DigitalInput.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 "DigitalInput.h"
#include "DigitalModule.h"
#include "NetworkCommunication/UsageReporting.h"
#include "Resource.h"
#include "WPIErrors.h"

// TODO: This is not a good place for this...
Resource *interruptsResource = NULL;

void DigitalInput::InitDigitalInput(uint8_t moduleNumber, uint32_t channel)
{
        m_table = NULL;
        char buf[64];
        Resource::CreateResourceObject(&interruptsResource, tInterrupt::kNumSystems);
        if (!CheckDigitalModule(moduleNumber))
        {
                snprintf(buf, 64, "Digital Module %d", moduleNumber);
                wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
                return;
        }
        if (!CheckDigitalChannel(channel))
        {
                snprintf(buf, 64, "Digital Channel %d", channel);
                wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
                return;
        }
        m_channel = channel;
        m_module = DigitalModule::GetInstance(moduleNumber);
        m_module->AllocateDIO(channel, true);

        nUsageReporting::report(nUsageReporting::kResourceType_DigitalInput, channel, moduleNumber - 1);
}

DigitalInput::DigitalInput(uint32_t channel)
{
        InitDigitalInput(GetDefaultDigitalModule(), channel);
}

DigitalInput::DigitalInput(uint8_t moduleNumber, uint32_t channel)
{
        InitDigitalInput(moduleNumber, channel);
}

DigitalInput::~DigitalInput()
{
        if (StatusIsFatal()) return;
        if (m_manager != NULL)
        {
                delete m_manager;
                delete m_interrupt;
                interruptsResource->Free(m_interruptIndex);
        }
        m_module->FreeDIO(m_channel);
}

/*
 * Get the value from a digital input channel.
 * Retrieve the value of a single digital input channel from the FPGA.
 */
uint32_t DigitalInput::Get()
{
        if (StatusIsFatal()) return 0;
        return m_module->GetDIO(m_channel);
}

uint32_t DigitalInput::GetChannel()
{
        return m_channel;
}

uint32_t DigitalInput::GetChannelForRouting()
{
        return DigitalModule::RemapDigitalChannel(GetChannel() - 1);
}

uint32_t DigitalInput::GetModuleForRouting()
{
        if (StatusIsFatal()) return 0;
        return m_module->GetNumber() - 1;
}

bool DigitalInput::GetAnalogTriggerForRouting()
{
        return false;
}

void DigitalInput::RequestInterrupts(tInterruptHandler handler, void *param)
{
        if (StatusIsFatal()) return;
        uint32_t index = interruptsResource->Allocate("Async Interrupt");
        if (index == ~0ul)
        {
                CloneError(interruptsResource);
                return;
        }
        m_interruptIndex = index;

         // Creates a manager too
        AllocateInterrupts(false);

        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_interrupt->writeConfig_WaitForAck(false, &localStatus);
        m_interrupt->writeConfig_Source_AnalogTrigger(GetAnalogTriggerForRouting(), &localStatus);
        m_interrupt->writeConfig_Source_Channel(GetChannelForRouting(), &localStatus);
        m_interrupt->writeConfig_Source_Module(GetModuleForRouting(), &localStatus);
        SetUpSourceEdge(true, false);

        m_manager->registerHandler(handler, param, &localStatus);
        wpi_setError(localStatus);
}

void DigitalInput::RequestInterrupts()
{
        if (StatusIsFatal()) return;
        uint32_t index = interruptsResource->Allocate("Sync Interrupt");
        if (index == ~0ul)
        {
                CloneError(interruptsResource);
                return;
        }
        m_interruptIndex = index;

        AllocateInterrupts(true);

        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_interrupt->writeConfig_Source_AnalogTrigger(GetAnalogTriggerForRouting(), &localStatus);
        m_interrupt->writeConfig_Source_Channel(GetChannelForRouting(), &localStatus);
        m_interrupt->writeConfig_Source_Module(GetModuleForRouting(), &localStatus);
        SetUpSourceEdge(true, false);
        wpi_setError(localStatus);
}

void DigitalInput::SetUpSourceEdge(bool risingEdge, bool fallingEdge)
{
        if (StatusIsFatal()) return;
        if (m_interrupt == NULL)
        {
                wpi_setWPIErrorWithContext(NullParameter, "You must call RequestInterrupts before SetUpSourceEdge");
                return;
        }
        tRioStatusCode localStatus = NiFpga_Status_Success;
        if (m_interrupt != NULL)
        {
                m_interrupt->writeConfig_RisingEdge(risingEdge, &localStatus);
                m_interrupt->writeConfig_FallingEdge(fallingEdge, &localStatus);
        }
        wpi_setError(localStatus);
}

void DigitalInput::UpdateTable() {
        if (m_table != NULL) {
                m_table->PutBoolean("Value", Get());
        }
}

void DigitalInput::StartLiveWindowMode() {
        
}

void DigitalInput::StopLiveWindowMode() {
        
}

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

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

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