| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #include "AnalogTriggerOutput.h"
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| 8 | #include "AnalogTrigger.h"
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| 9 | #include "NetworkCommunication/UsageReporting.h"
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| 10 | #include "WPIErrors.h"
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| 11 |
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| 12 | /**
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| 13 | * Create an object that represents one of the four outputs from an analog trigger.
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| 14 | *
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| 15 | * Because this class derives from DigitalSource, it can be passed into routing functions
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| 16 | * for Counter, Encoder, etc.
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| 17 | *
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| 18 | * @param trigger A pointer to the trigger for which this is an output.
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| 19 | * @param outputType An enum that specifies the output on the trigger to represent.
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| 20 | */
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| 21 | AnalogTriggerOutput::AnalogTriggerOutput(AnalogTrigger *trigger, AnalogTriggerOutput::Type outputType)
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| 22 | : m_trigger (trigger)
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| 23 | , m_outputType (outputType)
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| 24 | {
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| 25 | nUsageReporting::report(nUsageReporting::kResourceType_AnalogTriggerOutput, trigger->GetIndex(), outputType);
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| 26 | }
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| 27 |
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| 28 | AnalogTriggerOutput::~AnalogTriggerOutput()
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| 29 | {
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| 30 | }
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| 31 |
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| 32 | /**
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| 33 | * Get the state of the analog trigger output.
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| 34 | * @return The state of the analog trigger output.
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| 35 | */
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| 36 | bool AnalogTriggerOutput::Get()
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| 37 | {
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| 38 | tRioStatusCode localStatus = NiFpga_Status_Success;
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| 39 | bool result = false;
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| 40 | switch(m_outputType)
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| 41 | {
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| 42 | case kInWindow:
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| 43 | result = m_trigger->m_trigger->readOutput_InHysteresis(m_trigger->m_index, &localStatus);
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| 44 | case kState:
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| 45 | result = m_trigger->m_trigger->readOutput_OverLimit(m_trigger->m_index, &localStatus);
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| 46 | case kRisingPulse:
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| 47 | case kFallingPulse:
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| 48 | wpi_setWPIError(AnalogTriggerPulseOutputError);
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| 49 | return false;
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| 50 | }
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| 51 | wpi_setError(localStatus);
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| 52 | return result;
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| 53 | }
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| 54 |
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| 55 | /**
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| 56 | * @return The value to be written to the channel field of a routing mux.
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| 57 | */
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| 58 | UINT32 AnalogTriggerOutput::GetChannelForRouting()
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| 59 | {
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| 60 | return (m_trigger->m_index << 2) + m_outputType;
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| 61 | }
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| 62 |
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| 63 | /**
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| 64 | * @return The value to be written to the module field of a routing mux.
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| 65 | */
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| 66 | UINT32 AnalogTriggerOutput::GetModuleForRouting()
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| 67 | {
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| 68 | return m_trigger->m_index >> 2;
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| 69 | }
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| 70 |
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| 71 | /**
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| 72 | * @return The value to be written to the module field of a routing mux.
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| 73 | */
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| 74 | bool AnalogTriggerOutput::GetAnalogTriggerForRouting()
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| 75 | {
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| 76 | return true;
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| 77 | }
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| 78 |
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| 79 | /**
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| 80 | * Request interrupts asynchronously on this analog trigger output.
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| 81 | * TODO: Hardware supports interrupts on Analog Trigger outputs... WPILib should too
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| 82 | */
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| 83 | void AnalogTriggerOutput::RequestInterrupts(tInterruptHandler handler, void *param)
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| 84 | {
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| 85 | }
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| 86 |
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| 87 | /**
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| 88 | * Request interrupts synchronously on this analog trigger output.
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| 89 | * TODO: Hardware supports interrupts on Analog Trigger outputs... WPILib should too
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| 90 | */
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| 91 | void AnalogTriggerOutput::RequestInterrupts()
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| 92 | {
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| 93 | }
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| 94 |
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