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/sim/Solenoid.cpp b/hal/src/main/native/sim/Solenoid.cpp
new file mode 100644
index 0000000..d3f0c5d
--- /dev/null
+++ b/hal/src/main/native/sim/Solenoid.cpp
@@ -0,0 +1,136 @@
+/*----------------------------------------------------------------------------*/
+/* 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/Solenoid.h"
+
+#include "HALInitializer.h"
+#include "PortsInternal.h"
+#include "hal/Errors.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/IndexedHandleResource.h"
+#include "mockdata/PCMDataInternal.h"
+
+namespace {
+struct Solenoid {
+ uint8_t module;
+ uint8_t channel;
+};
+} // namespace
+
+using namespace hal;
+
+static IndexedHandleResource<HAL_SolenoidHandle, Solenoid,
+ kNumPCMModules * kNumSolenoidChannels,
+ HAL_HandleEnum::Solenoid>* solenoidHandles;
+
+namespace hal {
+namespace init {
+void InitializeSolenoid() {
+ static IndexedHandleResource<HAL_SolenoidHandle, Solenoid,
+ kNumPCMModules * kNumSolenoidChannels,
+ HAL_HandleEnum::Solenoid>
+ sH;
+ solenoidHandles = &sH;
+}
+} // namespace init
+} // namespace hal
+
+extern "C" {
+HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
+ int32_t* status) {
+ hal::init::CheckInit();
+ int16_t channel = getPortHandleChannel(portHandle);
+ int16_t module = getPortHandleModule(portHandle);
+ if (channel == InvalidHandleIndex) {
+ *status = HAL_HANDLE_ERROR;
+ return HAL_kInvalidHandle;
+ }
+
+ if (!HAL_CheckSolenoidChannel(channel)) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ return HAL_kInvalidHandle;
+ }
+
+ if (!HAL_CheckSolenoidModule(module)) {
+ *status = RESOURCE_OUT_OF_RANGE;
+ return HAL_kInvalidHandle;
+ }
+
+ auto handle = solenoidHandles->Allocate(
+ module * kNumSolenoidChannels + channel, status);
+ if (handle == HAL_kInvalidHandle) { // out of resources
+ *status = NO_AVAILABLE_RESOURCES;
+ return HAL_kInvalidHandle;
+ }
+ auto solenoidPort = solenoidHandles->Get(handle);
+ if (solenoidPort == nullptr) { // would only occur on thread issues
+ *status = HAL_HANDLE_ERROR;
+ return HAL_kInvalidHandle;
+ }
+ solenoidPort->module = static_cast<uint8_t>(module);
+ solenoidPort->channel = static_cast<uint8_t>(channel);
+
+ HALSIM_SetPCMSolenoidInitialized(module, channel, true);
+
+ return handle;
+}
+void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoidPortHandle) {
+ auto port = solenoidHandles->Get(solenoidPortHandle);
+ if (port == nullptr) return;
+ solenoidHandles->Free(solenoidPortHandle);
+ HALSIM_SetPCMSolenoidInitialized(port->module, port->channel, false);
+}
+HAL_Bool HAL_CheckSolenoidModule(int32_t module) {
+ return module < kNumPCMModules && module >= 0;
+}
+
+HAL_Bool HAL_CheckSolenoidChannel(int32_t channel) {
+ return channel < kNumSolenoidChannels && channel >= 0;
+}
+HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoidPortHandle,
+ int32_t* status) {
+ auto port = solenoidHandles->Get(solenoidPortHandle);
+ if (port == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return false;
+ }
+
+ return HALSIM_GetPCMSolenoidOutput(port->module, port->channel);
+}
+int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status) {
+ int32_t total = 0;
+ for (int i = 0; i < kNumSolenoidChannels; i++) {
+ int32_t channel = HALSIM_GetPCMSolenoidOutput(module, i) ? 1 : 0;
+ total = total + (channel << i);
+ }
+
+ return total;
+}
+void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value,
+ int32_t* status) {
+ auto port = solenoidHandles->Get(solenoidPortHandle);
+ if (port == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ HALSIM_SetPCMSolenoidOutput(port->module, port->channel, value);
+}
+int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status) {
+ return 0;
+}
+HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status) {
+ return 0;
+}
+HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status) {
+ return 0;
+}
+void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status) {}
+void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
+ int32_t durMS, int32_t* status) {}
+void HAL_FireOneShot(HAL_SolenoidHandle solenoidPortHandle, int32_t* status) {}
+} // extern "C"