Updated the HAL, wpilibj, and wpilibc for PCM and PDP

Removed #if 0...#endif from PCM.cpp

Change-Id: I2d117c87a3fa10bddebf83706f79c2e767d22a0d

Update the HAL to the PCM/PDP changes

Change-Id: If554b650e263f174e90864f1e9ffba91daf20f7e

Update C++ to the PCM/PDP changes

Change-Id: Ia3114d4526be1dc5cc2f74fd8f7ab44f204d15f2

Updated PCM/PDP in Java

Change-Id: I8fe03afbcb1739d555e86abc0eaae1e12313d490

hal/lib/Athena/Compressor.cpp

@@ -2,21 +2,20 @@
 #include "ctre/PCM.h"
 #include <iostream>
 
-static const int NUM_PCMS = 2;
-extern PCM *modules[NUM_PCMS];
-extern void initializePCM();
+static const int NUM_MODULE_NUMBERS = 63;
+extern PCM *modules[NUM_MODULE_NUMBERS];
+extern void initializePCM(int module);
 
 void *initializeCompressor(uint8_t module) {
-	initializePCM();
+	initializePCM(module);
 	
-	return modules[module - 1];
+	return modules[module];
 }
 
 bool checkCompressorModule(uint8_t module) {
-	return module > 0 and module <= NUM_PCMS;
+	return module < NUM_MODULE_NUMBERS;
 }
 
-
 bool getCompressor(void *pcm_pointer, int32_t *status) {
 	PCM *module = (PCM *)pcm_pointer;
 	bool value;

hal/lib/Athena/Solenoid.cpp

@@ -8,39 +8,34 @@
 #include "NetworkCommunication/LoadOut.h"
 #include "ctre/PCM.h"
 
-bool pcmModulesInitialized = false;
+static const int NUM_MODULE_NUMBERS = 63;
 
-static const int NUM_PCMS = 2;
-PCM *modules[NUM_PCMS];
+PCM *modules[NUM_MODULE_NUMBERS] = { NULL };
 
 struct solenoid_port_t {
 	PCM *module;
 	uint32_t pin;
 };
 
-void initializePCM() {
-	if(!pcmModulesInitialized) {
-		modules[0] = new PCM(50);
-		modules[1] = new PCM(51);
-
-		pcmModulesInitialized = true;
+void initializePCM(int module) {
+	if(!modules[module]) {
+		modules[module] = new PCM(module);
 	}
 }
 
 void* initializeSolenoidPort(void *port_pointer, int32_t *status) {
-	initializePCM();
-
 	Port* port = (Port*) port_pointer;
-
+	initializePCM(port->module);
+	
 	solenoid_port_t *solenoid_port = new solenoid_port_t;
-	solenoid_port->module = modules[port->module - 1];
+	solenoid_port->module = modules[port->module];
 	solenoid_port->pin = port->pin;
 
 	return solenoid_port;
 }
 
 bool checkSolenoidModule(uint8_t module) {
-	return module > 0 and module <= NUM_PCMS;
+	return module < NUM_MODULE_NUMBERS;
 }
 
 bool getSolenoid(void* solenoid_port_pointer, int32_t *status) {

hal/lib/Athena/ctre/PCM.cpp

@@ -1,4 +1,3 @@
-#if 0
 #pragma GCC diagnostic ignored "-Wmissing-field-initializers"
 
 #include "PCM.h"
@@ -453,4 +452,3 @@ extern "C" {
 		return retval;
 	}
 }
-#endif

wpilibc/wpilibC++/include/SensorBase.h

@@ -23,7 +23,7 @@ public:
 
     static uint32_t GetDefaultSolenoidModule()
 	{
-		return 1;
+		return 0;
 	}
 
 	static bool CheckSolenoidModule(uint8_t moduleNumber);

wpilibc/wpilibC++/lib/PowerDistributionPanel.cpp

@@ -47,7 +47,7 @@ PowerDistributionPanel::GetTemperature() {
 }
 
 /**
- * @return The current of one of the PDP channels (channels 1-16) in Amperes
+ * @return The current of one of the PDP channels (channels 0-15) in Amperes
  */
 double
 PowerDistributionPanel::GetCurrent(uint8_t channel) {

wpilibc/wpilibC++/lib/SensorBase.cpp

@@ -153,7 +153,7 @@ bool SensorBase::CheckAnalogOutput(uint32_t channel)
  */
 bool SensorBase::CheckSolenoidChannel(uint32_t channel)
 {
-	if (channel > 0 && channel <= kSolenoidChannels)
+	if (channel < kSolenoidChannels)
 		return true;
 	return false;
 }
@@ -165,7 +165,7 @@ bool SensorBase::CheckSolenoidChannel(uint32_t channel)
  */
 bool SensorBase::CheckPDPChannel(uint32_t channel)
 {
-	if (channel > 0 && channel <= kPDPChannels)
+	if (channel < kPDPChannels)
 		return true;
 	return false;
 }

wpilibc/wpilibC++/lib/Solenoid.cpp

@@ -31,14 +31,14 @@ void Solenoid::InitSolenoid()
 	Resource::CreateResourceObject(&m_allocated, solenoid_kNumDO7_0Elements * kSolenoidChannels);
 
 	snprintf(buf, 64, "Solenoid %d (Module: %d)", m_channel, m_moduleNumber);
-	if (m_allocated->Allocate((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1, buf) == ~0ul)
+	if (m_allocated->Allocate(m_moduleNumber * kSolenoidChannels + m_channel, buf) == ~0ul)
 	{
 		CloneError(m_allocated);
 		return;
 	}
 
 	LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel, this);
-	HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel, m_moduleNumber - 1);
+	HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel, m_moduleNumber);
 }
 
 /**
@@ -73,7 +73,7 @@ Solenoid::~Solenoid()
 {
 	if (CheckSolenoidModule(m_moduleNumber))
 	{
-		m_allocated->Free((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1);
+		m_allocated->Free(m_moduleNumber * kSolenoidChannels + m_channel);
 	}
 }
 
@@ -86,7 +86,7 @@ void Solenoid::Set(bool on)
 {
 	if (StatusIsFatal()) return;
 	uint8_t value = on ? 0xFF : 0x00;
-	uint8_t mask = 1 << (m_channel - 1);
+	uint8_t mask = 1 << m_channel;
 
 	SolenoidBase::Set(value, mask);
 }
@@ -99,7 +99,7 @@ void Solenoid::Set(bool on)
 bool Solenoid::Get()
 {
 	if (StatusIsFatal()) return false;
-	uint8_t value = GetAll() & ( 1 << (m_channel - 1));
+	uint8_t value = GetAll() & ( 1 << m_channel);
 	return (value != 0);
 }
 

wpilibc/wpilibC++/lib/SolenoidBase.cpp

@@ -19,7 +19,7 @@ SolenoidBase::SolenoidBase(uint8_t moduleNumber)
 {
   	for (uint32_t i = 0; i < kSolenoidChannels; i++)
 	{
-	  void* port = getPortWithModule(moduleNumber, i+1);
+	  void* port = getPortWithModule(moduleNumber, i);
 	  int32_t status = 0;
 	  m_ports[i] = initializeSolenoidPort(port, &status);
 	  wpi_setErrorWithContext(status, getHALErrorMessage(status));

wpilibc/wpilibC++IntegrationTests/include/TestBench.h

@@ -55,7 +55,7 @@ public:
 	static const uint32_t kCANJaguarID = 2;
 
 	/* PDP channels */
-	static const uint32_t kJaguarPDPChannel = 7;
-	static const uint32_t kVictorPDPChannel = 11;
-	static const uint32_t kTalonPDPChannel = 12;
+	static const uint32_t kJaguarPDPChannel = 6;
+	static const uint32_t kVictorPDPChannel = 10;
+	static const uint32_t kTalonPDPChannel = 11;
 };

wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp

@@ -37,8 +37,8 @@ protected:
     m_fakePressureSwitch = new DigitalOutput(TestBench::kFakePressureSwitchChannel);
     m_fakeCompressor = new AnalogInput(TestBench::kFakeCompressorChannel);
 
-    m_solenoid1 = new Solenoid(1);
-    m_solenoid2 = new Solenoid(2);
+    m_solenoid1 = new Solenoid(0);
+    m_solenoid2 = new Solenoid(1);
 
     m_fakeSolenoid1 = new DigitalInput(TestBench::kFakeSolenoid1Channel);
     m_fakeSolenoid2 = new DigitalInput(TestBench::kFakeSolenoid2Channel);

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java

@@ -47,7 +47,7 @@ public class PowerDistributionPanel extends SensorBase {
 	}
 
 	/**
-	 * @return The current of one of the PDP channels (channels 1-16) in Amperes
+	 * @return The current of one of the PDP channels (channels 0-15) in Amperes
 	 */
 	public double getCurrent(int channel) {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SensorBase.java

@@ -69,7 +69,7 @@ public abstract class SensorBase { // TODO: Refactor
 
     private static int m_defaultAnalogModule = 1;
     private static int m_defaultDigitalModule = 1;
-    private static int m_defaultSolenoidModule = 1;
+    private static int m_defaultSolenoidModule = 0;
 
     /**
      * Creates an instance of the sensor base and gets an FPGA handle
@@ -242,7 +242,7 @@ public abstract class SensorBase { // TODO: Refactor
      * @param channel The channel number to check.
      */
     protected static void checkSolenoidChannel(final int channel) {
-        if (channel <= 0 || channel > kSolenoidChannels) {
+        if (channel < 0 || channel >= kSolenoidChannels) {
             System.err.println("Requested solenoid channel number is out of range.");
         }
     }
@@ -254,7 +254,7 @@ public abstract class SensorBase { // TODO: Refactor
      * @param channel The channel number to check.
      */
     protected static void checkPDPChannel(final int channel) {
-        if (channel <= 0 || channel > kPDPChannels) {
+        if (channel < 0 || channel >= kPDPChannels) {
             System.err.println("Requested solenoid channel number is out of range.");
         }
     }

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -54,7 +54,7 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
         HALUtil.checkStatus(status.asIntBuffer());
 
         LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
-        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber - 1);
+        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber);
     }
 
     /**

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java

@@ -30,7 +30,7 @@ public abstract class SolenoidBase extends SensorBase implements IDeviceControll
      * @param moduleNumber The number of the solenoid module to use.
      */
     public SolenoidBase(final int moduleNumber) {
-//        m_moduleNumber = moduleNumber;
+        m_moduleNumber = moduleNumber;
 //        m_ports = new ByteBuffer[SensorBase.kSolenoidChannels];
 //        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
 //            ByteBuffer port = SolenoidJNI.getPortWithModule((byte) moduleNumber, (byte) (i+1));

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java

@@ -54,8 +54,8 @@ public class PCMTest extends AbstractComsSetup {
 	    fakePressureSwitch = new DigitalOutput(11);
 	    fakeCompressor = new AnalogInput(1);
 
-	    solenoid1 = new Solenoid(1);
-	    solenoid2 = new Solenoid(2);
+	    solenoid1 = new Solenoid(0);
+	    solenoid2 = new Solenoid(1);
 
 	    fakeSolenoid1 = new DigitalInput(12);
 	    fakeSolenoid2 = new DigitalInput(13);

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -56,9 +56,9 @@ public final class TestBench {
 	
 
 	/* PowerDistributionPanel channels */
-	public static final int kJaguarPDPChannel = 7;
-	public static final int kVictorPDPChannel = 11;
-	public static final int kTalonPDPChannel = 12;
+	public static final int kJaguarPDPChannel = 6;
+	public static final int kVictorPDPChannel = 10;
+	public static final int kTalonPDPChannel = 11;
 	
 	/* CAN ASSOICATED CHANNELS */
 	public static final int kFakeJaguarPotentiometer = 1;

wpilibj/wpilibJavaJNI/lib/SolenoidJNI.cpp

@@ -51,7 +51,7 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPortWith
   (JNIEnv *env, jclass, jbyte module, jbyte channel)
 {
 	VoidPointer *port_pointer = new VoidPointer;
-	*port_pointer = getPortWithModule(module + 1, channel);
+	*port_pointer = getPortWithModule(module, channel);
 	
 	return env->NewDirectByteBuffer(port_pointer, 4);
 }