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/DutyCycle.cpp b/wpilibc/src/main/native/cpp/DutyCycle.cpp
new file mode 100644
index 0000000..12f390e
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/DutyCycle.cpp
@@ -0,0 +1,100 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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/DutyCycle.h"
+
+#include <hal/DutyCycle.h>
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/DigitalSource.h"
+#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc;
+
+DutyCycle::DutyCycle(DigitalSource* source)
+ : m_source{source, NullDeleter<DigitalSource>()} {
+ if (m_source == nullptr) {
+ wpi_setWPIError(NullParameter);
+ } else {
+ InitDutyCycle();
+ }
+}
+
+DutyCycle::DutyCycle(DigitalSource& source)
+ : m_source{&source, NullDeleter<DigitalSource>()} {
+ InitDutyCycle();
+}
+
+DutyCycle::DutyCycle(std::shared_ptr<DigitalSource> source)
+ : m_source{std::move(source)} {
+ if (m_source == nullptr) {
+ wpi_setWPIError(NullParameter);
+ } else {
+ InitDutyCycle();
+ }
+}
+
+DutyCycle::~DutyCycle() { HAL_FreeDutyCycle(m_handle); }
+
+void DutyCycle::InitDutyCycle() {
+ int32_t status = 0;
+ m_handle =
+ HAL_InitializeDutyCycle(m_source->GetPortHandleForRouting(),
+ static_cast<HAL_AnalogTriggerType>(
+ m_source->GetAnalogTriggerTypeForRouting()),
+ &status);
+ wpi_setHALError(status);
+ int index = GetFPGAIndex();
+ HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
+ SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
+}
+
+int DutyCycle::GetFPGAIndex() const {
+ int32_t status = 0;
+ auto retVal = HAL_GetDutyCycleFPGAIndex(m_handle, &status);
+ wpi_setHALError(status);
+ return retVal;
+}
+
+int DutyCycle::GetFrequency() const {
+ int32_t status = 0;
+ auto retVal = HAL_GetDutyCycleFrequency(m_handle, &status);
+ wpi_setHALError(status);
+ return retVal;
+}
+
+double DutyCycle::GetOutput() const {
+ int32_t status = 0;
+ auto retVal = HAL_GetDutyCycleOutput(m_handle, &status);
+ wpi_setHALError(status);
+ return retVal;
+}
+
+unsigned int DutyCycle::GetOutputRaw() const {
+ int32_t status = 0;
+ auto retVal = HAL_GetDutyCycleOutputRaw(m_handle, &status);
+ wpi_setHALError(status);
+ return retVal;
+}
+
+unsigned int DutyCycle::GetOutputScaleFactor() const {
+ int32_t status = 0;
+ auto retVal = HAL_GetDutyCycleOutputScaleFactor(m_handle, &status);
+ wpi_setHALError(status);
+ return retVal;
+}
+
+int DutyCycle::GetSourceChannel() const { return m_source->GetChannel(); }
+
+void DutyCycle::InitSendable(SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Duty Cycle");
+ builder.AddDoubleProperty("Frequency",
+ [this] { return this->GetFrequency(); }, nullptr);
+ builder.AddDoubleProperty("Output", [this] { return this->GetOutput(); },
+ nullptr);
+}