| Brian Silverman | 8fce748 | 2020-01-05 13:18:21 -0800 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2019 FIRST. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "hal/DutyCycle.h" |
| 9 | |
| 10 | #include "HALInitializer.h" |
| 11 | #include "PortsInternal.h" |
| 12 | #include "hal/Errors.h" |
| 13 | #include "hal/handles/HandlesInternal.h" |
| 14 | #include "hal/handles/LimitedHandleResource.h" |
| 15 | #include "mockdata/DutyCycleDataInternal.h" |
| 16 | |
| 17 | using namespace hal; |
| 18 | |
| 19 | namespace { |
| 20 | struct DutyCycle { |
| 21 | uint8_t index; |
| 22 | }; |
| 23 | struct Empty {}; |
| 24 | } // namespace |
| 25 | |
| 26 | static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles, |
| 27 | HAL_HandleEnum::DutyCycle>* dutyCycleHandles; |
| 28 | |
| 29 | namespace hal { |
| 30 | namespace init { |
| 31 | void InitializeDutyCycle() { |
| 32 | static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles, |
| 33 | HAL_HandleEnum::DutyCycle> |
| 34 | dcH; |
| 35 | dutyCycleHandles = &dcH; |
| 36 | } |
| 37 | } // namespace init |
| 38 | } // namespace hal |
| 39 | |
| 40 | extern "C" { |
| 41 | HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle, |
| 42 | HAL_AnalogTriggerType triggerType, |
| 43 | int32_t* status) { |
| 44 | hal::init::CheckInit(); |
| 45 | |
| 46 | HAL_DutyCycleHandle handle = dutyCycleHandles->Allocate(); |
| 47 | if (handle == HAL_kInvalidHandle) { |
| 48 | *status = NO_AVAILABLE_RESOURCES; |
| 49 | return HAL_kInvalidHandle; |
| 50 | } |
| 51 | |
| 52 | auto dutyCycle = dutyCycleHandles->Get(handle); |
| 53 | if (dutyCycle == nullptr) { // would only occur on thread issue |
| 54 | *status = HAL_HANDLE_ERROR; |
| 55 | return HAL_kInvalidHandle; |
| 56 | } |
| 57 | |
| 58 | int16_t index = getHandleIndex(handle); |
| 59 | SimDutyCycleData[index].digitalChannel = getHandleIndex(digitalSourceHandle); |
| 60 | SimDutyCycleData[index].initialized = true; |
| 61 | SimDutyCycleData[index].simDevice = 0; |
| 62 | dutyCycle->index = index; |
| 63 | return handle; |
| 64 | } |
| 65 | void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) { |
| 66 | auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle); |
| 67 | dutyCycleHandles->Free(dutyCycleHandle); |
| 68 | if (dutyCycle == nullptr) return; |
| 69 | SimDutyCycleData[dutyCycle->index].initialized = false; |
| 70 | } |
| 71 | |
| 72 | void HAL_SetDutyCycleSimDevice(HAL_EncoderHandle handle, |
| 73 | HAL_SimDeviceHandle device) { |
| 74 | auto dutyCycle = dutyCycleHandles->Get(handle); |
| 75 | if (dutyCycle == nullptr) return; |
| 76 | SimDutyCycleData[dutyCycle->index].simDevice = device; |
| 77 | } |
| 78 | |
| 79 | int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle, |
| 80 | int32_t* status) { |
| 81 | auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle); |
| 82 | if (dutyCycle == nullptr) { |
| 83 | *status = HAL_HANDLE_ERROR; |
| 84 | return 0; |
| 85 | } |
| 86 | return SimDutyCycleData[dutyCycle->index].frequency; |
| 87 | } |
| 88 | double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle, |
| 89 | int32_t* status) { |
| 90 | auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle); |
| 91 | if (dutyCycle == nullptr) { |
| 92 | *status = HAL_HANDLE_ERROR; |
| 93 | return 0; |
| 94 | } |
| 95 | return SimDutyCycleData[dutyCycle->index].output; |
| 96 | } |
| 97 | int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle, |
| 98 | int32_t* status) { |
| 99 | auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle); |
| 100 | if (dutyCycle == nullptr) { |
| 101 | *status = HAL_HANDLE_ERROR; |
| 102 | return 0; |
| 103 | } |
| 104 | return SimDutyCycleData[dutyCycle->index].output * |
| 105 | HAL_GetDutyCycleOutputScaleFactor(dutyCycleHandle, status); |
| 106 | } |
| 107 | int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle, |
| 108 | int32_t* status) { |
| 109 | return 4e7 - 1; |
| 110 | } |
| 111 | int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle, |
| 112 | int32_t* status) { |
| 113 | auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle); |
| 114 | if (dutyCycle == nullptr) { |
| 115 | *status = HAL_HANDLE_ERROR; |
| 116 | return -1; |
| 117 | } |
| 118 | return dutyCycle->index; |
| 119 | } |
| 120 | } // extern "C" |