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/DoubleSolenoid.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/DoubleSolenoid.cpp
new file mode 100644
index 0000000..f5a48ce
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/DoubleSolenoid.cpp
@@ -0,0 +1,181 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DoubleSolenoid.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include <string.h>
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Common function to implement constructor behavior.
+ */
+void DoubleSolenoid::InitSolenoid()
+{
+ char buf[64];
+ if (!CheckSolenoidModule(m_moduleNumber))
+ {
+ snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
+ wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
+ return;
+ }
+ if (!CheckSolenoidChannel(m_forwardChannel))
+ {
+ snprintf(buf, 64, "Solenoid Channel %d", m_forwardChannel);
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+ return;
+ }
+ if (!CheckSolenoidChannel(m_reverseChannel))
+ {
+ snprintf(buf, 64, "Solenoid Channel %d", m_reverseChannel);
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+ return;
+ }
+ Resource::CreateResourceObject(&m_allocated, tSolenoid::kNumDO7_0Elements * kSolenoidChannels);
+
+ snprintf(buf, 64, "Solenoid %d (Module %d)", m_forwardChannel, m_moduleNumber);
+ if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1, buf) == ~0ul)
+ {
+ CloneError(m_allocated);
+ return;
+ }
+ snprintf(buf, 64, "Solenoid %d (Module %d)", m_reverseChannel, m_moduleNumber);
+ if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1, buf) == ~0ul)
+ {
+ CloneError(m_allocated);
+ return;
+ }
+ m_forwardMask = 1 << (m_forwardChannel - 1);
+ m_reverseMask = 1 << (m_reverseChannel - 1);
+
+ nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_forwardChannel, m_moduleNumber - 1);
+ nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_reverseChannel, m_moduleNumber - 1);
+ LiveWindow::GetInstance()->AddSensor("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
+}
+
+/**
+ * Constructor.
+ *
+ * @param forwardChannel The forward channel on the module to control.
+ * @param reverseChannel The reverse channel on the module to control.
+ */
+DoubleSolenoid::DoubleSolenoid(UINT32 forwardChannel, UINT32 reverseChannel)
+ : SolenoidBase (GetDefaultSolenoidModule())
+ , m_forwardChannel (forwardChannel)
+ , m_reverseChannel (reverseChannel)
+{
+ InitSolenoid();
+}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The solenoid module (1 or 2).
+ * @param forwardChannel The forward channel on the module to control.
+ * @param reverseChannel The reverse channel on the module to control.
+ */
+DoubleSolenoid::DoubleSolenoid(UINT8 moduleNumber, UINT32 forwardChannel, UINT32 reverseChannel)
+ : SolenoidBase (moduleNumber)
+ , m_forwardChannel (forwardChannel)
+ , m_reverseChannel (reverseChannel)
+{
+ InitSolenoid();
+}
+
+/**
+ * Destructor.
+ */
+DoubleSolenoid::~DoubleSolenoid()
+{
+ if (CheckSolenoidModule(m_moduleNumber))
+ {
+ m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
+ m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
+ }
+}
+
+/**
+ * Set the value of a solenoid.
+ *
+ * @param value Move the solenoid to forward, reverse, or don't move it.
+ */
+void DoubleSolenoid::Set(Value value)
+{
+ if (StatusIsFatal()) return;
+ UINT8 rawValue = 0x00;
+
+ switch(value)
+ {
+ case kOff:
+ rawValue = 0x00;
+ break;
+ case kForward:
+ rawValue = m_forwardMask;
+ break;
+ case kReverse:
+ rawValue = m_reverseMask;
+ break;
+ }
+
+ SolenoidBase::Set(rawValue, m_forwardMask | m_reverseMask);
+}
+
+/**
+ * Read the current value of the solenoid.
+ *
+ * @return The current value of the solenoid.
+ */
+DoubleSolenoid::Value DoubleSolenoid::Get()
+{
+ if (StatusIsFatal()) return kOff;
+ UINT8 value = GetAll();
+
+ if (value & m_forwardMask) return kForward;
+ if (value & m_reverseMask) return kReverse;
+ return kOff;
+}
+
+
+
+
+void DoubleSolenoid::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
+ Value lvalue = kOff;
+ if (strcmp((char*)value.ptr, "Forward") == 0)
+ lvalue = kForward;
+ else if (strcmp((char*)value.ptr, "Reverse") == 0)
+ lvalue = kReverse;
+ Set(lvalue);
+}
+
+void DoubleSolenoid::UpdateTable() {
+ if (m_table != NULL) {
+ m_table->PutString("Value", (Get() == kForward ? "Forward" : (Get() == kReverse ? "Reverse" : "Off")));
+ }
+}
+
+void DoubleSolenoid::StartLiveWindowMode() {
+ Set(kOff);
+ m_table->AddTableListener("Value", this, true);
+}
+
+void DoubleSolenoid::StopLiveWindowMode() {
+ Set(kOff);
+ m_table->RemoveTableListener(this);
+}
+
+std::string DoubleSolenoid::GetSmartDashboardType() {
+ return "Double Solenoid";
+}
+
+void DoubleSolenoid::InitTable(ITable *subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+ITable * DoubleSolenoid::GetTable() {
+ return m_table;
+}
+