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/simulation/src/Relay.cpp b/wpilibc/simulation/src/Relay.cpp
new file mode 100644
index 0000000..f35d782
--- /dev/null
+++ b/wpilibc/simulation/src/Relay.cpp
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+/*----------------------------------------------------------------------------*/
+/* 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 "Relay.h"
+
+#include "MotorSafetyHelper.h"
+//#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Relay constructor given a channel.
+ *
+ * This code initializes the relay and reserves all resources that need to be
+ * locked. Initially the relay is set to both lines at 0v.
+ * @param channel The channel number (0-3).
+ * @param direction The direction that the Relay object will control.
+ */
+Relay::Relay(uint32_t channel, Relay::Direction direction)
+ : m_channel (channel)
+ , m_direction (direction)
+{
+ char buf[64];
+ if (!SensorBase::CheckRelayChannel(m_channel))
+ {
+ snprintf(buf, 64, "Relay Channel %d", m_channel);
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+ return;
+ }
+
+ m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
+ m_safetyHelper->SetSafetyEnabled(false);
+
+ sprintf(buf, "relay/%d", m_channel);
+ impl = new SimContinuousOutput(buf); // TODO: Allow two different relays (targetting the different halves of a relay) to be combined to control one motor.
+ LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
+ go_pos = go_neg = false;
+}
+
+/**
+ * Free the resource associated with a relay.
+ * The relay channels are set to free and the relay output is turned off.
+ */
+Relay::~Relay()
+{
+ impl->Set(0);
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the relay state.
+ *
+ * Valid values depend on which directions of the relay are controlled by the object.
+ *
+ * When set to kBothDirections, the relay can be any of the four states:
+ * 0v-0v, 0v-12v, 12v-0v, 12v-12v
+ *
+ * When set to kForwardOnly or kReverseOnly, you can specify the constant for the
+ * direction or you can simply specify kOff and kOn. Using only kOff and kOn is
+ * recommended.
+ *
+ * @param value The state to set the relay.
+ */
+void Relay::Set(Relay::Value value)
+{
+ switch (value)
+ {
+ case kOff:
+ if (m_direction == kBothDirections || m_direction == kForwardOnly)
+ {
+ go_pos = false;
+ }
+ if (m_direction == kBothDirections || m_direction == kReverseOnly)
+ {
+ go_neg = false;
+ }
+ break;
+ case kOn:
+ if (m_direction == kBothDirections || m_direction == kForwardOnly)
+ {
+ go_pos = true;
+ }
+ if (m_direction == kBothDirections || m_direction == kReverseOnly)
+ {
+ go_neg = true;
+ }
+ break;
+ case kForward:
+ if (m_direction == kReverseOnly)
+ {
+ wpi_setWPIError(IncompatibleMode);
+ break;
+ }
+ if (m_direction == kBothDirections || m_direction == kForwardOnly)
+ {
+ go_pos = true;
+ }
+ if (m_direction == kBothDirections)
+ {
+ go_neg = false;
+ }
+ break;
+ case kReverse:
+ if (m_direction == kForwardOnly)
+ {
+ wpi_setWPIError(IncompatibleMode);
+ break;
+ }
+ if (m_direction == kBothDirections)
+ {
+ go_pos = false;
+ }
+ if (m_direction == kBothDirections || m_direction == kReverseOnly)
+ {
+ go_neg = true;
+ }
+ break;
+ }
+ impl->Set((go_pos ? 1 : 0) + (go_neg ? -1 : 0));
+}
+
+/**
+ * Get the Relay State
+ *
+ * Gets the current state of the relay.
+ *
+ * When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
+ * kForward/kReverse (per the recommendation in Set)
+ *
+ * @return The current state of the relay as a Relay::Value
+ */
+Relay::Value Relay::Get() const {
+ // TODO: Don't assume that the go_pos and go_neg fields are correct?
+ if ((go_pos || m_direction == kReverseOnly) && (go_neg || m_direction == kForwardOnly)) {
+ return kOn;
+ } else if (go_pos) {
+ return kForward;
+ } else if (go_neg) {
+ return kReverse;
+ } else {
+ return kOff;
+ }
+}
+
+uint32_t Relay::GetChannel() const {
+ return m_channel;
+}
+
+/**
+ * Set the expiration time for the Relay object
+ * @param timeout The timeout (in seconds) for this relay object
+ */
+void Relay::SetExpiration(float timeout) {
+ m_safetyHelper->SetExpiration(timeout);
+}
+
+/**
+ * Return the expiration time for the relay object.
+ * @return The expiration time value.
+ */
+float Relay::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
+
+/**
+ * Check if the relay object is currently alive or stopped due to a timeout.
+ * @returns a bool value that is true if the motor has NOT timed out and should
+ * still be running.
+ */
+bool Relay::IsAlive() const { return m_safetyHelper->IsAlive(); }
+
+/**
+ * Stop the motor associated with this PWM object.
+ * This is called by the MotorSafetyHelper object when it has a timeout for this
+ * relay and needs to stop it from running.
+ */
+void Relay::StopMotor() { Set(kOff); }
+
+/**
+ * Enable/disable motor safety for this device
+ * Turn on and off the motor safety option for this relay object.
+ * @param enabled True if motor safety is enforced for this object
+ */
+void Relay::SetSafetyEnabled(bool enabled) {
+ m_safetyHelper->SetSafetyEnabled(enabled);
+}
+
+/**
+ * Check if motor safety is enabled for this object
+ * @returns True if motor safety is enforced for this object
+ */
+bool Relay::IsSafetyEnabled() const {
+ return m_safetyHelper->IsSafetyEnabled();
+}
+
+void Relay::GetDescription(std::ostringstream& desc) const {
+ desc << "Relay " << GetChannel();
+}
+
+void Relay::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (!value->IsString()) return;
+ if (value->GetString() == "Off") Set(kOff);
+ else if (value->GetString() == "Forward") Set(kForward);
+ else if (value->GetString() == "Reverse") Set(kReverse);
+}
+
+void Relay::UpdateTable() {
+ if(m_table != nullptr){
+ if (Get() == kOn) {
+ m_table->PutString("Value", "On");
+ }
+ else if (Get() == kForward) {
+ m_table->PutString("Value", "Forward");
+ }
+ else if (Get() == kReverse) {
+ m_table->PutString("Value", "Reverse");
+ }
+ else {
+ m_table->PutString("Value", "Off");
+ }
+ }
+}
+
+void Relay::StartLiveWindowMode() {
+ if(m_table != nullptr){
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void Relay::StopLiveWindowMode() {
+ if(m_table != nullptr){
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string Relay::GetSmartDashboardType() const {
+ return "Relay";
+}
+
+void Relay::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Relay::GetTable() const {
+ return m_table;
+}