| 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 "Solenoid.h"
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| 8 | #include "NetworkCommunication/UsageReporting.h"
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| 9 | #include "WPIErrors.h"
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| 10 | #include "LiveWindow/LiveWindow.h"
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| 11 |
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| 12 | /**
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| 13 | * Common function to implement constructor behavior.
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| 14 | */
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| 15 | void Solenoid::InitSolenoid()
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| 16 | {
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| 17 | char buf[64];
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| 18 | if (!CheckSolenoidModule(m_moduleNumber))
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| 19 | {
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| 20 | snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
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| 21 | wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
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| 22 | return;
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| 23 | }
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| 24 | if (!CheckSolenoidChannel(m_channel))
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| 25 | {
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| 26 | snprintf(buf, 64, "Solenoid Channel %d", m_channel);
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| 27 | wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
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| 28 | return;
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| 29 | }
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| 30 | Resource::CreateResourceObject(&m_allocated, tSolenoid::kNumDO7_0Elements * kSolenoidChannels);
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| 31 |
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| 32 | snprintf(buf, 64, "Solenoid %d (Module: %d)", m_channel, m_moduleNumber);
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| 33 | if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1, buf) == ~0ul)
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| 34 | {
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| 35 | CloneError(m_allocated);
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| 36 | return;
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| 37 | }
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| 38 |
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| 39 | LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel, this);
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| 40 | nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_channel, m_moduleNumber - 1);
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| 41 | }
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| 42 |
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| 43 | /**
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| 44 | * Constructor.
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| 45 | *
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| 46 | * @param channel The channel on the solenoid module to control (1..8).
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| 47 | */
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| 48 | Solenoid::Solenoid(UINT32 channel)
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| 49 | : SolenoidBase (GetDefaultSolenoidModule())
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| 50 | , m_channel (channel)
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| 51 | {
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| 52 | InitSolenoid();
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| 53 | }
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| 54 |
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| 55 | /**
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| 56 | * Constructor.
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| 57 | *
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| 58 | * @param moduleNumber The solenoid module (1 or 2).
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| 59 | * @param channel The channel on the solenoid module to control (1..8).
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| 60 | */
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| 61 | Solenoid::Solenoid(UINT8 moduleNumber, UINT32 channel)
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| 62 | : SolenoidBase (moduleNumber)
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| 63 | , m_channel (channel)
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| 64 | {
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| 65 | InitSolenoid();
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| 66 | }
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| 67 |
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| 68 | /**
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| 69 | * Destructor.
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| 70 | */
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| 71 | Solenoid::~Solenoid()
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| 72 | {
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| 73 | if (CheckSolenoidModule(m_moduleNumber))
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| 74 | {
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| 75 | m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1);
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| 76 | }
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| 77 | }
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| 78 |
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| 79 | /**
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| 80 | * Set the value of a solenoid.
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| 81 | *
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| 82 | * @param on Turn the solenoid output off or on.
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| 83 | */
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| 84 | void Solenoid::Set(bool on)
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| 85 | {
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| 86 | if (StatusIsFatal()) return;
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| 87 | UINT8 value = on ? 0xFF : 0x00;
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| 88 | UINT8 mask = 1 << (m_channel - 1);
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| 89 |
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| 90 | SolenoidBase::Set(value, mask);
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| 91 | }
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| 92 |
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| 93 | /**
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| 94 | * Read the current value of the solenoid.
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| 95 | *
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| 96 | * @return The current value of the solenoid.
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| 97 | */
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| 98 | bool Solenoid::Get()
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| 99 | {
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| 100 | if (StatusIsFatal()) return false;
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| 101 | UINT8 value = GetAll() & ( 1 << (m_channel - 1));
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| 102 | return (value != 0);
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| 103 | }
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| 104 |
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| 105 |
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| 106 | void Solenoid::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
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| 107 | Set(value.b);
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| 108 | }
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| 109 |
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| 110 | void Solenoid::UpdateTable() {
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| 111 | if (m_table != NULL) {
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| 112 | m_table->PutBoolean("Value", Get());
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| 113 | }
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| 114 | }
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| 115 |
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| 116 | void Solenoid::StartLiveWindowMode() {
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| 117 | Set(false);
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| 118 | m_table->AddTableListener("Value", this, true);
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| 119 | }
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| 120 |
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| 121 | void Solenoid::StopLiveWindowMode() {
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| 122 | Set(false);
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| 123 | m_table->RemoveTableListener(this);
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| 124 | }
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| 125 |
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| 126 | std::string Solenoid::GetSmartDashboardType() {
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| 127 | return "Solenoid";
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| 128 | }
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| 129 |
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| 130 | void Solenoid::InitTable(ITable *subTable) {
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| 131 | m_table = subTable;
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| 132 | UpdateTable();
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| 133 | }
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| 134 |
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| 135 | ITable * Solenoid::GetTable() {
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| 136 | return m_table;
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| 137 | }
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| 138 |
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