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/wpilibc/src/main/native/cpp/AnalogTrigger.cpp b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
new file mode 100644
index 0000000..aeb58df
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
@@ -0,0 +1,130 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 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 "frc/AnalogTrigger.h"
+
+#include <utility>
+
+#include <hal/HAL.h>
+
+#include "frc/AnalogInput.h"
+#include "frc/WPIErrors.h"
+
+using namespace frc;
+
+AnalogTrigger::AnalogTrigger(int channel)
+ : AnalogTrigger(new AnalogInput(channel)) {
+ m_ownsAnalog = true;
+ AddChild(m_analogInput);
+}
+
+AnalogTrigger::AnalogTrigger(AnalogInput* input) {
+ m_analogInput = input;
+ int32_t status = 0;
+ int index = 0;
+ m_trigger = HAL_InitializeAnalogTrigger(input->m_port, &index, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_index = std::numeric_limits<int>::max();
+ m_trigger = HAL_kInvalidHandle;
+ return;
+ }
+ m_index = index;
+
+ HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, input->m_channel);
+ SetName("AnalogTrigger", input->GetChannel());
+}
+
+AnalogTrigger::~AnalogTrigger() {
+ int32_t status = 0;
+ HAL_CleanAnalogTrigger(m_trigger, &status);
+
+ if (m_ownsAnalog) {
+ delete m_analogInput;
+ }
+}
+
+AnalogTrigger::AnalogTrigger(AnalogTrigger&& rhs)
+ : ErrorBase(std::move(rhs)),
+ SendableBase(std::move(rhs)),
+ m_index(std::move(rhs.m_index)) {
+ std::swap(m_trigger, rhs.m_trigger);
+ std::swap(m_analogInput, rhs.m_analogInput);
+ std::swap(m_ownsAnalog, rhs.m_ownsAnalog);
+}
+
+AnalogTrigger& AnalogTrigger::operator=(AnalogTrigger&& rhs) {
+ ErrorBase::operator=(std::move(rhs));
+ SendableBase::operator=(std::move(rhs));
+
+ m_index = std::move(rhs.m_index);
+ std::swap(m_trigger, rhs.m_trigger);
+ std::swap(m_analogInput, rhs.m_analogInput);
+ std::swap(m_ownsAnalog, rhs.m_ownsAnalog);
+
+ return *this;
+}
+
+void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void AnalogTrigger::SetLimitsRaw(int lower, int upper) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void AnalogTrigger::SetAveraged(bool useAveragedValue) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void AnalogTrigger::SetFiltered(bool useFilteredValue) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+int AnalogTrigger::GetIndex() const {
+ if (StatusIsFatal()) return -1;
+ return m_index;
+}
+
+bool AnalogTrigger::GetInWindow() {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return result;
+}
+
+bool AnalogTrigger::GetTriggerState() {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return result;
+}
+
+std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
+ AnalogTriggerType type) const {
+ if (StatusIsFatal()) return nullptr;
+ return std::shared_ptr<AnalogTriggerOutput>(
+ new AnalogTriggerOutput(*this, type), NullDeleter<AnalogTriggerOutput>());
+}
+
+void AnalogTrigger::InitSendable(SendableBuilder& builder) {
+ if (m_ownsAnalog) m_analogInput->InitSendable(builder);
+}