Solenoid.cpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "frc/Solenoid.h"

#include <utility>

#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>

#include "frc/Errors.h"
#include "frc/SensorUtil.h"

using namespace frc;

Solenoid::Solenoid(int module, PneumaticsModuleType moduleType, int channel)
    : m_module{PneumaticsBase::GetForType(module, moduleType)},
      m_channel{channel} {
  if (!m_module->CheckSolenoidChannel(m_channel)) {
    throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", m_channel);
  }
  m_mask = 1 << channel;

  if (m_module->CheckAndReserveSolenoids(m_mask) != 0) {
    throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}", m_channel);
  }

  HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
             m_module->GetModuleNumber() + 1);
  wpi::SendableRegistry::AddLW(this, "Solenoid", m_module->GetModuleNumber(),
                               m_channel);
}

Solenoid::Solenoid(PneumaticsModuleType moduleType, int channel)
    : Solenoid{PneumaticsBase::GetDefaultForType(moduleType), moduleType,
               channel} {}

Solenoid::~Solenoid() {
  if (m_module) {
    m_module->UnreserveSolenoids(m_mask);
  }
}

void Solenoid::Set(bool on) {
  int value = on ? (0xFFFF & m_mask) : 0;
  m_module->SetSolenoids(m_mask, value);
}

bool Solenoid::Get() const {
  int currentAll = m_module->GetSolenoids();
  return (currentAll & m_mask) != 0;
}

bool Solenoid::IsOn() const {
  int currentAll = m_module->GetSolenoids();
  return (currentAll & m_mask) != 0;
}

bool Solenoid::IsOff() const {
  return !IsOn();
}

void Solenoid::SetOn() {
  Set(true);
}

void Solenoid::SetOff() {
  Set(false);
}

void Solenoid::Toggle() {
  Set(!IsOn());
}

int Solenoid::GetChannel() const {
  return m_channel;
}

bool Solenoid::IsDisabled() const {
  return (m_module->GetSolenoidDisabledList() & m_mask) != 0;
}

void Solenoid::SetPulseDuration(units::second_t duration) {
  m_module->SetOneShotDuration(m_channel, duration);
}

void Solenoid::StartPulse() {
  m_module->FireOneShot(m_channel);
}

void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
  builder.SetSmartDashboardType("Solenoid");
  builder.SetActuator(true);
  builder.SetSafeState([=, this] { Set(false); });
  builder.AddBooleanProperty(
      "Value", [=, this] { return IsOn(); },
      [=, this](bool value) { Set(value); });
}