def free(self):
"""Mark the solenoid as freed."""
LiveWindow.removeComponent(self)
self.allocated.free(self.forwardChannel)
self.allocated.free(self.reverseChannel)
hal.freeSolenoidPort(self.forwardHandle)
hal.freeSolenoidPort(self.reverseHandle)
super().free()
def free(self):
"""Mark the solenoid as freed."""
LiveWindow.removeComponent(self)
self.allocated.free(self.forwardChannel)
self.allocated.free(self.reverseChannel)
hal.freeSolenoidPort(self.forwardHandle)
hal.freeSolenoidPort(self.reverseHandle)
super().free()
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 _freeSolenoid(fwdHandle, revHandle):
hal.freeSolenoidPort(fwdHandle)
hal.freeSolenoidPort(revHandle)
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 _freeSolenoid(fwdHandle: hal.SolenoidHandle, revHandle: hal.SolenoidHandle) -> None:
hal.freeSolenoidPort(fwdHandle)
hal.freeSolenoidPort(revHandle)
def _freeSolenoid(solenoidHandle: hal.SolenoidHandle) -> None:
hal.freeSolenoidPort(solenoidHandle)
def _freeSolenoid(solenoidHandle: hal.SolenoidHandle) -> None:
hal.freeSolenoidPort(solenoidHandle)
def _freeSolenoid(solenoidHandle):
hal.freeSolenoidPort(solenoidHandle)
def _freeSolenoid(modulePort, solenoidPort):
hal.freeSolenoidPort(solenoidPort)
hal.freePort(modulePort)
def _freeSolenoid(solenoidHandle):
hal.freeSolenoidPort(solenoidHandle)