This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Compressor.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Compressor.cpp
new file mode 100644
index 0000000..4760c02
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Compressor.cpp
@@ -0,0 +1,194 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "Compressor.h"
+#include "DigitalInput.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "Timer.h"
+#include "WPIErrors.h"
+
+/**
+ * Internal task.
+ *
+ * Task which checks the compressor pressure switch and operates the relay as necessary
+ * depending on the pressure.
+ *
+ * Do not call this function directly.
+ */
+static void CompressorChecker(Compressor *c)
+{
+ while (1)
+ {
+ if (c->Enabled())
+ {
+ c->SetRelayValue( c->GetPressureSwitchValue() == 0 ? Relay::kOn : Relay::kOff );
+ }
+ else
+ {
+ c->SetRelayValue(Relay::kOff);
+ }
+ Wait(0.5);
+ }
+}
+
+/**
+ * Initialize the Compressor object.
+ * This method is the common initialization code for all the constructors for the Compressor
+ * object. It takes the relay channel and pressure switch channel and spawns a task that polls the
+ * compressor and sensor.
+ *
+ * You MUST start the compressor by calling the Start() method.
+ */
+void Compressor::InitCompressor(UINT8 pressureSwitchModuleNumber,
+ UINT32 pressureSwitchChannel,
+ UINT8 compresssorRelayModuleNumber,
+ UINT32 compressorRelayChannel)
+{
+ m_enabled = false;
+ m_pressureSwitch = new DigitalInput(pressureSwitchModuleNumber, pressureSwitchChannel);
+ m_relay = new Relay(compresssorRelayModuleNumber, compressorRelayChannel, Relay::kForwardOnly);
+
+ nUsageReporting::report(nUsageReporting::kResourceType_Compressor, 0);
+
+ if (!m_task.Start((INT32)this))
+ {
+ wpi_setWPIError(CompressorTaskError);
+ }
+}
+
+/**
+ * Compressor constructor.
+ * Given a fully specified relay channel and pressure switch channel, initialize the Compressor object.
+ *
+ * You MUST start the compressor by calling the Start() method.
+ *
+ * @param pressureSwitchModuleNumber The digital module that the pressure switch is attached to.
+ * @param pressureSwitchChannel The GPIO channel that the pressure switch is attached to.
+ * @param compresssorRelayModuleNumber The digital module that the compressor relay is attached to.
+ * @param compressorRelayChannel The relay channel that the compressor relay is attached to.
+ */
+Compressor::Compressor(UINT8 pressureSwitchModuleNumber,
+ UINT32 pressureSwitchChannel,
+ UINT8 compresssorRelayModuleNumber,
+ UINT32 compressorRelayChannel)
+ : m_task ("Compressor", (FUNCPTR)CompressorChecker)
+{
+ InitCompressor(pressureSwitchModuleNumber,
+ pressureSwitchChannel,
+ compresssorRelayModuleNumber,
+ compressorRelayChannel);
+}
+
+/**
+ * Compressor constructor.
+ * Given a relay channel and pressure switch channel (both in the default digital module), initialize
+ * the Compressor object.
+ *
+ * You MUST start the compressor by calling the Start() method.
+ *
+ * @param pressureSwitchChannel The GPIO channel that the pressure switch is attached to.
+ * @param compressorRelayChannel The relay channel that the compressor relay is attached to.
+ */
+Compressor::Compressor(UINT32 pressureSwitchChannel, UINT32 compressorRelayChannel)
+ : m_task ("Compressor", (FUNCPTR)CompressorChecker)
+{
+ InitCompressor(GetDefaultDigitalModule(),
+ pressureSwitchChannel,
+ GetDefaultDigitalModule(),
+ compressorRelayChannel);
+}
+
+/**
+ * Delete the Compressor object.
+ * Delete the allocated resources for the compressor and kill the compressor task that is polling
+ * the pressure switch.
+ */
+Compressor::~Compressor()
+{
+ delete m_pressureSwitch;
+ delete m_relay;
+}
+
+/**
+ * Operate the relay for the compressor.
+ * Change the value of the relay output that is connected to the compressor motor.
+ * This is only intended to be called by the internal polling thread.
+ */
+void Compressor::SetRelayValue(Relay::Value relayValue)
+{
+ m_relay->Set(relayValue);
+}
+
+/**
+ * Get the pressure switch value.
+ * Read the pressure switch digital input.
+ *
+ * @return The current state of the pressure switch.
+ */
+UINT32 Compressor::GetPressureSwitchValue()
+{
+ return m_pressureSwitch->Get();
+}
+
+/**
+ * Start the compressor.
+ * This method will allow the polling loop to actually operate the compressor. The
+ * is stopped by default and won't operate until starting it.
+ */
+void Compressor::Start()
+{
+ m_enabled = true;
+}
+
+/**
+ * Stop the compressor.
+ * This method will stop the compressor from turning on.
+ */
+void Compressor::Stop()
+{
+ m_enabled = false;
+}
+
+/**
+ * Get the state of the enabled flag.
+ * Return the state of the enabled flag for the compressor and pressure switch
+ * combination.
+ *
+ * @return The state of the compressor thread's enable flag.
+ */
+bool Compressor::Enabled()
+{
+ return m_enabled;
+}
+
+void Compressor::UpdateTable() {
+ if (m_table != NULL) {
+ m_table->PutBoolean("Enabled", m_enabled);
+ m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
+ }
+}
+
+void Compressor::StartLiveWindowMode() {
+
+}
+
+void Compressor::StopLiveWindowMode() {
+
+}
+
+std::string Compressor::GetSmartDashboardType() {
+ return "Compressor";
+}
+
+void Compressor::InitTable(ITable *subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+ITable * Compressor::GetTable() {
+ return m_table;
+}
+