/*
* Copyright 2015-2016 Cel Skeggs
*
* This file is part of the CCRE, the Common Chicken Runtime Engine.
*
* The CCRE is free software: you can redistribute it and/or modify it under the
* terms of the GNU Lesser General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* The CCRE is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
* A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the CCRE. If not, see <http://www.gnu.org/licenses/>.
*
*
* This file contains code inspired by/based on code Copyright 2008-2014 FIRST.
* To see the license terms of that code (modified BSD), see the root of the CCRE.
*/
package ccre.frc;
import edu.wpi.first.wpilibj.hal.SolenoidJNI;
class DirectSolenoid {
public static final int MODULE_COUNT = 63, PORT_COUNT = 8;
private static final long[][] ports = new long[MODULE_COUNT][PORT_COUNT];
public static long init(int module, int channel) {
if (module < 0 || module >= MODULE_COUNT || channel < 0 || channel >= PORT_COUNT) {
throw new RuntimeException("Solenoid ID invalid: " + module + ":" + channel);
}
if (ports[module][channel] == 0) {
ports[module][channel] = SolenoidJNI.initializeSolenoidPort(SolenoidJNI.getPortWithModule((byte) module, (byte) channel));
}
return ports[module][channel];
}
public static void set(long port, boolean value) {
if (port == 0) {
throw new NullPointerException();
}
// uhh... no errors...
SolenoidJNI.setSolenoid(port, value);
}
public static boolean isBlacklisted(long port, int channel) {
if (port == 0) {
throw new NullPointerException();
}
// TODO: handle timeout errors
int value = SolenoidJNI.getPCMSolenoidBlackList(port);
return (value & (1 << channel)) != 0;
}
}