Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/hal/src/main/native/athena/Relay.cpp b/hal/src/main/native/athena/Relay.cpp
new file mode 100644
index 0000000..9f7d6c0
--- /dev/null
+++ b/hal/src/main/native/athena/Relay.cpp
@@ -0,0 +1,143 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "hal/Relay.h"
+
+#include "DigitalInternal.h"
+#include "HALInitializer.h"
+#include "PortsInternal.h"
+#include "hal/handles/IndexedHandleResource.h"
+
+using namespace hal;
+
+namespace {
+
+struct Relay {
+ uint8_t channel;
+ bool fwd;
+};
+
+} // namespace
+
+static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
+ HAL_HandleEnum::Relay>* relayHandles;
+
+// Create a mutex to protect changes to the relay values
+static wpi::mutex digitalRelayMutex;
+
+namespace hal {
+namespace init {
+void InitializeRelay() {
+ static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
+ HAL_HandleEnum::Relay>
+ rH;
+ relayHandles = &rH;
+}
+} // namespace init
+} // namespace hal
+
+extern "C" {
+
+HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
+ int32_t* status) {
+ hal::init::CheckInit();
+ initializeDigital(status);
+
+ if (*status != 0) return HAL_kInvalidHandle;
+
+ int16_t channel = getPortHandleChannel(portHandle);
+ if (channel == InvalidHandleIndex) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ return HAL_kInvalidHandle;
+ }
+
+ if (!fwd) channel += kNumRelayHeaders; // add 4 to reverse channels
+
+ auto handle = relayHandles->Allocate(channel, status);
+
+ if (*status != 0)
+ return HAL_kInvalidHandle; // failed to allocate. Pass error back.
+
+ auto port = relayHandles->Get(handle);
+ if (port == nullptr) { // would only occur on thread issue.
+ *status = HAL_HANDLE_ERROR;
+ return HAL_kInvalidHandle;
+ }
+
+ if (!fwd) {
+ // Subtract number of headers to put channel in range
+ channel -= kNumRelayHeaders;
+
+ port->fwd = false; // set to reverse
+ } else {
+ port->fwd = true; // set to forward
+ }
+
+ port->channel = static_cast<uint8_t>(channel);
+ return handle;
+}
+
+void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) {
+ // no status, so no need to check for a proper free.
+ relayHandles->Free(relayPortHandle);
+}
+
+HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
+ // roboRIO only has 4 headers, and the FPGA has
+ // seperate functions for forward and reverse,
+ // instead of seperate channel IDs
+ return channel < kNumRelayHeaders && channel >= 0;
+}
+
+void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
+ int32_t* status) {
+ auto port = relayHandles->Get(relayPortHandle);
+ if (port == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ std::lock_guard<wpi::mutex> lock(digitalRelayMutex);
+ uint8_t relays = 0;
+ if (port->fwd) {
+ relays = relaySystem->readValue_Forward(status);
+ } else {
+ relays = relaySystem->readValue_Reverse(status);
+ }
+
+ if (*status != 0) return; // bad status read
+
+ if (on) {
+ relays |= 1 << port->channel;
+ } else {
+ relays &= ~(1 << port->channel);
+ }
+
+ if (port->fwd) {
+ relaySystem->writeValue_Forward(relays, status);
+ } else {
+ relaySystem->writeValue_Reverse(relays, status);
+ }
+}
+
+HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
+ auto port = relayHandles->Get(relayPortHandle);
+ if (port == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ uint8_t relays = 0;
+ if (port->fwd) {
+ relays = relaySystem->readValue_Forward(status);
+ } else {
+ relays = relaySystem->readValue_Reverse(status);
+ }
+
+ return (relays & (1 << port->channel)) != 0;
+}
+
+} // extern "C"