Relay.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 "Relay.h"

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

// Allocate each direction separately.
static Resource *relayChannels = NULL;

void Relay::InitRelay (uint8_t moduleNumber)
{
        m_table = NULL;
        char buf[64];
        Resource::CreateResourceObject(&relayChannels, tDIO::kNumSystems * kRelayChannels * 2);
        if (!SensorBase::CheckRelayModule(moduleNumber))
        {
                snprintf(buf, 64, "Digital Module %d", moduleNumber);
                wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
                return;
        }
        if (!SensorBase::CheckRelayChannel(m_channel))
        {
                snprintf(buf, 64, "Relay Channel %d", m_channel);
                wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
                return;
        }

        if (m_direction == kBothDirections || m_direction == kForwardOnly)
        {
                snprintf(buf, 64, "Forward Relay %d (Module: %d)", m_channel, moduleNumber);
                if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel - 1) * 2, buf) == ~0ul)
                {
                        CloneError(relayChannels);
                        return;
                }

                nUsageReporting::report(nUsageReporting::kResourceType_Relay, m_channel, moduleNumber - 1);
        }
        if (m_direction == kBothDirections || m_direction == kReverseOnly)
        {
                snprintf(buf, 64, "Reverse Relay %d (Module: %d)", m_channel, moduleNumber);
                if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel - 1) * 2 + 1, buf) == ~0ul)
                {
                        CloneError(relayChannels);
                        return;
                }

                nUsageReporting::report(nUsageReporting::kResourceType_Relay, m_channel + 128, moduleNumber - 1);
        }
        m_module = DigitalModule::GetInstance(moduleNumber);
        m_module->SetRelayForward(m_channel, false);
        m_module->SetRelayReverse(m_channel, false);
        LiveWindow::GetInstance()->AddActuator("Relay", moduleNumber, m_channel, this);
}

Relay::Relay(uint8_t moduleNumber, uint32_t channel, Relay::Direction direction)
        : m_channel (channel)
        , m_direction (direction)
{
        InitRelay(moduleNumber);
}

Relay::Relay(uint32_t channel, Relay::Direction direction)
        : m_channel (channel)
        , m_direction (direction)
{
        InitRelay(GetDefaultDigitalModule());
}

Relay::~Relay()
{
        m_module->SetRelayForward(m_channel, false);
        m_module->SetRelayReverse(m_channel, false);

        if (m_direction == kBothDirections || m_direction == kForwardOnly)
        {
                relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel - 1) * 2);
        }
        if (m_direction == kBothDirections || m_direction == kReverseOnly)
        {
                relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel - 1) * 2 + 1);
        }
}

void Relay::Set(Relay::Value value)
{
        if (StatusIsFatal()) return;
        switch (value)
        {
        case kOff:
                if (m_direction == kBothDirections || m_direction == kForwardOnly)
                {
                        m_module->SetRelayForward(m_channel, false);
                }
                if (m_direction == kBothDirections || m_direction == kReverseOnly)
                {
                        m_module->SetRelayReverse(m_channel, false);
                }
                break;
        case kOn:
                if (m_direction == kBothDirections || m_direction == kForwardOnly)
                {
                        m_module->SetRelayForward(m_channel, true);
                }
                if (m_direction == kBothDirections || m_direction == kReverseOnly)
                {
                        m_module->SetRelayReverse(m_channel, true);
                }
                break;
        case kForward:
                if (m_direction == kReverseOnly)
                {
                        wpi_setWPIError(IncompatibleMode);
                        break;
                }
                if (m_direction == kBothDirections || m_direction == kForwardOnly)
                {
                        m_module->SetRelayForward(m_channel, true);
                }
                if (m_direction == kBothDirections)
                {
                        m_module->SetRelayReverse(m_channel, false);
                }
                break;
        case kReverse:
                if (m_direction == kForwardOnly)
                {
                        wpi_setWPIError(IncompatibleMode);
                        break;
                }
                if (m_direction == kBothDirections)
                {
                        m_module->SetRelayForward(m_channel, false);
                }
                if (m_direction == kBothDirections || m_direction == kReverseOnly)
                {
                        m_module->SetRelayReverse(m_channel, true);
                }
                break;
        }
}

Relay::Value Relay::Get() {
   if(m_module->GetRelayForward(m_channel)) {
           if(m_module->GetRelayReverse(m_channel)) {
                   return kOn;
           } else {
                   if(m_direction == kForwardOnly) {
                           return kOn;
                   } else {
                   return kForward;
                   }
           }
   } else {
           if(m_module->GetRelayReverse(m_channel)) {
                   if(m_direction == kReverseOnly) {
                           return kOn;
                   } else {
                   return kReverse;
                   }
           } else {
                   return kOff;
           }
   }        
}

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

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

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

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

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

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

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