DoubleSolenoid.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 "DoubleSolenoid.h"
#include "NetworkCommunication/UsageReporting.h"
#include "WPIErrors.h"
#include <string.h>
#include "LiveWindow/LiveWindow.h"

void DoubleSolenoid::InitSolenoid()
{
        m_table = NULL;
        char buf[64];
        if (!CheckSolenoidModule(m_moduleNumber))
        {
                snprintf(buf, 64, "Solenoid Module %d", m_moduleNumber);
                wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
                return;
        }
        if (!CheckSolenoidChannel(m_forwardChannel))
        {
                snprintf(buf, 64, "Solenoid Channel %d", m_forwardChannel);
                wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
                return;
        }
        if (!CheckSolenoidChannel(m_reverseChannel))
        {
                snprintf(buf, 64, "Solenoid Channel %d", m_reverseChannel);
                wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
                return;
        }
        Resource::CreateResourceObject(&m_allocated, tSolenoid::kNumDO7_0Elements * kSolenoidChannels);

        snprintf(buf, 64, "Solenoid %d (Module %d)", m_forwardChannel, m_moduleNumber);
        if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1, buf) == ~0ul)
        {
                CloneError(m_allocated);
                return;
        }
        snprintf(buf, 64, "Solenoid %d (Module %d)", m_reverseChannel, m_moduleNumber);
        if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1, buf) == ~0ul)
        {
                CloneError(m_allocated);
                return;
        }
        m_forwardMask = 1 << (m_forwardChannel - 1);
        m_reverseMask = 1 << (m_reverseChannel - 1);

        nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_forwardChannel, m_moduleNumber - 1);
        nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_reverseChannel, m_moduleNumber - 1);
        LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
}

DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
        : SolenoidBase (GetDefaultSolenoidModule())
        , m_forwardChannel (forwardChannel)
        , m_reverseChannel (reverseChannel)
{
        InitSolenoid();
}

DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, uint32_t reverseChannel)
        : SolenoidBase (moduleNumber)
        , m_forwardChannel (forwardChannel)
        , m_reverseChannel (reverseChannel)
{
        InitSolenoid();
}

DoubleSolenoid::~DoubleSolenoid()
{
        if (CheckSolenoidModule(m_moduleNumber))
        {
                m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
                m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
        }
}

void DoubleSolenoid::Set(Value value)
{
        if (StatusIsFatal()) return;
        uint8_t rawValue = 0x00;

        switch(value)
        {
        case kOff:
                rawValue = 0x00;
                break;
        case kForward:
                rawValue = m_forwardMask;
                break;
        case kReverse:
                rawValue = m_reverseMask;
                break;
        }

        SolenoidBase::Set(rawValue, m_forwardMask | m_reverseMask);
}

DoubleSolenoid::Value DoubleSolenoid::Get()
{
        if (StatusIsFatal()) return kOff;
        uint8_t value = GetAll();

        if (value & m_forwardMask) return kForward;
        if (value & m_reverseMask) return kReverse;
        return kOff;
}

void DoubleSolenoid::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
        Value lvalue = kOff;
        std::string *val = (std::string *)value.ptr;
        if (*val == "Forward")
                lvalue = kForward;
        else if (*val == "Reverse")
                lvalue = kReverse;
        Set(lvalue);
}

void DoubleSolenoid::UpdateTable() {
        if (m_table != NULL) {
                m_table->PutString("Value", (Get() == kForward ? "Forward" : (Get() == kReverse ? "Reverse" : "Off")));
        }
}

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

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

std::string DoubleSolenoid::GetSmartDashboardType() {
        return "Double Solenoid";
}

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

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