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/DigitalInput.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/DigitalInput.cpp
new file mode 100644
index 0000000..b5c5566
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/DigitalInput.cpp
@@ -0,0 +1,227 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DigitalInput.h"
+#include "DigitalModule.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "Resource.h"
+#include "WPIErrors.h"
+
+// TODO: This is not a good place for this...
+Resource *interruptsResource = NULL;
+
+/**
+ * Create an instance of a DigitalInput.
+ * Creates a digital input given a slot and channel. Common creation routine
+ * for all constructors.
+ */
+void DigitalInput::InitDigitalInput(UINT8 moduleNumber, UINT32 channel)
+{
+ char buf[64];
+ Resource::CreateResourceObject(&interruptsResource, tInterrupt::kNumSystems);
+ if (!CheckDigitalModule(moduleNumber))
+ {
+ snprintf(buf, 64, "Digital Module %d", moduleNumber);
+ wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
+ return;
+ }
+ if (!CheckDigitalChannel(channel))
+ {
+ snprintf(buf, 64, "Digital Channel %d", channel);
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+ return;
+ }
+ m_channel = channel;
+ m_module = DigitalModule::GetInstance(moduleNumber);
+ m_module->AllocateDIO(channel, true);
+
+ nUsageReporting::report(nUsageReporting::kResourceType_DigitalInput, channel, moduleNumber - 1);
+}
+
+/**
+ * Create an instance of a Digital Input class.
+ * Creates a digital input given a channel and uses the default module.
+ *
+ * @param channel The digital channel (1..14).
+ */
+DigitalInput::DigitalInput(UINT32 channel)
+{
+ InitDigitalInput(GetDefaultDigitalModule(), channel);
+}
+
+/**
+ * Create an instance of a Digital Input class.
+ * Creates a digital input given an channel and module.
+ *
+ * @param moduleNumber The digital module (1 or 2).
+ * @param channel The digital channel (1..14).
+ */
+DigitalInput::DigitalInput(UINT8 moduleNumber, UINT32 channel)
+{
+ InitDigitalInput(moduleNumber, channel);
+}
+
+/**
+ * Free resources associated with the Digital Input class.
+ */
+DigitalInput::~DigitalInput()
+{
+ if (StatusIsFatal()) return;
+ if (m_manager != NULL)
+ {
+ delete m_manager;
+ delete m_interrupt;
+ interruptsResource->Free(m_interruptIndex);
+ }
+ m_module->FreeDIO(m_channel);
+}
+
+/*
+ * Get the value from a digital input channel.
+ * Retrieve the value of a single digital input channel from the FPGA.
+ */
+UINT32 DigitalInput::Get()
+{
+ if (StatusIsFatal()) return 0;
+ return m_module->GetDIO(m_channel);
+}
+
+/**
+ * @return The GPIO channel number that this object represents.
+ */
+UINT32 DigitalInput::GetChannel()
+{
+ return m_channel;
+}
+
+/**
+ * @return The value to be written to the channel field of a routing mux.
+ */
+UINT32 DigitalInput::GetChannelForRouting()
+{
+ return DigitalModule::RemapDigitalChannel(GetChannel() - 1);
+}
+
+/**
+ * @return The value to be written to the module field of a routing mux.
+ */
+UINT32 DigitalInput::GetModuleForRouting()
+{
+ if (StatusIsFatal()) return 0;
+ return m_module->GetNumber() - 1;
+}
+
+/**
+ * @return The value to be written to the analog trigger field of a routing mux.
+ */
+bool DigitalInput::GetAnalogTriggerForRouting()
+{
+ return false;
+}
+
+/**
+ * Request interrupts asynchronously on this digital input.
+ * @param handler The address of the interrupt handler function of type tInterruptHandler that
+ * will be called whenever there is an interrupt on the digitial input port.
+ * Request interrupts in synchronus mode where the user program interrupt handler will be
+ * called when an interrupt occurs.
+ * The default is interrupt on rising edges only.
+ */
+void DigitalInput::RequestInterrupts(tInterruptHandler handler, void *param)
+{
+ if (StatusIsFatal()) return;
+ UINT32 index = interruptsResource->Allocate("Async Interrupt");
+ if (index == ~0ul)
+ {
+ CloneError(interruptsResource);
+ return;
+ }
+ m_interruptIndex = index;
+
+ // Creates a manager too
+ AllocateInterrupts(false);
+
+ tRioStatusCode localStatus = NiFpga_Status_Success;
+ m_interrupt->writeConfig_WaitForAck(false, &localStatus);
+ m_interrupt->writeConfig_Source_AnalogTrigger(GetAnalogTriggerForRouting(), &localStatus);
+ m_interrupt->writeConfig_Source_Channel(GetChannelForRouting(), &localStatus);
+ m_interrupt->writeConfig_Source_Module(GetModuleForRouting(), &localStatus);
+ SetUpSourceEdge(true, false);
+
+ m_manager->registerHandler(handler, param, &localStatus);
+ wpi_setError(localStatus);
+}
+
+/**
+ * Request interrupts synchronously on this digital input.
+ * Request interrupts in synchronus mode where the user program will have to explicitly
+ * wait for the interrupt to occur.
+ * The default is interrupt on rising edges only.
+ */
+void DigitalInput::RequestInterrupts()
+{
+ if (StatusIsFatal()) return;
+ UINT32 index = interruptsResource->Allocate("Sync Interrupt");
+ if (index == ~0ul)
+ {
+ CloneError(interruptsResource);
+ return;
+ }
+ m_interruptIndex = index;
+
+ AllocateInterrupts(true);
+
+ tRioStatusCode localStatus = NiFpga_Status_Success;
+ m_interrupt->writeConfig_Source_AnalogTrigger(GetAnalogTriggerForRouting(), &localStatus);
+ m_interrupt->writeConfig_Source_Channel(GetChannelForRouting(), &localStatus);
+ m_interrupt->writeConfig_Source_Module(GetModuleForRouting(), &localStatus);
+ SetUpSourceEdge(true, false);
+ wpi_setError(localStatus);
+}
+
+void DigitalInput::SetUpSourceEdge(bool risingEdge, bool fallingEdge)
+{
+ if (StatusIsFatal()) return;
+ if (m_interrupt == NULL)
+ {
+ wpi_setWPIErrorWithContext(NullParameter, "You must call RequestInterrupts before SetUpSourceEdge");
+ return;
+ }
+ tRioStatusCode localStatus = NiFpga_Status_Success;
+ if (m_interrupt != NULL)
+ {
+ m_interrupt->writeConfig_RisingEdge(risingEdge, &localStatus);
+ m_interrupt->writeConfig_FallingEdge(fallingEdge, &localStatus);
+ }
+ wpi_setError(localStatus);
+}
+
+void DigitalInput::UpdateTable() {
+ if (m_table != NULL) {
+ m_table->PutBoolean("Value", Get());
+ }
+}
+
+void DigitalInput::StartLiveWindowMode() {
+
+}
+
+void DigitalInput::StopLiveWindowMode() {
+
+}
+
+std::string DigitalInput::GetSmartDashboardType() {
+ return "DigitalInput";
+}
+
+void DigitalInput::InitTable(ITable *subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+ITable * DigitalInput::GetTable() {
+ return m_table;
+}