Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/wpilibc/src/main/native/cpp/DigitalOutput.cpp b/wpilibc/src/main/native/cpp/DigitalOutput.cpp
new file mode 100644
index 0000000..6e9b09b
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/DigitalOutput.cpp
@@ -0,0 +1,159 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 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/DigitalOutput.h"
+
+#include <limits>
+#include <utility>
+
+#include <hal/DIO.h>
+#include <hal/FRCUsageReporting.h>
+#include <hal/HALBase.h>
+#include <hal/Ports.h>
+
+#include "frc/SensorUtil.h"
+#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc;
+
+DigitalOutput::DigitalOutput(int channel) {
+ m_pwmGenerator = HAL_kInvalidHandle;
+ if (!SensorUtil::CheckDigitalChannel(channel)) {
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
+ "Digital Channel " + wpi::Twine(channel));
+ m_channel = std::numeric_limits<int>::max();
+ return;
+ }
+ m_channel = channel;
+
+ int32_t status = 0;
+ m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), false, &status);
+ if (status != 0) {
+ wpi_setHALErrorWithRange(status, 0, HAL_GetNumDigitalChannels(), channel);
+ m_channel = std::numeric_limits<int>::max();
+ m_handle = HAL_kInvalidHandle;
+ return;
+ }
+
+ HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
+ SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
+}
+
+DigitalOutput::~DigitalOutput() {
+ if (StatusIsFatal()) return;
+ // Disable the PWM in case it was running.
+ DisablePWM();
+
+ HAL_FreeDIOPort(m_handle);
+}
+
+void DigitalOutput::Set(bool value) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+ HAL_SetDIO(m_handle, value, &status);
+ wpi_setHALError(status);
+}
+
+bool DigitalOutput::Get() const {
+ if (StatusIsFatal()) return false;
+
+ int32_t status = 0;
+ bool val = HAL_GetDIO(m_handle, &status);
+ wpi_setHALError(status);
+ return val;
+}
+
+HAL_Handle DigitalOutput::GetPortHandleForRouting() const { return m_handle; }
+
+AnalogTriggerType DigitalOutput::GetAnalogTriggerTypeForRouting() const {
+ return (AnalogTriggerType)0;
+}
+
+bool DigitalOutput::IsAnalogTrigger() const { return false; }
+
+int DigitalOutput::GetChannel() const { return m_channel; }
+
+void DigitalOutput::Pulse(double length) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+ HAL_Pulse(m_handle, length, &status);
+ wpi_setHALError(status);
+}
+
+bool DigitalOutput::IsPulsing() const {
+ if (StatusIsFatal()) return false;
+
+ int32_t status = 0;
+ bool value = HAL_IsPulsing(m_handle, &status);
+ wpi_setHALError(status);
+ return value;
+}
+
+void DigitalOutput::SetPWMRate(double rate) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+ HAL_SetDigitalPWMRate(rate, &status);
+ wpi_setHALError(status);
+}
+
+void DigitalOutput::EnablePWM(double initialDutyCycle) {
+ if (m_pwmGenerator != HAL_kInvalidHandle) return;
+
+ int32_t status = 0;
+
+ if (StatusIsFatal()) return;
+ m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
+ wpi_setHALError(status);
+
+ if (StatusIsFatal()) return;
+ HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
+ wpi_setHALError(status);
+
+ if (StatusIsFatal()) return;
+ HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
+ wpi_setHALError(status);
+}
+
+void DigitalOutput::DisablePWM() {
+ if (StatusIsFatal()) return;
+ if (m_pwmGenerator == HAL_kInvalidHandle) return;
+
+ int32_t status = 0;
+
+ // Disable the output by routing to a dead bit.
+ HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, SensorUtil::kDigitalChannels,
+ &status);
+ wpi_setHALError(status);
+
+ HAL_FreeDigitalPWM(m_pwmGenerator, &status);
+ wpi_setHALError(status);
+
+ m_pwmGenerator = HAL_kInvalidHandle;
+}
+
+void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
+ if (StatusIsFatal()) return;
+
+ int32_t status = 0;
+ HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
+ wpi_setHALError(status);
+}
+
+void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
+ HAL_SetDIOSimDevice(m_handle, device);
+}
+
+void DigitalOutput::InitSendable(SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Digital Output");
+ builder.AddBooleanProperty("Value", [=]() { return Get(); },
+ [=](bool value) { Set(value); });
+}