase.h
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "ErrorBase.h"
+#include <stdio.h>
+#include "Base.h"
+
+/**
+ * Base class for all sensors.
+ * Stores most recent status information as well as containing utility functions
+ * for checking
+ * channels and error processing.
+ */
+class SensorBase : public ErrorBase {
+ public:
+ SensorBase();
+ virtual ~SensorBase() = default;
+
+ SensorBase(const SensorBase&) = delete;
+ SensorBase& operator=(const SensorBase&) = delete;
+
+ static void DeleteSingletons();
+
+ static uint32_t GetDefaultSolenoidModule() { return 0; }
+
+ static bool CheckSolenoidModule(uint8_t moduleNumber);
+ static bool CheckDigitalChannel(uint32_t channel);
+ static bool CheckRelayChannel(uint32_t channel);
+ static bool CheckPWMChannel(uint32_t channel);
+ static bool CheckAnalogInput(uint32_t channel);
+ static bool CheckAnalogOutput(uint32_t channel);
+ static bool CheckSolenoidChannel(uint32_t channel);
+ static bool CheckPDPChannel(uint32_t channel);
+
+ static const uint32_t kDigitalChannels = 26;
+ static const uint32_t kAnalogInputs = 8;
+ static const uint32_t kAnalogOutputs = 2;
+ static const uint32_t kSolenoidChannels = 8;
+ static const uint32_t kSolenoidModules = 2;
+ static const uint32_t kPwmChannels = 20;
+ static const uint32_t kRelayChannels = 8;
+ static const uint32_t kPDPChannels = 16;
+ static const uint32_t kChassisSlots = 8;
+
+ protected:
+ void AddToSingletonList();
+
+ static void* m_digital_ports[kDigitalChannels];
+ static void* m_relay_ports[kRelayChannels];
+ static void* m_pwm_ports[kPwmChannels];
+
+ private:
+ static SensorBase* m_singletonList;
+ SensorBase* m_nextSingleton = nullptr;
+};