Add FPGA Duty Cycle support (#1987)

hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java

@@ -7,8 +7,6 @@
 
 package edu.wpi.first.hal;
 
-import java.nio.IntBuffer;
-
 public class AnalogJNI extends JNIWrapper {
   /**
    * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br> enum values
@@ -94,13 +92,18 @@ public class AnalogJNI extends JNIWrapper {
 
   public static native void getAccumulatorOutput(int analogPortHandle, AccumulatorResult result);
 
-  public static native int initializeAnalogTrigger(int analogInputHandle, IntBuffer index);
+  public static native int initializeAnalogTrigger(int analogInputHandle);
+
+  public static native int initializeAnalogTriggerDutyCycle(int dutyCycleHandle);
 
   public static native void cleanAnalogTrigger(int analogTriggerHandle);
 
   public static native void setAnalogTriggerLimitsRaw(int analogTriggerHandle, int lower,
                                                       int upper);
 
+  public static native void setAnalogTriggerLimitsDutyCycle(int analogTriggerHandle, double lower,
+                                                            double higher);
+
   public static native void setAnalogTriggerLimitsVoltage(int analogTriggerHandle,
                                                           double lower, double upper);
 
@@ -115,4 +118,7 @@ public class AnalogJNI extends JNIWrapper {
   public static native boolean getAnalogTriggerTriggerState(int analogTriggerHandle);
 
   public static native boolean getAnalogTriggerOutput(int analogTriggerHandle, int type);
+
+  @SuppressWarnings("AbbreviationAsWordInName")
+  public static native int getAnalogTriggerFPGAIndex(int analogTriggerHandle);
 }

hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java

@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+public class DutyCycleJNI extends JNIWrapper {
+  public static native int initialize(int digitalSourceHandle, int analogTriggerType);
+  public static native void free(int handle);
+
+  public static native int getFrequency(int handle);
+  public static native double getOutput(int handle);
+  public static native int getOutputRaw(int handle);
+  public static native int getOutputScaleFactor(int handle);
+
+  @SuppressWarnings("AbbreviationAsWordInName")
+  public static native int getFPGAIndex(int handle);
+}

hal/src/main/java/edu/wpi/first/hal/sim/DutyCycleSim.java

@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim;
+
+import edu.wpi.first.hal.sim.mockdata.DutyCycleDataJNI;
+
+public class DutyCycleSim {
+  private final int m_index;
+
+  public DutyCycleSim(int index) {
+    m_index = index;
+  }
+
+  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = DutyCycleDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelInitializedCallback);
+  }
+  public boolean getInitialized() {
+    return DutyCycleDataJNI.getInitialized(m_index);
+  }
+  public void setInitialized(boolean initialized) {
+    DutyCycleDataJNI.setInitialized(m_index, initialized);
+  }
+
+  public CallbackStore registerFrequencyCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = DutyCycleDataJNI.registerFrequencyCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelFrequencyCallback);
+  }
+  public int getFrequency() {
+    return DutyCycleDataJNI.getFrequency(m_index);
+  }
+  public void setFrequency(int frequency) {
+    DutyCycleDataJNI.setFrequency(m_index, frequency);
+  }
+
+  public CallbackStore registerOutputCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = DutyCycleDataJNI.registerOutputCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelOutputCallback);
+  }
+  public double getOutput() {
+    return DutyCycleDataJNI.getOutput(m_index);
+  }
+  public void setOutput(double output) {
+    DutyCycleDataJNI.setOutput(m_index, output);
+  }
+}

hal/src/main/java/edu/wpi/first/hal/sim/mockdata/DutyCycleDataJNI.java

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim.mockdata;
+
+import edu.wpi.first.hal.sim.NotifyCallback;
+import edu.wpi.first.hal.JNIWrapper;
+
+public class DutyCycleDataJNI extends JNIWrapper {
+  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelInitializedCallback(int index, int uid);
+  public static native boolean getInitialized(int index);
+  public static native void setInitialized(int index, boolean initialized);
+
+  public static native int registerFrequencyCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelFrequencyCallback(int index, int uid);
+  public static native int getFrequency(int index);
+  public static native void setFrequency(int index, int frequency);
+
+  public static native int registerOutputCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelOutputCallback(int index, int uid);
+  public static native double getOutput(int index);
+  public static native void setOutput(int index, double output);
+
+  public static native void resetData(int index);
+}