def __init__(self, moduleNumber):
"""Constructor.
:param moduleNumber: The PCM CAN ID
"""
self.moduleNumber = moduleNumber
if moduleNumber not in self.all_ports:
self.all_ports[moduleNumber] = []
for i in range(SensorBase.kSolenoidChannels):
port = hal.getPortWithModule(moduleNumber, i)
self.all_ports[moduleNumber].append(
hal.initializeSolenoidPort(port))
if moduleNumber not in self.all_mutex:
self.all_mutex[moduleNumber] = threading.Lock()
if moduleNumber not in self.all_allocated:
self.all_allocated[moduleNumber] = Resource(
SensorBase.kSolenoidChannels)
self.allocated = self.all_allocated[moduleNumber]
self.ports = self.all_ports[moduleNumber]
self.mutex = self.all_mutex[moduleNumber]
def __init__(self, *args, **kwargs):
"""Constructor.
Arguments can be supplied as positional or keyword. Acceptable
positional argument combinations are:
- channel
- moduleNumber, channel
Alternatively, the above names can be used as keyword arguments.
:param moduleNumber: The CAN ID of the PCM the solenoid is attached to
:type moduleNumber: int
:param channel: The channel on the PCM to control (0..7)
:type channel: int
"""
# keyword arguments
channel = kwargs.pop("channel", None)
moduleNumber = kwargs.pop("moduleNumber", None)
if kwargs:
warnings.warn("unknown keyword arguments: %s" % kwargs.keys(),
RuntimeWarning)
# positional arguments
if len(args) == 1:
channel = args[0]
elif len(args) == 2:
moduleNumber, channel = args
elif len(args) != 0:
raise ValueError(
"don't know how to handle %d positional arguments" % len(args))
if moduleNumber is None:
moduleNumber = SensorBase.getDefaultSolenoidModule()
if channel is None:
raise ValueError("must specify channel")
super().__init__(moduleNumber)
self.channel = channel
self.valueEntry = None
SensorBase.checkSolenoidModule(moduleNumber)
SensorBase.checkSolenoidChannel(channel)
portHandle = hal.getPortWithModule(moduleNumber, channel)
self._solenoidHandle = hal.initializeSolenoidPort(portHandle)
LiveWindow.addActuatorModuleChannel("Solenoid", moduleNumber, channel,
self)
hal.report(hal.UsageReporting.kResourceType_Solenoid, channel,
moduleNumber)
self.__finalizer = weakref.finalize(self, _freeSolenoid,
self._solenoidHandle)
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
def __init__(self, *args, **kwargs):
"""Constructor.
Arguments can be supplied as positional or keyword. Acceptable
positional argument combinations are:
- channel
- moduleNumber, channel
Alternatively, the above names can be used as keyword arguments.
:param moduleNumber: The CAN ID of the PCM the solenoid is attached to
:type moduleNumber: int
:param channel: The channel on the PCM to control (0..7)
:type channel: int
"""
# keyword arguments
channel = kwargs.pop("channel", None)
moduleNumber = kwargs.pop("moduleNumber", None)
if kwargs:
warnings.warn("unknown keyword arguments: %s" % kwargs.keys(),
RuntimeWarning)
# positional arguments
if len(args) == 1:
channel = args[0]
elif len(args) == 2:
moduleNumber, channel = args
elif len(args) != 0:
raise ValueError("don't know how to handle %d positional arguments" % len(args))
if moduleNumber is None:
moduleNumber = SensorBase.getDefaultSolenoidModule()
if channel is None:
raise ValueError("must specify channel")
SensorBase.checkSolenoidModule(moduleNumber)
SensorBase.checkSolenoidChannel(channel)
super().__init__(moduleNumber)
self.channel = channel
try:
self.allocated.allocate(self, channel)
except IndexError as e:
raise IndexError("Solenoid channel %d on module %d is already allocated" % (channel, moduleNumber)) from e
modulePort = hal.getPortWithModule(moduleNumber, channel)
self._port = hal.initializeSolenoidPort(modulePort)
LiveWindow.addActuatorModuleChannel("Solenoid", moduleNumber, channel,
self)
hal.HALReport(hal.HALUsageReporting.kResourceType_Solenoid, channel,
moduleNumber)
self.__finalizer = weakref.finalize(self, _freeSolenoid, modulePort, self._port)
def __init__(self, *args, **kwargs) -> None:
"""Constructor.
Arguments can be supplied as positional or keyword. Acceptable
positional argument combinations are:
- channel
- moduleNumber, channel
Alternatively, the above names can be used as keyword arguments.
:param moduleNumber: The CAN ID of the PCM the solenoid is attached to
:type moduleNumber: int
:param channel: The channel on the PCM to control (0..7)
:type channel: int
"""
# keyword arguments
channel = kwargs.pop("channel", None)
moduleNumber = kwargs.pop("moduleNumber", None)
if kwargs:
warnings.warn(
"unknown keyword arguments: %s" % kwargs.keys(), RuntimeWarning
)
# positional arguments
if len(args) == 1:
channel = args[0]
elif len(args) == 2:
moduleNumber, channel = args
elif len(args) != 0:
raise ValueError(
"don't know how to handle %d positional arguments" % len(args)
)
if moduleNumber is None:
moduleNumber = SensorUtil.getDefaultSolenoidModule()
if channel is None:
raise ValueError("must specify channel")
super().__init__(moduleNumber)
self.channel = channel
SensorUtil.checkSolenoidModule(moduleNumber)
SensorUtil.checkSolenoidChannel(channel)
portHandle = hal.getPortWithModule(moduleNumber, channel)
self.solenoidHandle = hal.initializeSolenoidPort(portHandle)
hal.report(hal.UsageReporting.kResourceType_Solenoid, channel, moduleNumber)
self.setName("Solenoid", self.moduleNumber, self.channel)
self.__finalizer = weakref.finalize(self, _freeSolenoid, self.solenoidHandle)
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
def __init__(self, moduleNumber):
"""Constructor.
:param moduleNumber: The PCM CAN ID
"""
self.moduleNumber = moduleNumber
if moduleNumber not in self.all_ports:
self.all_ports[moduleNumber] = []
for i in range(SensorBase.kSolenoidChannels):
port = hal.getPortWithModule(moduleNumber, i)
self.all_ports[moduleNumber].append(hal.initializeSolenoidPort(port))
if moduleNumber not in self.all_mutex:
self.all_mutex[moduleNumber] = threading.Lock()
if moduleNumber not in self.all_allocated:
self.all_allocated[moduleNumber] = Resource(SensorBase.kSolenoidChannels)
self.allocated = self.all_allocated[moduleNumber]
self.ports = self.all_ports[moduleNumber]
self.mutex = self.all_mutex[moduleNumber]
def __init__(self, *args, **kwargs):
"""Constructor.
Arguments can be supplied as positional or keyword. Acceptable
positional argument combinations are:
- forwardChannel, reverseChannel
- moduleNumber, forwardChannel, reverseChannel
Alternatively, the above names can be used as keyword arguments.
:param moduleNumber: The module number of the solenoid module to use.
:param forwardChannel: The forward channel number on the module to control (0..7)
:param reverseChannel: The reverse channel number on the module to control (0..7)
"""
# keyword arguments
forwardChannel = kwargs.pop("forwardChannel", None)
reverseChannel = kwargs.pop("reverseChannel", None)
moduleNumber = kwargs.pop("moduleNumber", None)
if kwargs:
warnings.warn("unknown keyword arguments: %s" % kwargs.keys(),
RuntimeWarning)
# positional arguments
if len(args) == 2:
forwardChannel, reverseChannel = args
elif len(args) == 3:
moduleNumber, forwardChannel, reverseChannel = args
elif len(args) != 0:
raise ValueError("don't know how to handle %d positional arguments" % len(args))
if moduleNumber is None:
moduleNumber = SensorBase.getDefaultSolenoidModule()
if forwardChannel is None:
raise ValueError("must specify forward channel")
if reverseChannel is None:
raise ValueError("must specify reverse channel")
super().__init__(moduleNumber)
self.valueEntry = None
SensorBase.checkSolenoidModule(moduleNumber)
SensorBase.checkSolenoidChannel(forwardChannel)
SensorBase.checkSolenoidChannel(reverseChannel)
portHandle = hal.getPortWithModule(moduleNumber, forwardChannel)
self.forwardHandle = hal.initializeSolenoidPort(portHandle)
try:
portHandle = hal.getPortWithModule(moduleNumber, reverseChannel)
self.reverseHandle = hal.initializeSolenoidPort(portHandle)
except Exception:
# free the forward handle on exception, then rethrow
hal.freeSolenoidPort(self.forwardHandle)
self.forwardHandle = None
self.reverseHandle = None
raise
self.forwardMask = 1 << forwardChannel
self.reverseMask = 1 << reverseChannel
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
hal.report(hal.UsageReporting.kResourceType_Solenoid,
forwardChannel, moduleNumber)
hal.report(hal.UsageReporting.kResourceType_Solenoid,
reverseChannel, moduleNumber)
LiveWindow.addActuatorModuleChannel("DoubleSolenoid", moduleNumber,
forwardChannel, self)
self.__finalizer = weakref.finalize(self, _freeSolenoid,
self.forwardHandle, self.reverseHandle)
def __init__(self, *args, **kwargs) -> None:
"""Constructor.
Arguments can be supplied as positional or keyword. Acceptable
positional argument combinations are:
- forwardChannel, reverseChannel
- moduleNumber, forwardChannel, reverseChannel
Alternatively, the above names can be used as keyword arguments.
:param moduleNumber: The module number of the solenoid module to use.
:param forwardChannel: The forward channel number on the module to control (0..7)
:param reverseChannel: The reverse channel number on the module to control (0..7)
"""
# keyword arguments
forwardChannel = kwargs.pop("forwardChannel", None)
reverseChannel = kwargs.pop("reverseChannel", None)
moduleNumber = kwargs.pop("moduleNumber", None)
if kwargs:
warnings.warn(
"unknown keyword arguments: %s" % kwargs.keys(), RuntimeWarning
)
# positional arguments
if len(args) == 2:
forwardChannel, reverseChannel = args
elif len(args) == 3:
moduleNumber, forwardChannel, reverseChannel = args
elif len(args) != 0:
raise ValueError(
"don't know how to handle %d positional arguments" % len(args)
)
if moduleNumber is None:
moduleNumber = SensorUtil.getDefaultSolenoidModule()
if forwardChannel is None:
raise ValueError("must specify forward channel")
if reverseChannel is None:
raise ValueError("must specify reverse channel")
super().__init__(moduleNumber)
self.valueEntry = None
SensorUtil.checkSolenoidModule(moduleNumber)
SensorUtil.checkSolenoidChannel(forwardChannel)
SensorUtil.checkSolenoidChannel(reverseChannel)
portHandle = hal.getPortWithModule(moduleNumber, forwardChannel)
self.forwardHandle = hal.initializeSolenoidPort(portHandle)
try:
portHandle = hal.getPortWithModule(moduleNumber, reverseChannel)
self.reverseHandle = hal.initializeSolenoidPort(portHandle)
except Exception:
# free the forward handle on exception, then rethrow
hal.freeSolenoidPort(self.forwardHandle)
self.forwardHandle = None
self.reverseHandle = None
raise
self.forwardMask = 1 << forwardChannel
self.reverseMask = 1 << reverseChannel
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
hal.report(
hal.UsageReporting.kResourceType_Solenoid, forwardChannel, moduleNumber
)
hal.report(
hal.UsageReporting.kResourceType_Solenoid, reverseChannel, moduleNumber
)
self.setName("DoubleSolenoid", moduleNumber, forwardChannel)
self.__finalizer = weakref.finalize(
self, _freeSolenoid, self.forwardHandle, self.reverseHandle
)
def __init__(self, *args, **kwargs):
"""Constructor.
Arguments can be supplied as positional or keyword. Acceptable
positional argument combinations are:
- forwardChannel, reverseChannel
- moduleNumber, forwardChannel, reverseChannel
Alternatively, the above names can be used as keyword arguments.
:param moduleNumber: The module number of the solenoid module to use.
:param forwardChannel: The forward channel number on the module to control (0..7)
:param reverseChannel: The reverse channel number on the module to control (0..7)
"""
# keyword arguments
forwardChannel = kwargs.pop("forwardChannel", None)
reverseChannel = kwargs.pop("reverseChannel", None)
moduleNumber = kwargs.pop("moduleNumber", None)
if kwargs:
warnings.warn("unknown keyword arguments: %s" % kwargs.keys(),
RuntimeWarning)
# positional arguments
if len(args) == 2:
forwardChannel, reverseChannel = args
elif len(args) == 3:
moduleNumber, forwardChannel, reverseChannel = args
elif len(args) != 0:
raise ValueError("don't know how to handle %d positional arguments" % len(args))
if moduleNumber is None:
moduleNumber = SensorBase.getDefaultSolenoidModule()
if forwardChannel is None:
raise ValueError("must specify forward channel")
if reverseChannel is None:
raise ValueError("must specify reverse channel")
SensorBase.checkSolenoidModule(moduleNumber)
SensorBase.checkSolenoidChannel(forwardChannel)
SensorBase.checkSolenoidChannel(reverseChannel)
super().__init__(moduleNumber)
try:
self.allocated.allocate(self, forwardChannel)
except IndexError as e:
raise IndexError("Solenoid channel %d on module %d is already allocated" % (forwardChannel, moduleNumber)) from e
try:
self.allocated.allocate(self, reverseChannel)
except IndexError as e:
raise IndexError("Solenoid channel %d on module %d is already allocated" % (reverseChannel, moduleNumber)) from e
portHandle = hal.getPortWithModule(moduleNumber, forwardChannel)
self.forwardHandle = hal.initializeSolenoidPort(portHandle)
portHandle = hal.getPortWithModule(moduleNumber, reverseChannel)
self.reverseHandle = hal.initializeSolenoidPort(portHandle)
self.forwardChannel = forwardChannel
self.reverseChannel = reverseChannel
self.forwardMask = 1 << forwardChannel
self.reverseMask = 1 << reverseChannel
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
hal.report(hal.UsageReporting.kResourceType_Solenoid,
forwardChannel, moduleNumber)
hal.report(hal.UsageReporting.kResourceType_Solenoid,
reverseChannel, moduleNumber)
LiveWindow.addActuatorModuleChannel("DoubleSolenoid", moduleNumber,
forwardChannel, self)
def __init__(self, channel):
portHandle = hal.getPortWithModule(0, channel)
handle, status = hal.initializeSolenoidPort(portHandle)
if status != 0:
raise HALError(status)
self.solenoidHandle = handle