Compressor.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 "Compressor.h"
#include "DigitalInput.h"
#include "NetworkCommunication/UsageReporting.h"
#include "Timer.h"
#include "WPIErrors.h"

static void CompressorChecker(Compressor *c)
{
        while (1)
        {
                if (c->Enabled())
                {
                        c->SetRelayValue( c->GetPressureSwitchValue() == 0 ? Relay::kOn : Relay::kOff );
                }
                else
                {
                        c->SetRelayValue(Relay::kOff);
                }
                Wait(0.5);
        }
}

void Compressor::InitCompressor(uint8_t pressureSwitchModuleNumber,
                uint32_t pressureSwitchChannel,
                uint8_t compresssorRelayModuleNumber,
                uint32_t compressorRelayChannel)
{
        m_table = NULL;
        m_enabled = false;
        m_pressureSwitch = new DigitalInput(pressureSwitchModuleNumber, pressureSwitchChannel);
        m_relay = new Relay(compresssorRelayModuleNumber, compressorRelayChannel, Relay::kForwardOnly);

        nUsageReporting::report(nUsageReporting::kResourceType_Compressor, 0);

        if (!m_task.Start((int32_t)this))
        {
                wpi_setWPIError(CompressorTaskError);
        }
}

Compressor::Compressor(uint8_t pressureSwitchModuleNumber,
                uint32_t pressureSwitchChannel,
                uint8_t compresssorRelayModuleNumber,
                uint32_t compressorRelayChannel)
        : m_task ("Compressor", (FUNCPTR)CompressorChecker)
{
        InitCompressor(pressureSwitchModuleNumber,
                pressureSwitchChannel,
                compresssorRelayModuleNumber,
                compressorRelayChannel);
}

Compressor::Compressor(uint32_t pressureSwitchChannel, uint32_t compressorRelayChannel)
        : m_task ("Compressor", (FUNCPTR)CompressorChecker)
{
        InitCompressor(GetDefaultDigitalModule(),
                        pressureSwitchChannel,
                        GetDefaultDigitalModule(),
                        compressorRelayChannel);
}

Compressor::~Compressor()
{
        delete m_pressureSwitch;
        delete m_relay;
}

void Compressor::SetRelayValue(Relay::Value relayValue)
{
        m_relay->Set(relayValue);
}

uint32_t Compressor::GetPressureSwitchValue()
{
        return m_pressureSwitch->Get();
}

void Compressor::Start()
{
        m_enabled = true;
}

void Compressor::Stop()
{
        m_enabled = false;
}

bool Compressor::Enabled()
{
        return m_enabled;
}

void Compressor::UpdateTable() {
        if (m_table != NULL) {
                m_table->PutBoolean("Enabled", m_enabled);
                m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
        }
}

void Compressor::StartLiveWindowMode() {
        
}

void Compressor::StopLiveWindowMode() {
        
}

std::string Compressor::GetSmartDashboardType() {
        return "Compressor";
}

void Compressor::InitTable(ITable *subTable) {
        m_table = subTable;
        UpdateTable();
}

ITable * Compressor::GetTable() {
        return m_table;
}