| 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 "SolenoidBase.h"
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| 8 |
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| 9 | // Needs to be global since the protected resource spans all Solenoid objects.
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| 10 | ReentrantSemaphore SolenoidBase::m_semaphore;
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| 11 | Resource *SolenoidBase::m_allocated = NULL;
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| 12 |
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| 13 | tSolenoid *SolenoidBase::m_fpgaSolenoidModule = NULL;
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| 14 | UINT32 SolenoidBase::m_refCount = 0;
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| 15 |
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| 16 |
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| 17 | /**
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| 18 | * Constructor
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| 19 | *
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| 20 | * @param moduleNumber The solenoid module (1 or 2).
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| 21 | */
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| 22 | SolenoidBase::SolenoidBase(UINT8 moduleNumber)
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| 23 | : m_moduleNumber (moduleNumber)
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| 24 | {
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| 25 | Synchronized sync(m_semaphore);
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| 26 | m_refCount++;
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| 27 | if (m_refCount == 1)
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| 28 | {
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| 29 | tRioStatusCode localStatus = NiFpga_Status_Success;
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| 30 | m_fpgaSolenoidModule = tSolenoid::create(&localStatus);
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| 31 | wpi_setError(localStatus);
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| 32 | }
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| 33 | }
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| 34 |
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| 35 | /**
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| 36 | * Destructor.
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| 37 | */
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| 38 | SolenoidBase::~SolenoidBase()
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| 39 | {
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| 40 | Synchronized sync(m_semaphore);
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| 41 | if (CheckSolenoidModule(m_moduleNumber))
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| 42 | {
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| 43 | if (m_refCount == 1)
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| 44 | {
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| 45 | delete m_fpgaSolenoidModule;
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| 46 | m_fpgaSolenoidModule = NULL;
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| 47 | }
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| 48 | m_refCount--;
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| 49 | }
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| 50 | }
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| 51 |
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| 52 | /**
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| 53 | * Set the value of a solenoid.
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| 54 | *
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| 55 | * @param value The value you want to set on the module.
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| 56 | * @param mask The channels you want to be affected.
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| 57 | */
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| 58 | void SolenoidBase::Set(UINT8 value, UINT8 mask)
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| 59 | {
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| 60 | tRioStatusCode localStatus = NiFpga_Status_Success;
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| 61 | if (CheckSolenoidModule(m_moduleNumber))
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| 62 | {
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| 63 | Synchronized sync(m_semaphore);
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| 64 | UINT8 currentValue = m_fpgaSolenoidModule->readDO7_0(m_moduleNumber - 1, &localStatus);
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| 65 | // Zero out the values to change
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| 66 | currentValue = currentValue & ~mask;
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| 67 | currentValue = currentValue | (value & mask);
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| 68 | m_fpgaSolenoidModule->writeDO7_0(m_moduleNumber - 1, currentValue, &localStatus);
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| 69 | }
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| 70 | wpi_setError(localStatus);
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| 71 | }
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| 72 |
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| 73 | /**
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| 74 | * Read all 8 solenoids as a single byte
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| 75 | *
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| 76 | * @return The current value of all 8 solenoids on the module.
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| 77 | */
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| 78 | UINT8 SolenoidBase::GetAll()
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| 79 | {
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| 80 | if (CheckSolenoidModule(m_moduleNumber))
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| 81 | {
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| 82 | tRioStatusCode localStatus = NiFpga_Status_Success;
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| 83 | UINT8 solenoids = m_fpgaSolenoidModule->readDO7_0(m_moduleNumber - 1, &localStatus);
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| 84 | wpi_setError(localStatus);
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| 85 | return solenoids;
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| 86 | }
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| 87 | return 0;
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| 88 | }
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