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Java CANJaguar changes

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Change-Id: Icb15b1b140816e44caec36cda2466a64e5cabf1d

Change-Id: Idd6aebefe03acff5ab211a5e3e73a29563601515
This commit is contained in:
thomasclark
2014-06-24 11:50:10 -04:00
parent de96577602
commit 1bbf350811
11 changed files with 1707 additions and 1513 deletions
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2935
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
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37
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
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@@ -13,7 +13,6 @@ import java.nio.ByteOrder;
import edu.wpi.first.wpilibj.hal.PDPJNI;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.can.CANTimeoutException;
/**
* Class for getting voltage, current, and temperature from the CAN PDP
@@ -22,54 +21,42 @@ import edu.wpi.first.wpilibj.can.CANTimeoutException;
public class PowerDistributionPanel extends SensorBase {
public PowerDistributionPanel() {
}
/**
* @return The voltage of the PDP
*/
public double getVoltage() throws CANTimeoutException {
public double getVoltage() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
double voltage = PDPJNI.getPDPVoltage(status.asIntBuffer());
if(status.asIntBuffer().get(0) != 0) {
throw new CANTimeoutException();
}
return voltage;
}
/**
* @return The temperature of the PDP in degrees Celsius
*/
public double getTemperature() throws CANTimeoutException {
public double getTemperature() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
double temperature = PDPJNI.getPDPTemperature(status.asIntBuffer());
if(status.asIntBuffer().get(0) != 0) {
throw new CANTimeoutException();
}
return temperature;
}
/**
* @return The current of one of the PDP channels (channels 1-16) in Amperes
*/
public double getCurrent(int channel) throws CANTimeoutException {
public double getCurrent(int channel) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
double current = PDPJNI.getPDPChannelCurrent((byte)channel, status.asIntBuffer());
checkPDPChannel(channel);
if(status.asIntBuffer().get(0) != 0) {
throw new CANTimeoutException();
}
return current;
}
}

7
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
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@@ -7,7 +7,6 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.can.CANNotInitializedException;
import edu.wpi.first.wpilibj.can.CANTimeoutException;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
@@ -503,7 +502,7 @@ public class RobotDrive implements MotorSafety, IUtility {
CANJaguar.updateSyncGroup(syncGroup);
} catch (CANNotInitializedException e) {
m_isCANInitialized = false;
} catch (CANTimeoutException e) {}
}
}
if (m_safetyHelper != null) m_safetyHelper.feed();
@@ -555,7 +554,7 @@ public class RobotDrive implements MotorSafety, IUtility {
CANJaguar.updateSyncGroup(syncGroup);
} catch (CANNotInitializedException e) {
m_isCANInitialized = false;
} catch (CANTimeoutException e) {}
}
}
if (m_safetyHelper != null) m_safetyHelper.feed();
@@ -605,7 +604,7 @@ public class RobotDrive implements MotorSafety, IUtility {
CANJaguar.updateSyncGroup(syncGroup);
} catch (CANNotInitializedException e) {
m_isCANInitialized = false;
} catch (CANTimeoutException e) {}
}
}
if (m_safetyHelper != null) m_safetyHelper.feed();

27
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/can/CANExceptionFactory.java
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@@ -10,35 +10,30 @@ package edu.wpi.first.wpilibj.can;
import edu.wpi.first.wpilibj.communication.NIRioStatus;
import edu.wpi.first.wpilibj.util.UncleanStatusException;
/**
* Exception indicating that the Jaguar CAN Driver layer refused to send a
* restricted message ID to the CAN bus.
*/
public class CANExceptionFactory {
// FRC Error codes
static final int ERR_JaguarCANDriver_InvalidBuffer = -44086;
static final int ERR_JaguarCANDriver_TimedOut = -44087;
static final int ERR_JaguarCANDriver_NotAllowed = -44088;
static final int ERR_JaguarCANDriver_NotInitialized = -44089;
static final int ERR_CANSessionMux_InvalidBuffer = -44086;
static final int ERR_CANSessionMux_MessageNotFound = -44087;
static final int ERR_CANSessionMux_NotAllowed = -44088;
static final int ERR_CANSessionMux_NotInitialized = -44089;
public static void checkStatus(int status, int messageID) throws
CANInvalidBufferException, CANTimeoutException,
CANMessageNotAllowedException, CANNotInitializedException,
UncleanStatusException {
CANInvalidBufferException, CANMessageNotAllowedException,
CANNotInitializedException, UncleanStatusException {
switch (status) {
case NIRioStatus.kRioStatusSuccess:
// Everything is ok... don't throw.
return;
case ERR_JaguarCANDriver_InvalidBuffer:
case ERR_CANSessionMux_InvalidBuffer:
case NIRioStatus.kRIOStatusBufferInvalidSize:
throw new CANInvalidBufferException();
case ERR_JaguarCANDriver_TimedOut:
case ERR_CANSessionMux_MessageNotFound:
case NIRioStatus.kRIOStatusOperationTimedOut:
throw new CANTimeoutException();
case ERR_JaguarCANDriver_NotAllowed:
throw new CANMessageNotFoundException();
case ERR_CANSessionMux_NotAllowed:
case NIRioStatus.kRIOStatusFeatureNotSupported:
throw new CANMessageNotAllowedException("MessageID = " + Integer.toString(messageID));
case ERR_JaguarCANDriver_NotInitialized:
case ERR_CANSessionMux_NotInitialized:
case NIRioStatus.kRIOStatusResourceNotInitialized:
throw new CANNotInitializedException();
default:

13
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/can/CANJNI.java
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@@ -16,12 +16,6 @@ import java.nio.IntBuffer;
* For help, please visit <a href="http://nativelibs4java.googlecode.com/">NativeLibs4Java</a> , <a href="http://rococoa.dev.java.net/">Rococoa</a>, or <a href="http://jna.dev.java.net/">JNA</a>.
*/
public class CANJNI extends JNIWrapper{
//public static final String JNA_LIBRARY_NAME = LibraryExtractor.getLibraryPath("CAN", true, CANLibrary.class);
//public static final NativeLibrary JNA_NATIVE_LIB = NativeLibrary.getInstance(CANLibrary.JNA_LIBRARY_NAME, MangledFunctionMapper.DEFAULT_OPTIONS);
//static {
// System.loadLibrary("JNIWrappers");
//Native.register(CANLibrary.class, CANLibrary.JNA_NATIVE_LIB);
//}
/** <i>native declaration : src\main\include\CAN\can_proto.h</i> */
public static final int LM_STATUS_LIMIT_REV = 0x02;
/** <i>native declaration : src\main\include\CAN\can_proto.h</i> */
@@ -452,6 +446,13 @@ public class CANJNI extends JNIWrapper{
public static final int LM_API_VCOMP_T_EN = ((0x00020000 | 0x02000000 | 0x00000800) | (5 << 6));
/** <i>native declaration : src\main\include\CAN\can_proto.h</i> */
public static final int LM_STATUS_LIMIT_STKY_SFWD = 0x40;
public static final int CAN_SEND_PERIOD_NO_REPEAT = 0;
public static final int CAN_SEND_PERIOD_STOP_REPEATING = -1;
/* Flags in the upper bits of the messageID */
public static final int CAN_IS_FRAME_REMOTE = 0x80000000;
public static final int CAN_IS_FRAME_11BIT = 0x40000000;
public static native void FRCNetworkCommunicationCANSessionMuxSendMessage(int messageID, ByteBuffer data, int periodMs, IntBuffer status);
public static native ByteBuffer FRCNetworkCommunicationCANSessionMuxReceiveMessage(IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp, IntBuffer status);

14
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/can/CANTimeoutException.java → wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/can/CANMessageNotFoundException.java
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@@ -7,17 +7,13 @@
package edu.wpi.first.wpilibj.can;
import java.io.IOException;
/**
* Exception indicating that the CAN device did not respond
* within the timeout period specified.
* Exception indicating that a can message is not available from Network
* Communications. This usually just means we already have the most recent
* value cached locally.
*/
public class CANTimeoutException extends IOException {
public CANTimeoutException() {
public class CANMessageNotFoundException extends RuntimeException {
public CANMessageNotFoundException() {
super();
}
public CANTimeoutException(String message) {
super(message);
}
}