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/src/DigitalInput.cpp b/wpilibc/athena/src/DigitalInput.cpp
new file mode 100644
index 0000000..2eeefbb
--- /dev/null
+++ b/wpilibc/athena/src/DigitalInput.cpp
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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. */
+/*----------------------------------------------------------------------------*/
+
+#include "DigitalInput.h"
+
+#include <limits>
+#include <sstream>
+
+#include "HAL/DIO.h"
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Create an instance of a Digital Input class.
+ *
+ * Creates a digital input given a channel.
+ *
+ * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
+ */
+DigitalInput::DigitalInput(int channel) {
+ std::stringstream buf;
+
+ if (!CheckDigitalChannel(channel)) {
+ buf << "Digital Channel " << channel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ m_channel = std::numeric_limits<int>::max();
+ return;
+ }
+ m_channel = channel;
+
+ int32_t status = 0;
+ m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(),
+ channel, HAL_GetErrorMessage(status));
+ m_handle = HAL_kInvalidHandle;
+ m_channel = std::numeric_limits<int>::max();
+ return;
+ }
+
+ LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this);
+ HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel);
+}
+
+/**
+ * Free resources associated with the Digital Input class.
+ */
+DigitalInput::~DigitalInput() {
+ if (StatusIsFatal()) return;
+ if (m_interrupt != HAL_kInvalidHandle) {
+ int32_t status = 0;
+ HAL_CleanInterrupts(m_interrupt, &status);
+ // ignore status, as an invalid handle just needs to be ignored.
+ m_interrupt = HAL_kInvalidHandle;
+ }
+
+ HAL_FreeDIOPort(m_handle);
+}
+
+/**
+ * Get the value from a digital input channel.
+ *
+ * Retrieve the value of a single digital input channel from the FPGA.
+ */
+bool DigitalInput::Get() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value = HAL_GetDIO(m_handle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * @return The GPIO channel number that this object represents.
+ */
+int DigitalInput::GetChannel() const { return m_channel; }
+
+/**
+ * @return The HAL Handle to the specified source.
+ */
+HAL_Handle DigitalInput::GetPortHandleForRouting() const { return m_handle; }
+
+/**
+ * Is source an AnalogTrigger
+ */
+bool DigitalInput::IsAnalogTrigger() const { return false; }
+
+/**
+ * @return The type of analog trigger output to be used. 0 for Digitals
+ */
+AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
+ return (AnalogTriggerType)0;
+}
+
+void DigitalInput::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutBoolean("Value", Get());
+ }
+}
+
+void DigitalInput::StartLiveWindowMode() {}
+
+void DigitalInput::StopLiveWindowMode() {}
+
+std::string DigitalInput::GetSmartDashboardType() const {
+ return "DigitalInput";
+}
+
+void DigitalInput::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> DigitalInput::GetTable() const { return m_table; }