wpilibc/Athena/src/AnalogTrigger.cpp

/*----------------------------------------------------------------------------*/
/* 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 "AnalogTrigger.h"

#include "AnalogInput.h"
#include "Resource.h"
#include "WPIErrors.h"
#include "HAL/Port.h"

#include <memory>

/**
 * Constructor for an analog trigger given a channel number.
 *
 * @param channel The channel number on the roboRIO to represent. 0-3 are
 * on-board 4-7 are on the MXP port.
 */
AnalogTrigger::AnalogTrigger(int32_t channel) {
  void* port = getPort(channel);
  int32_t status = 0;
  uint32_t index = 0;
  m_trigger = initializeAnalogTrigger(port, &index, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
  freePort(port);
  m_index = index;

  HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel);
}

/**
 * Construct an analog trigger given an analog input.
 * This should be used in the case of sharing an analog channel between the
 * trigger and an analog input object.
 * @param channel The pointer to the existing AnalogInput object
 */
AnalogTrigger::AnalogTrigger(AnalogInput *input) :
    AnalogTrigger(input->GetChannel()) {
}

AnalogTrigger::~AnalogTrigger() {
  int32_t status = 0;
  cleanAnalogTrigger(m_trigger, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Set the upper and lower limits of the analog trigger.
 * The limits are given in ADC codes.  If oversampling is used, the units must
 * be scaled
 * appropriately.
 * @param lower The lower limit of the trigger in ADC codes (12-bit values).
 * @param upper The upper limit of the trigger in ADC codes (12-bit values).
 */
void AnalogTrigger::SetLimitsRaw(int32_t lower, int32_t upper) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  setAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Set the upper and lower limits of the analog trigger.
 * The limits are given as floating point voltage values.
 * @param lower The lower limit of the trigger in Volts.
 * @param upper The upper limit of the trigger in Volts.
 */
void AnalogTrigger::SetLimitsVoltage(float lower, float upper) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  setAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Configure the analog trigger to use the averaged vs. raw values.
 * If the value is true, then the averaged value is selected for the analog
 * trigger, otherwise
 * the immediate value is used.
 * @param useAveragedValue If true, use the Averaged value, otherwise use the
 * instantaneous reading
 */
void AnalogTrigger::SetAveraged(bool useAveragedValue) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  setAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Configure the analog trigger to use a filtered value.
 * The analog trigger will operate with a 3 point average rejection filter. This
 * is designed to
 * help with 360 degree pot applications for the period where the pot crosses
 * through zero.
 * @param useFilteredValue If true, use the 3 point rejection filter, otherwise
 * use the unfiltered value
 */
void AnalogTrigger::SetFiltered(bool useFilteredValue) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  setAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Return the index of the analog trigger.
 * This is the FPGA index of this analog trigger instance.
 * @return The index of the analog trigger.
 */
uint32_t AnalogTrigger::GetIndex() const {
  if (StatusIsFatal()) return std::numeric_limits<uint32_t>::max();
  return m_index;
}

/**
 * Return the InWindow output of the analog trigger.
 * True if the analog input is between the upper and lower limits.
 * @return True if the analog input is between the upper and lower limits.
 */
bool AnalogTrigger::GetInWindow() {
  if (StatusIsFatal()) return false;
  int32_t status = 0;
  bool result = getAnalogTriggerInWindow(m_trigger, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
  return result;
}

/**
 * Return the TriggerState output of the analog trigger.
 * True if above upper limit.
 * False if below lower limit.
 * If in Hysteresis, maintain previous state.
 * @return True if above upper limit. False if below lower limit. If in
 * Hysteresis, maintain previous state.
 */
bool AnalogTrigger::GetTriggerState() {
  if (StatusIsFatal()) return false;
  int32_t status = 0;
  bool result = getAnalogTriggerTriggerState(m_trigger, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
  return result;
}

/**
 * Creates an AnalogTriggerOutput object.
 * Gets an output object that can be used for routing.
 * Caller is responsible for deleting the AnalogTriggerOutput object.
 * @param type An enum of the type of output object to create.
 * @return A pointer to a new AnalogTriggerOutput object.
 */
std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
    AnalogTriggerType type) const {
  if (StatusIsFatal()) return nullptr;
  return std::shared_ptr<AnalogTriggerOutput>(
      new AnalogTriggerOutput(*this, type), NullDeleter<AnalogTriggerOutput>());
}