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

extern Resource *interruptsResource;

void DigitalOutput::InitDigitalOutput(uint8_t moduleNumber, uint32_t channel)
{
        m_table = NULL;
        char buf[64];
        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_pwmGenerator = ~0ul;
        m_module = DigitalModule::GetInstance(moduleNumber);
        m_module->AllocateDIO(m_channel, false);

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

DigitalOutput::DigitalOutput(uint32_t channel)
{
        InitDigitalOutput(GetDefaultDigitalModule(), channel);
}

DigitalOutput::DigitalOutput(uint8_t moduleNumber, uint32_t channel)
{
        InitDigitalOutput(moduleNumber, channel);
}

DigitalOutput::~DigitalOutput()
{
        if (StatusIsFatal()) return;
        // Disable the PWM in case it was running.
        DisablePWM();
        m_module->FreeDIO(m_channel);
}

void DigitalOutput::Set(uint32_t value)
{
        if (StatusIsFatal()) return;
        m_module->SetDIO(m_channel, value);
}

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

void DigitalOutput::Pulse(float length)
{
        if (StatusIsFatal()) return;
        m_module->Pulse(m_channel, length);
}

bool DigitalOutput::IsPulsing()
{
        if (StatusIsFatal()) return false;
        return m_module->IsPulsing(m_channel);
}

void DigitalOutput::SetPWMRate(float rate)
{
        if (StatusIsFatal()) return;
        m_module->SetDO_PWMRate(rate);
}

void DigitalOutput::EnablePWM(float initialDutyCycle)
{
        if (StatusIsFatal()) return;
        if (m_pwmGenerator != ~0ul) return;
        m_pwmGenerator = m_module->AllocateDO_PWM();
        m_module->SetDO_PWMDutyCycle(m_pwmGenerator, initialDutyCycle);
        m_module->SetDO_PWMOutputChannel(m_pwmGenerator, m_channel);
}

void DigitalOutput::DisablePWM()
{
        if (StatusIsFatal()) return;
        // Disable the output by routing to a dead bit.
        m_module->SetDO_PWMOutputChannel(m_pwmGenerator, kDigitalChannels);
        m_module->FreeDO_PWM(m_pwmGenerator);
        m_pwmGenerator = ~0ul;
}

void DigitalOutput::UpdateDutyCycle(float dutyCycle)
{
        if (StatusIsFatal()) return;
        m_module->SetDO_PWMDutyCycle(m_pwmGenerator, dutyCycle);
}

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

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

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

void DigitalOutput::RequestInterrupts(tInterruptHandler handler, void *param)
{
        if (StatusIsFatal()) return;
        uint32_t index = interruptsResource->Allocate("Sync 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 DigitalOutput::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 DigitalOutput::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 DigitalOutput::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
        Set(value.b);
}

void DigitalOutput::UpdateTable() {
}

void DigitalOutput::StartLiveWindowMode() {
        if (m_table != NULL) {
                m_table->AddTableListener("Value", this, true);
        }
}

void DigitalOutput::StopLiveWindowMode() {
        if (m_table != NULL) {
                m_table->RemoveTableListener(this);
        }
}

std::string DigitalOutput::GetSmartDashboardType() {
        return "Digital Output";
}

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

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