SolenoidBase.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 "SolenoidBase.h"

#include "Synchronized.h"

SEM_ID SolenoidBase::m_semaphore = NULL;
Resource *SolenoidBase::m_allocated = NULL;

tSolenoid *SolenoidBase::m_fpgaSolenoidModule = NULL;
UINT32 SolenoidBase::m_refCount = 0;


SolenoidBase::SolenoidBase(UINT8 moduleNumber)
        : m_moduleNumber (moduleNumber)
{
        m_refCount++;
        if (m_refCount == 1)
        {
                // Needs to be global since the protected resource spans all Solenoid objects.
                m_semaphore = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
                tRioStatusCode localStatus = NiFpga_Status_Success;
                m_fpgaSolenoidModule = tSolenoid::create(&localStatus);
                wpi_setError(localStatus);
        }
}

SolenoidBase::~SolenoidBase()
{
        if (CheckSolenoidModule(m_moduleNumber))
        {
                if (m_refCount == 1)
                {
                        delete m_fpgaSolenoidModule;
                        m_fpgaSolenoidModule = NULL;
                        semDelete(m_semaphore);
                        m_semaphore = NULL;
                }
                m_refCount--;
        }
}

void SolenoidBase::Set(UINT8 value, UINT8 mask)
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        if (CheckSolenoidModule(m_moduleNumber))
        {
                Synchronized sync(m_semaphore);
                UINT8 currentValue = m_fpgaSolenoidModule->readDO7_0(m_moduleNumber - 1, &localStatus);
                // Zero out the values to change
                currentValue = currentValue & ~mask;
                currentValue = currentValue | (value & mask);
                m_fpgaSolenoidModule->writeDO7_0(m_moduleNumber - 1, currentValue, &localStatus);
        }
        wpi_setError(localStatus);
}

UINT8 SolenoidBase::GetAll()
{
        if (CheckSolenoidModule(m_moduleNumber))
        {
                tRioStatusCode localStatus = NiFpga_Status_Success;
                UINT8 solenoids = m_fpgaSolenoidModule->readDO7_0(m_moduleNumber - 1, &localStatus);
                wpi_setError(localStatus);
                return solenoids;
        }
        return 0;
}