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/DoubleSolenoid.cpp b/wpilibc/athena/src/DoubleSolenoid.cpp
new file mode 100644
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+++ b/wpilibc/athena/src/DoubleSolenoid.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 "DoubleSolenoid.h"
+
+#include <sstream>
+
+#include "HAL/HAL.h"
+#include "HAL/Ports.h"
+#include "HAL/Solenoid.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Constructor.
+ *
+ * Uses the default PCM ID of 0.
+ *
+ * @param forwardChannel The forward channel number on the PCM (0..7).
+ * @param reverseChannel The reverse channel number on the PCM (0..7).
+ */
+DoubleSolenoid::DoubleSolenoid(int forwardChannel, int reverseChannel)
+ : DoubleSolenoid(GetDefaultSolenoidModule(), forwardChannel,
+ reverseChannel) {}
+
+/**
+ * Constructor.
+ *
+ * @param moduleNumber The CAN ID of the PCM.
+ * @param forwardChannel The forward channel on the PCM to control (0..7).
+ * @param reverseChannel The reverse channel on the PCM to control (0..7).
+ */
+DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
+ int reverseChannel)
+ : SolenoidBase(moduleNumber),
+ m_forwardChannel(forwardChannel),
+ m_reverseChannel(reverseChannel) {
+ std::stringstream buf;
+ if (!CheckSolenoidModule(m_moduleNumber)) {
+ buf << "Solenoid Module " << m_moduleNumber;
+ wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
+ return;
+ }
+ if (!CheckSolenoidChannel(m_forwardChannel)) {
+ buf << "Solenoid Module " << m_forwardChannel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+ if (!CheckSolenoidChannel(m_reverseChannel)) {
+ buf << "Solenoid Module " << m_reverseChannel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ return;
+ }
+ int32_t status = 0;
+ m_forwardHandle = HAL_InitializeSolenoidPort(
+ HAL_GetPortWithModule(moduleNumber, m_forwardChannel), &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
+ forwardChannel, HAL_GetErrorMessage(status));
+ m_forwardHandle = HAL_kInvalidHandle;
+ m_reverseHandle = HAL_kInvalidHandle;
+ return;
+ }
+
+ m_reverseHandle = HAL_InitializeSolenoidPort(
+ HAL_GetPortWithModule(moduleNumber, m_reverseChannel), &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
+ reverseChannel, HAL_GetErrorMessage(status));
+ // free forward solenoid
+ HAL_FreeSolenoidPort(m_forwardHandle);
+ m_forwardHandle = HAL_kInvalidHandle;
+ m_reverseHandle = HAL_kInvalidHandle;
+ return;
+ }
+
+ m_forwardMask = 1 << m_forwardChannel;
+ m_reverseMask = 1 << m_reverseChannel;
+
+ HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel,
+ m_moduleNumber);
+ HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel,
+ m_moduleNumber);
+ LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber,
+ m_forwardChannel, this);
+}
+
+/**
+ * Destructor.
+ */
+DoubleSolenoid::~DoubleSolenoid() {
+ HAL_FreeSolenoidPort(m_forwardHandle);
+ HAL_FreeSolenoidPort(m_reverseHandle);
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the value of a solenoid.
+ *
+ * @param value The value to set (Off, Forward or Reverse)
+ */
+void DoubleSolenoid::Set(Value value) {
+ if (StatusIsFatal()) return;
+
+ bool forward = false;
+ bool reverse = false;
+ switch (value) {
+ case kOff:
+ forward = false;
+ reverse = false;
+ break;
+ case kForward:
+ forward = true;
+ reverse = false;
+ break;
+ case kReverse:
+ forward = false;
+ reverse = true;
+ break;
+ }
+ int fstatus = 0;
+ HAL_SetSolenoid(m_forwardHandle, forward, &fstatus);
+ int rstatus = 0;
+ HAL_SetSolenoid(m_reverseHandle, reverse, &rstatus);
+
+ wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus));
+ wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus));
+}
+
+/**
+ * Read the current value of the solenoid.
+ *
+ * @return The current value of the solenoid.
+ */
+DoubleSolenoid::Value DoubleSolenoid::Get() const {
+ if (StatusIsFatal()) return kOff;
+ int fstatus = 0;
+ int rstatus = 0;
+ bool valueForward = HAL_GetSolenoid(m_forwardHandle, &fstatus);
+ bool valueReverse = HAL_GetSolenoid(m_reverseHandle, &rstatus);
+
+ wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus));
+ wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus));
+
+ if (valueForward) return kForward;
+ if (valueReverse) return kReverse;
+ return kOff;
+}
+/**
+ * Check if the forward solenoid is blacklisted.
+ *
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool DoubleSolenoid::IsFwdSolenoidBlackListed() const {
+ int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
+ return (blackList & m_forwardMask) ? 1 : 0;
+}
+/**
+ * Check if the reverse solenoid is blacklisted.
+ *
+ * If a solenoid is shorted, it is added to the blacklist and
+ * disabled until power cycle, or until faults are cleared.
+ * @see ClearAllPCMStickyFaults()
+ *
+ * @return If solenoid is disabled due to short.
+ */
+bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
+ int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
+ return (blackList & m_reverseMask) ? 1 : 0;
+}
+
+void DoubleSolenoid::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value,
+ bool isNew) {
+ if (!value->IsString()) return;
+ Value lvalue = kOff;
+ if (value->GetString() == "Forward")
+ lvalue = kForward;
+ else if (value->GetString() == "Reverse")
+ lvalue = kReverse;
+ Set(lvalue);
+}
+
+void DoubleSolenoid::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutString(
+ "Value", (Get() == kForward ? "Forward"
+ : (Get() == kReverse ? "Reverse" : "Off")));
+ }
+}
+
+void DoubleSolenoid::StartLiveWindowMode() {
+ Set(kOff);
+ if (m_table != nullptr) {
+ m_table->AddTableListener("Value", this, true);
+ }
+}
+
+void DoubleSolenoid::StopLiveWindowMode() {
+ Set(kOff);
+ if (m_table != nullptr) {
+ m_table->RemoveTableListener(this);
+ }
+}
+
+std::string DoubleSolenoid::GetSmartDashboardType() const {
+ return "Double Solenoid";
+}
+
+void DoubleSolenoid::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> DoubleSolenoid::GetTable() const { return m_table; }