wpilibc/sim/src/Solenoid.cpp

/*----------------------------------------------------------------------------*/
/* 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 "Solenoid.h"

#include <sstream>

#include "LiveWindow/LiveWindow.h"
#include "WPIErrors.h"
#include "simulation/simTime.h"

using namespace frc;

/**
 * Constructor.
 *
 * @param channel The channel on the solenoid module to control (1..8).
 */
Solenoid::Solenoid(int channel) : Solenoid(1, channel) {}

/**
 * Constructor.
 *
 * @param moduleNumber The solenoid module (1 or 2).
 * @param channel      The channel on the solenoid module to control (1..8).
 */
Solenoid::Solenoid(int moduleNumber, int channel) {
  std::stringstream ss;
  ss << "pneumatic/" << moduleNumber << "/" << channel;
  m_impl = new SimContinuousOutput(ss.str());

  LiveWindow::GetInstance()->AddActuator("Solenoid", moduleNumber, channel,
                                         this);
}

Solenoid::~Solenoid() {
  if (m_table != nullptr) m_table->RemoveTableListener(this);
}

/**
 * Set the value of a solenoid.
 *
 * @param on Turn the solenoid output off or on.
 */
void Solenoid::Set(bool on) {
  m_on = on;
  m_impl->Set(on ? 1 : -1);
}

/**
 * Read the current value of the solenoid.
 *
 * @return The current value of the solenoid.
 */
bool Solenoid::Get() const { return m_on; }

void Solenoid::ValueChanged(ITable* source, llvm::StringRef key,
                            std::shared_ptr<nt::Value> value, bool isNew) {
  if (!value->IsBoolean()) return;
  Set(value->GetBoolean());
}

void Solenoid::UpdateTable() {
  if (m_table != nullptr) {
    m_table->PutBoolean("Value", Get());
  }
}

void Solenoid::StartLiveWindowMode() {
  Set(false);
  if (m_table != nullptr) {
    m_table->AddTableListener("Value", this, true);
  }
}

void Solenoid::StopLiveWindowMode() {
  Set(false);
  if (m_table != nullptr) {
    m_table->RemoveTableListener(this);
  }
}

std::string Solenoid::GetSmartDashboardType() const { return "Solenoid"; }

void Solenoid::InitTable(std::shared_ptr<ITable> subTable) {
  m_table = subTable;
  UpdateTable();
}

std::shared_ptr<ITable> Solenoid::GetTable() const { return m_table; }