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Relay.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #pragma once
9 
10 #include <memory>
11 #include <string>
12 
13 #include "HAL/Types.h"
14 #include "LiveWindow/LiveWindowSendable.h"
15 #include "MotorSafety.h"
16 #include "SensorBase.h"
17 #include "llvm/raw_ostream.h"
18 #include "tables/ITable.h"
19 #include "tables/ITableListener.h"
20 
21 namespace frc {
22 
23 class MotorSafetyHelper;
24 
36 class Relay : public MotorSafety,
37  public SensorBase,
38  public ITableListener,
39  public LiveWindowSendable {
40  public:
41  enum Value { kOff, kOn, kForward, kReverse };
42  enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
43 
44  explicit Relay(int channel, Direction direction = kBothDirections);
45  virtual ~Relay();
46 
47  void Set(Value value);
48  Value Get() const;
49  int GetChannel() const;
50 
51  void SetExpiration(double timeout) override;
52  double GetExpiration() const override;
53  bool IsAlive() const override;
54  void StopMotor() override;
55  bool IsSafetyEnabled() const override;
56  void SetSafetyEnabled(bool enabled) override;
57  void GetDescription(llvm::raw_ostream& desc) const override;
58 
59  void ValueChanged(ITable* source, llvm::StringRef key,
60  std::shared_ptr<nt::Value> value, bool isNew) override;
61  void UpdateTable() override;
62  void StartLiveWindowMode() override;
63  void StopLiveWindowMode() override;
64  std::string GetSmartDashboardType() const override;
65  void InitTable(std::shared_ptr<ITable> subTable) override;
66  std::shared_ptr<ITable> GetTable() const override;
67 
68  std::shared_ptr<ITable> m_table;
69 
70  private:
71  int m_channel;
72  Direction m_direction;
73 
74  HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
75  HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
76 
77  std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
78 };
79 
80 } // namespace frc
Value Get() const
Get the Relay State.
Definition: Relay.cpp:185
A table whose values can be read and written to.
Definition: ITable.h:22
Live Window Sendable is a special type of object sendable to the live window.
Definition: LiveWindowSendable.h:17
Base class for all sensors.
Definition: SensorBase.h:22
void Set(Value value)
Set the relay state.
Definition: Relay.cpp:124
Class for Spike style relay outputs.
Definition: Relay.h:36
void SetExpiration(double timeout) override
Set the expiration time for the Relay object.
Definition: Relay.cpp:225
void StartLiveWindowMode() override
Start having this sendable object automatically respond to value changes reflect the value on the tab...
Definition: Relay.cpp:302
std::shared_ptr< ITable > GetTable() const override
Definition: Relay.cpp:321
Definition: MotorSafety.h:16
Definition: MotorSafetyHelper.h:19
void StopLiveWindowMode() override
Stop having this sendable object automatically respond to value changes.
Definition: Relay.cpp:308
void SetSafetyEnabled(bool enabled) override
Enable/disable motor safety for this device.
Definition: Relay.cpp:258
Relay(int channel, Direction direction=kBothDirections)
Relay constructor given a channel.
Definition: Relay.cpp:29
double GetExpiration() const override
Return the expiration time for the relay object.
Definition: Relay.cpp:233
void InitTable(std::shared_ptr< ITable > subTable) override
Initializes a table for this sendable object.
Definition: Relay.cpp:316
std::string GetSmartDashboardType() const override
Definition: Relay.cpp:314
void StopMotor() override
Stop the motor associated with this PWM object.
Definition: Relay.cpp:249
A listener that listens to changes in values in a ITable.
Definition: ITableListener.h:18
bool IsSafetyEnabled() const override
Check if motor safety is enabled for this object.
Definition: Relay.cpp:267
virtual ~Relay()
Free the resource associated with a relay.
Definition: Relay.cpp:98
void UpdateTable() override
Update the table for this sendable object with the latest values.
Definition: Relay.cpp:288
bool IsAlive() const override
Check if the relay object is currently alive or stopped due to a timeout.
Definition: Relay.cpp:241