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/sim/src/DoubleSolenoid.cpp b/wpilibc/sim/src/DoubleSolenoid.cpp
new file mode 100644
index 0000000..1607dc8
--- /dev/null
+++ b/wpilibc/sim/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 "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+/**
+ * Constructor.
+ *
+ * @param forwardChannel The forward channel on the module to control.
+ * @param reverseChannel The reverse channel on the module to control.
+ */
+DoubleSolenoid::DoubleSolenoid(int forwardChannel, int reverseChannel)
+ : DoubleSolenoid(1, forwardChannel, reverseChannel) {}
+
+/**
+ * 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(int moduleNumber, int forwardChannel,
+ int reverseChannel) {
+ m_reversed = false;
+ if (reverseChannel < forwardChannel) { // Swap ports to get the right address
+ int channel = reverseChannel;
+ reverseChannel = forwardChannel;
+ forwardChannel = channel;
+ m_reversed = true;
+ }
+ std::stringstream ss;
+ ss << "pneumatic/" << moduleNumber << "/" << forwardChannel << "/"
+ << moduleNumber << "/" << reverseChannel;
+ m_impl = new SimContinuousOutput(ss.str());
+
+ LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", moduleNumber,
+ forwardChannel, this);
+}
+
+DoubleSolenoid::~DoubleSolenoid() {
+ if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the value of a solenoid.
+ *
+ * @param value Move the solenoid to forward, reverse, or don't move it.
+ */
+void DoubleSolenoid::Set(Value value) {
+ m_value = value;
+ switch (value) {
+ case kOff:
+ m_impl->Set(0);
+ break;
+ case kForward:
+ m_impl->Set(m_reversed ? -1 : 1);
+ break;
+ case kReverse:
+ m_impl->Set(m_reversed ? 1 : -1);
+ break;
+ }
+}
+
+/**
+ * Read the current value of the solenoid.
+ *
+ * @return The current value of the solenoid.
+ */
+DoubleSolenoid::Value DoubleSolenoid::Get() const { return m_value; }
+
+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; }