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 "WPIErrors.h"

void Solenoid::InitSolenoid()
{
        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;
        }
}

Solenoid::Solenoid(UINT32 channel)
        : SolenoidBase (GetDefaultSolenoidModule())
        , m_channel (channel)
{
        InitSolenoid();
}

Solenoid::Solenoid(UINT8 moduleNumber, UINT32 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 value = on ? 0xFF : 0x00;
        UINT8 mask = 1 << (m_channel - 1);

        SolenoidBase::Set(value, mask);
}

bool Solenoid::Get()
{
        if (StatusIsFatal()) return false;
        UINT8 value = GetAll() & ( 1 << (m_channel - 1));
        return (value != 0);
}