SensorBase.h

/*----------------------------------------------------------------------------*/
/* 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.  */
/*----------------------------------------------------------------------------*/

#ifndef SENSORBASE_H_
#define SENSORBASE_H_

#include "ChipObject/NiRio.h"
#include "ErrorBase.h"
#include <stdio.h>
#include "Base.h"

class SensorBase: public ErrorBase {
public:
        SensorBase();
        virtual ~SensorBase();
        static void DeleteSingletons();
        static uint32_t GetDefaultAnalogModule() { return 1; }
        static uint32_t GetDefaultDigitalModule() { return 1; }
        static uint32_t GetDefaultSolenoidModule() { return 1; }
        static bool CheckAnalogModule(uint8_t moduleNumber);
        static bool CheckDigitalModule(uint8_t moduleNumber);
        static bool CheckPWMModule(uint8_t moduleNumber);
        static bool CheckRelayModule(uint8_t moduleNumber);
        static bool CheckSolenoidModule(uint8_t moduleNumber);
        static bool CheckDigitalChannel(uint32_t channel);
        static bool CheckRelayChannel(uint32_t channel);
        static bool CheckPWMChannel(uint32_t channel);
        static bool CheckAnalogChannel(uint32_t channel);
        static bool CheckSolenoidChannel(uint32_t channel);

        static const uint32_t kSystemClockTicksPerMicrosecond = 40;
        static const uint32_t kDigitalChannels = 14;
        static const uint32_t kAnalogChannels = 8;
        static const uint32_t kAnalogModules = 2;
        static const uint32_t kDigitalModules = 2;
        static const uint32_t kSolenoidChannels = 8;
        static const uint32_t kSolenoidModules = 2;
        static const uint32_t kPwmChannels = 10;
        static const uint32_t kRelayChannels = 8;
        static const uint32_t kChassisSlots = 8;
protected:
        void AddToSingletonList();

private:
        DISALLOW_COPY_AND_ASSIGN(SensorBase);
        static SensorBase *m_singletonList;
        SensorBase *m_nextSingleton;
};


#endif