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 "WPIErrors.h"

void DoubleSolenoid::InitSolenoid()
{
        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);
}

DoubleSolenoid::DoubleSolenoid(UINT32 forwardChannel, UINT32 reverseChannel)
        : SolenoidBase (GetDefaultSolenoidModule())
        , m_forwardChannel (forwardChannel)
        , m_reverseChannel (reverseChannel)
{
        InitSolenoid();
}

DoubleSolenoid::DoubleSolenoid(UINT8 moduleNumber, UINT32 forwardChannel, UINT32 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 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 value = GetAll();

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