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// 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.
#pragma once
#include <type_traits>
#include <hal/AnalogInput.h>
#include <hal/DMA.h>
#include <units/time.h>
#include "frc/AnalogInput.h"
#include "frc/Counter.h"
#include "frc/DMA.h"
#include "frc/DutyCycle.h"
#include "frc/Encoder.h"
namespace frc {
/**
* DMA sample.
*/
class DMASample : public HAL_DMASample {
public:
/**
* DMA read status.
*/
enum class DMAReadStatus {
/// OK status.
kOk = HAL_DMA_OK,
/// Timeout status.
kTimeout = HAL_DMA_TIMEOUT,
/// Error status.
kError = HAL_DMA_ERROR
};
/**
* Retrieves a new DMA sample.
*
* @param dma DMA object.
* @param timeout Timeout for retrieval.
* @param remaining Number of remaining samples.
* @param status DMA read status.
*/
DMAReadStatus Update(const DMA* dma, units::second_t timeout,
int32_t* remaining, int32_t* status) {
return static_cast<DMAReadStatus>(
HAL_ReadDMA(dma->dmaHandle, this, timeout.value(), remaining, status));
}
/**
* Returns the DMA sample time in microseconds.
*
* @return The DMA sample time in microseconds.
*/
uint64_t GetTime() const { return timeStamp; }
/**
* Returns the DMA sample timestamp.
*
* @return The DMA sample timestamp.
*/
units::second_t GetTimeStamp() const {
return units::second_t{static_cast<double>(GetTime()) * 1.0e-6};
}
/**
* Returns raw encoder value from DMA.
*
* @param encoder Encoder used for DMA.
* @param status DMA read status.
* @return Raw encoder value from DMA.
*/
int32_t GetEncoderRaw(const Encoder* encoder, int32_t* status) const {
return HAL_GetDMASampleEncoderRaw(this, encoder->m_encoder, status);
}
/**
* Returns encoder distance from DMA.
*
* @param encoder Encoder used for DMA.
* @param status DMA read status.
* @return Encoder distance from DMA.
*/
double GetEncoderDistance(const Encoder* encoder, int32_t* status) const {
double val = GetEncoderRaw(encoder, status);
val *= encoder->DecodingScaleFactor();
val *= encoder->GetDistancePerPulse();
return val;
}
/**
* Returns raw encoder period from DMA.
*
* @param encoder Encoder used for DMA.
* @param status DMA read status.
* @return Raw encoder period from DMA.
*/
int32_t GetEncoderPeriodRaw(const Encoder* encoder, int32_t* status) const {
return HAL_GetDMASampleEncoderPeriodRaw(this, encoder->m_encoder, status);
}
/**
* Returns counter value from DMA.
*
* @param counter Counter used for DMA.
* @param status DMA read status.
* @return Counter value from DMA.
*/
int32_t GetCounter(const Counter* counter, int32_t* status) const {
return HAL_GetDMASampleCounter(this, counter->m_counter, status);
}
/**
* Returns counter period from DMA.
*
* @param counter Counter used for DMA.
* @param status DMA read status.
* @return Counter period from DMA.
*/
int32_t GetCounterPeriod(const Counter* counter, int32_t* status) const {
return HAL_GetDMASampleCounterPeriod(this, counter->m_counter, status);
}
/**
* Returns digital source value from DMA.
*
* @param digitalSource DigitalSource used for DMA.
* @param status DMA read status.
* @return DigitalSource value from DMA.
*/
bool GetDigitalSource(const DigitalSource* digitalSource,
int32_t* status) const {
return HAL_GetDMASampleDigitalSource(
this, digitalSource->GetPortHandleForRouting(), status);
}
/**
* Returns raw analog input value from DMA.
*
* @param analogInput AnalogInput used for DMA.
* @param status DMA read status.
* @return Raw analog input value from DMA.
*/
int32_t GetAnalogInputRaw(const AnalogInput* analogInput,
int32_t* status) const {
return HAL_GetDMASampleAnalogInputRaw(this, analogInput->m_port, status);
}
/**
* Returns analog input voltage from DMA.
*
* @param analogInput AnalogInput used for DMA.
* @param status DMA read status.
* @return Analog input voltage from DMA.
*/
double GetAnalogInputVoltage(const AnalogInput* analogInput,
int32_t* status) {
return HAL_GetAnalogValueToVolts(
analogInput->m_port, GetAnalogInputRaw(analogInput, status), status);
}
/**
* Returns averaged analog input raw value from DMA.
*
* @param analogInput AnalogInput used for DMA.
* @param status DMA read status.
* @return Averaged analog input raw value from DMA.
*/
int32_t GetAveragedAnalogInputRaw(const AnalogInput* analogInput,
int32_t* status) const {
return HAL_GetDMASampleAveragedAnalogInputRaw(this, analogInput->m_port,
status);
}
/**
* Returns averaged analog input voltage from DMA.
*
* @param analogInput AnalogInput used for DMA.
* @param status DMA read status.
* @return Averaged analog input voltage from DMA.
*/
double GetAveragedAnalogInputVoltage(const AnalogInput* analogInput,
int32_t* status) {
return HAL_GetAnalogValueToVolts(
analogInput->m_port, GetAveragedAnalogInputRaw(analogInput, status),
status);
}
/**
* Returns analog accumulator value from DMA.
*
* @param analogInput AnalogInput used for DMA.
* @param count Accumulator sample count.
* @param value Accumulator value.
* @param status DMA read status.
*/
void GetAnalogAccumulator(const AnalogInput* analogInput, int64_t* count,
int64_t* value, int32_t* status) const {
return HAL_GetDMASampleAnalogAccumulator(this, analogInput->m_port, count,
value, status);
}
/**
* Returns raw duty cycle output from DMA.
*
* @param dutyCycle DutyCycle used for DMA.
* @param status DMA read status.
* @return Raw duty cycle output from DMA.
*/
int32_t GetDutyCycleOutputRaw(const DutyCycle* dutyCycle,
int32_t* status) const {
return HAL_GetDMASampleDutyCycleOutputRaw(this, dutyCycle->m_handle,
status);
}
/**
* Returns duty cycle output (0-1) from DMA.
*
* @param dutyCycle DutyCycle used for DMA.
* @param status DMA read status.
* @return Duty cycle output (0-1) from DMA.
*/
double GetDutyCycleOutput(const DutyCycle* dutyCycle, int32_t* status) {
return GetDutyCycleOutputRaw(dutyCycle, status) /
static_cast<double>(dutyCycle->GetOutputScaleFactor());
}
};
static_assert(std::is_standard_layout_v<frc::DMASample>,
"frc::DMASample must have standard layout");
} // namespace frc