Solenoid.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 "Solenoid.h"
#include "NetworkCommunication/UsageReporting.h"
#include "WPIErrors.h"
#include "LiveWindow/LiveWindow.h"

void Solenoid::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_channel))
        {
                snprintf(buf, 64, "Solenoid Channel %d", m_channel);
                wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
                return;
        }
        Resource::CreateResourceObject(&m_allocated, tSolenoid::kNumDO7_0Elements * kSolenoidChannels);

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

        LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel, this);
        nUsageReporting::report(nUsageReporting::kResourceType_Solenoid, m_channel, m_moduleNumber - 1);
}

Solenoid::Solenoid(uint32_t channel)
        : SolenoidBase (GetDefaultSolenoidModule())
        , m_channel (channel)
{
        InitSolenoid();
}

Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
        : SolenoidBase (moduleNumber)
        , m_channel (channel)
{
        InitSolenoid();
}

Solenoid::~Solenoid()
{
        if (CheckSolenoidModule(m_moduleNumber))
        {
                m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1);
        }
}

void Solenoid::Set(bool on)
{
        if (StatusIsFatal()) return;
        uint8_t value = on ? 0xFF : 0x00;
        uint8_t mask = 1 << (m_channel - 1);

        SolenoidBase::Set(value, mask);
}

bool Solenoid::Get()
{
        if (StatusIsFatal()) return false;
        uint8_t value = GetAll() & ( 1 << (m_channel - 1));
        return (value != 0);
}


void Solenoid::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
        Set(value.b);
}

void Solenoid::UpdateTable() {
        if (m_table != NULL) {
                m_table->PutBoolean("Value", Get());
        }
}

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

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

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

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

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