wpilibc/Athena/src/SensorBase.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "SensorBase.h"

#include "NetworkCommunication/LoadOut.h"
#include "WPIErrors.h"
#include "HAL/HAL.hpp"
#include "HAL/Port.h"

const uint32_t SensorBase::kDigitalChannels;
const uint32_t SensorBase::kAnalogInputs;
const uint32_t SensorBase::kSolenoidChannels;
const uint32_t SensorBase::kSolenoidModules;
const uint32_t SensorBase::kPwmChannels;
const uint32_t SensorBase::kRelayChannels;
const uint32_t SensorBase::kPDPChannels;
const uint32_t SensorBase::kChassisSlots;
SensorBase* SensorBase::m_singletonList = nullptr;

static bool portsInitialized = false;
void* SensorBase::m_digital_ports[kDigitalChannels];
void* SensorBase::m_relay_ports[kRelayChannels];
void* SensorBase::m_pwm_ports[kPwmChannels];

/**
 * Creates an instance of the sensor base and gets an FPGA handle
 */
SensorBase::SensorBase() {
  if (!portsInitialized) {
    for (uint32_t i = 0; i < kDigitalChannels; i++) {
      void* port = getPort(i);
      int32_t status = 0;
      m_digital_ports[i] = initializeDigitalPort(port, &status);
      wpi_setErrorWithContext(status, getHALErrorMessage(status));
      freePort(port);
    }

    for (uint32_t i = 0; i < kRelayChannels; i++) {
      void* port = getPort(i);
      int32_t status = 0;
      m_relay_ports[i] = initializeDigitalPort(port, &status);
      wpi_setErrorWithContext(status, getHALErrorMessage(status));
      freePort(port);
    }

    for (uint32_t i = 0; i < kPwmChannels; i++) {
      void* port = getPort(i);
      int32_t status = 0;
      m_pwm_ports[i] = initializeDigitalPort(port, &status);
      wpi_setErrorWithContext(status, getHALErrorMessage(status));
      freePort(port);
    }
  }
}

/**
 * Add sensor to the singleton list.
 * Add this sensor to the list of singletons that need to be deleted when
 * the robot program exits. Each of the sensors on this list are singletons,
 * that is they aren't allocated directly with new, but instead are allocated
 * by the static GetInstance method. As a result, they are never deleted when
 * the program exits. Consequently these sensors may still be holding onto
 * resources and need to have their destructors called at the end of the
 * program.
 */
void SensorBase::AddToSingletonList() {
  m_nextSingleton = m_singletonList;
  m_singletonList = this;
}

/**
 * Delete all the singleton classes on the list.
 * All the classes that were allocated as singletons need to be deleted so
 * their resources can be freed.
 */
void SensorBase::DeleteSingletons() {
  for (SensorBase* next = m_singletonList; next != nullptr;) {
    SensorBase* tmp = next;
    next = next->m_nextSingleton;
    delete tmp;
  }
  m_singletonList = nullptr;
}

/**
 * Check that the solenoid module number is valid.
 *
 * @return Solenoid module is valid and present
 */
bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber) {
  if (moduleNumber < 64) return true;
  return false;
}

/**
 * Check that the digital channel number is valid.
 * Verify that the channel number is one of the legal channel numbers. Channel
 * numbers are
 * 1-based.
 *
 * @return Digital channel is valid
 */
bool SensorBase::CheckDigitalChannel(uint32_t channel) {
  if (channel < kDigitalChannels) return true;
  return false;
}

/**
 * Check that the digital channel number is valid.
 * Verify that the channel number is one of the legal channel numbers. Channel
 * numbers are
 * 1-based.
 *
 * @return Relay channel is valid
 */
bool SensorBase::CheckRelayChannel(uint32_t channel) {
  if (channel < kRelayChannels) return true;
  return false;
}

/**
 * Check that the digital channel number is valid.
 * Verify that the channel number is one of the legal channel numbers. Channel
 * numbers are
 * 1-based.
 *
 * @return PWM channel is valid
 */
bool SensorBase::CheckPWMChannel(uint32_t channel) {
  if (channel < kPwmChannels) return true;
  return false;
}

/**
 * Check that the analog input number is value.
 * Verify that the analog input number is one of the legal channel numbers.
 * Channel numbers
 * are 0-based.
 *
 * @return Analog channel is valid
 */
bool SensorBase::CheckAnalogInput(uint32_t channel) {
  if (channel < kAnalogInputs) return true;
  return false;
}

/**
 * Check that the analog output number is valid.
 * Verify that the analog output number is one of the legal channel numbers.
 * Channel numbers
 * are 0-based.
 *
 * @return Analog channel is valid
 */
bool SensorBase::CheckAnalogOutput(uint32_t channel) {
  if (channel < kAnalogOutputs) return true;
  return false;
}

/**
 * Verify that the solenoid channel number is within limits.
 *
 * @return Solenoid channel is valid
 */
bool SensorBase::CheckSolenoidChannel(uint32_t channel) {
  if (channel < kSolenoidChannels) return true;
  return false;
}

/**
 * Verify that the power distribution channel number is within limits.
 *
 * @return PDP channel is valid
 */
bool SensorBase::CheckPDPChannel(uint32_t channel) {
  if (channel < kPDPChannels) return true;
  return false;
}