Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/Counter.h b/wpilibc/athena/include/Counter.h
new file mode 100644
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+++ b/wpilibc/athena/include/Counter.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "AnalogTrigger.h"
+#include "CounterBase.h"
+#include "HAL/Counter.h"
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+class DigitalGlitchFilter;
+
+/**
+ * Class for counting the number of ticks on a digital input channel.
+ * This is a general purpose class for counting repetitive events. It can return
+ * the number of counts, the period of the most recent cycle, and detect when
+ * the signal being counted has stopped by supplying a maximum cycle time.
+ *
+ * All counters will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
+ */
+class Counter : public SensorBase,
+ public CounterBase,
+ public LiveWindowSendable {
+ public:
+ enum Mode {
+ kTwoPulse = 0,
+ kSemiperiod = 1,
+ kPulseLength = 2,
+ kExternalDirection = 3
+ };
+ explicit Counter(Mode mode = kTwoPulse);
+ explicit Counter(int channel);
+ explicit Counter(DigitalSource* source);
+ explicit Counter(std::shared_ptr<DigitalSource> source);
+ WPI_DEPRECATED("Use pass-by-reference instead.")
+ explicit Counter(AnalogTrigger* trigger);
+ explicit Counter(const AnalogTrigger& trigger);
+ Counter(EncodingType encodingType, DigitalSource* upSource,
+ DigitalSource* downSource, bool inverted);
+ Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
+ std::shared_ptr<DigitalSource> downSource, bool inverted);
+ virtual ~Counter();
+
+ void SetUpSource(int channel);
+ void SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType);
+ void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
+ AnalogTriggerType triggerType);
+ void SetUpSource(DigitalSource* source);
+ void SetUpSource(std::shared_ptr<DigitalSource> source);
+ void SetUpSource(DigitalSource& source);
+ void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
+ void ClearUpSource();
+
+ void SetDownSource(int channel);
+ void SetDownSource(AnalogTrigger* analogTrigger,
+ AnalogTriggerType triggerType);
+ void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
+ AnalogTriggerType triggerType);
+ void SetDownSource(DigitalSource* source);
+ void SetDownSource(std::shared_ptr<DigitalSource> source);
+ void SetDownSource(DigitalSource& source);
+ void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
+ void ClearDownSource();
+
+ void SetUpDownCounterMode();
+ void SetExternalDirectionMode();
+ void SetSemiPeriodMode(bool highSemiPeriod);
+ void SetPulseLengthMode(double threshold);
+
+ void SetReverseDirection(bool reverseDirection);
+
+ // CounterBase interface
+ int Get() const override;
+ void Reset() override;
+ double GetPeriod() const override;
+ void SetMaxPeriod(double maxPeriod) override;
+ void SetUpdateWhenEmpty(bool enabled);
+ bool GetStopped() const override;
+ bool GetDirection() const override;
+
+ void SetSamplesToAverage(int samplesToAverage);
+ int GetSamplesToAverage() const;
+ int GetFPGAIndex() const { return m_index; }
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ protected:
+ // Makes the counter count up.
+ std::shared_ptr<DigitalSource> m_upSource;
+ // Makes the counter count down.
+ std::shared_ptr<DigitalSource> m_downSource;
+ // The FPGA counter object
+ HAL_CounterHandle m_counter = HAL_kInvalidHandle;
+
+ private:
+ int m_index = 0; ///< The index of this counter.
+
+ std::shared_ptr<ITable> m_table;
+ friend class DigitalGlitchFilter;
+};
+
+} // namespace frc