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SensorBase Class Reference

Base class for all sensors. More...

#include <SensorBase.h>

Inheritance diagram for SensorBase:
ErrorBase AnalogAccelerometer AnalogInput AnalogOutput AnalogTrigger BuiltInAccelerometer Compressor Counter DigitalGlitchFilter DriverStation Encoder GyroBase I2C InterruptableSensorBase PowerDistributionPanel PWM Relay SmartDashboard SolenoidBase SPI Ultrasonic

Public Member Functions

 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 

Static Public Member Functions

static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 

Static Public Attributes

static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 

Protected Member Functions

void AddToSingletonList ()
 Add sensor to the singleton list. More...
 

Static Protected Attributes

static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Additional Inherited Members

- Protected Attributes inherited from ErrorBase
Error m_error
 

Detailed Description

Base class for all sensors.

Stores most recent status information as well as containing utility functions for checking channels and error processing.

Member Function Documentation

void SensorBase::AddToSingletonList ( )
protected

Add sensor to the singleton list.

Add this sensor to the list of singletons that need to be deleted when the robot program exits. Each of the sensors on this list are singletons, that is they aren't allocated directly with new, but instead are allocated by the static GetInstance method. As a result, they are never deleted when the program exits. Consequently these sensors may still be holding onto resources and need to have their destructors called at the end of the program.

bool SensorBase::CheckAnalogInput ( uint32_t  channel)
static

Check that the analog input number is value.

Verify that the analog input number is one of the legal channel numbers. Channel numbers are 0-based.

Returns
Analog channel is valid
bool SensorBase::CheckAnalogOutput ( uint32_t  channel)
static

Check that the analog output number is valid.

Verify that the analog output number is one of the legal channel numbers. Channel numbers are 0-based.

Returns
Analog channel is valid
bool SensorBase::CheckDigitalChannel ( uint32_t  channel)
static

Check that the digital channel number is valid.

Verify that the channel number is one of the legal channel numbers. Channel numbers are 1-based.

Returns
Digital channel is valid
bool SensorBase::CheckPDPChannel ( uint32_t  channel)
static

Verify that the power distribution channel number is within limits.

Returns
PDP channel is valid
bool SensorBase::CheckPWMChannel ( uint32_t  channel)
static

Check that the digital channel number is valid.

Verify that the channel number is one of the legal channel numbers. Channel numbers are 1-based.

Returns
PWM channel is valid
bool SensorBase::CheckRelayChannel ( uint32_t  channel)
static

Check that the digital channel number is valid.

Verify that the channel number is one of the legal channel numbers. Channel numbers are 1-based.

Returns
Relay channel is valid
bool SensorBase::CheckSolenoidChannel ( uint32_t  channel)
static

Verify that the solenoid channel number is within limits.

Returns
Solenoid channel is valid
bool SensorBase::CheckSolenoidModule ( uint8_t  moduleNumber)
static

Check that the solenoid module number is valid.

Returns
Solenoid module is valid and present
void SensorBase::DeleteSingletons ( )
static

Delete all the singleton classes on the list.

All the classes that were allocated as singletons need to be deleted so their resources can be freed.


The documentation for this class was generated from the following files: