1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
// 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 <hal/DIO.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/DigitalSource.h"
namespace frc {
class DigitalGlitchFilter;
/**
* Class to read a digital input.
*
* This class will read digital inputs and return the current value on the
* channel. Other devices such as encoders, gear tooth sensors, etc. that are
* implemented elsewhere will automatically allocate digital inputs and outputs
* as required. This class is only for devices like switches etc. that aren't
* implemented anywhere else.
*/
class DigitalInput : public DigitalSource,
public wpi::Sendable,
public wpi::SendableHelper<DigitalInput> {
public:
/**
* Create an instance of a Digital Input class.
*
* Creates a digital input given a channel.
*
* @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
*/
explicit DigitalInput(int channel);
DigitalInput(DigitalInput&&) = default;
DigitalInput& operator=(DigitalInput&&) = default;
~DigitalInput() override = default;
/**
* Get the value from a digital input channel.
*
* Retrieve the value of a single digital input channel from the FPGA.
*/
bool Get() const;
// Digital Source Interface
/**
* @return The HAL Handle to the specified source.
*/
HAL_Handle GetPortHandleForRouting() const override;
/**
* @return The type of analog trigger output to be used. 0 for Digitals
*/
AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
/**
* Is source an AnalogTrigger
*/
bool IsAnalogTrigger() const override;
/**
* @return The GPIO channel number that this object represents.
*/
int GetChannel() const override;
/**
* Indicates this input is used by a simulated device.
*
* @param device simulated device handle
*/
void SetSimDevice(HAL_SimDeviceHandle device);
void InitSendable(wpi::SendableBuilder& builder) override;
private:
int m_channel;
hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
friend class DigitalGlitchFilter;
};
} // namespace frc