Switches PWM and DIO to Handles (#120)

wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java

@@ -80,10 +80,15 @@ public class AnalogTriggerOutput extends DigitalSource {
     UsageReporting.report(tResourceType.kResourceType_AnalogTriggerOutput, trigger.getIndex(),
         outputType.m_value);
   }
-
-  @Override
+  
+  /**
+   * Frees the resources for this output.
+   */
   public void free() {
-
+    if (m_interrupt != 0) {
+      cancelInterrupts();
+    }
+    
   }
 
   /**
@@ -109,6 +114,11 @@ public class AnalogTriggerOutput extends DigitalSource {
   public boolean getAnalogTriggerForRouting() {
     return true;
   }
+  
+  @Override
+  public int getPortHandle() {
+    return m_trigger.m_port;
+  }
 
   /**
    * Defines the state in which the AnalogTrigger triggers.

wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java

@@ -53,9 +53,13 @@ public class DigitalGlitchFilter extends SensorBase {
 
   private static void setFilter(DigitalSource input, int channelIndex) {
     if (input != null) { // Counter might have just one input
-      DigitalGlitchFilterJNI.setFilterSelect(input.m_port, channelIndex);
+      // analog triggers are not supported for DigitalGlitchFilters
+      if (input.getAnalogTriggerForRouting()) {
+        throw new IllegalStateException("Analog Triggers not supported for DigitalGlitchFilters");
+      }
+      DigitalGlitchFilterJNI.setFilterSelect(input.getPortHandle(), channelIndex);
 
-      int selected = DigitalGlitchFilterJNI.getFilterSelect(input.m_port);
+      int selected = DigitalGlitchFilterJNI.getFilterSelect(input.getPortHandle());
       if (selected != channelIndex) {
         throw new IllegalStateException("DigitalGlitchFilterJNI.setFilterSelect("
             + channelIndex + ") failed -> " + selected);

wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java

@@ -21,18 +21,34 @@ import edu.wpi.first.wpilibj.tables.ITable;
  * for devices like switches etc. that aren't implemented anywhere else.
  */
 public class DigitalInput extends DigitalSource implements LiveWindowSendable {
-
+  private int m_channel = 0;
+  private int m_handle = 0;
+  
   /**
    * Create an instance of a Digital Input class. Creates a digital input given a channel.
    *
    * @param channel the DIO channel for the digital input 0-9 are on-board, 10-25 are on the MXP
    */
   public DigitalInput(int channel) {
-    initDigitalPort(channel, true);
+    checkDigitalChannel(channel);
+    m_channel = channel;
+    
+    m_handle = DIOJNI.initializeDIOPort(DIOJNI.getPort((byte)channel), true);
 
     LiveWindow.addSensor("DigitalInput", channel, this);
     UsageReporting.report(tResourceType.kResourceType_DigitalInput, channel);
   }
+  
+  /**
+   * Frees the resources for this output.
+   */
+  public void free() {
+    if (m_interrupt != 0) {
+      cancelInterrupts();
+    }
+    
+    DIOJNI.freeDIOPort(m_handle);
+  }
 
   /**
    * Get the value from a digital input channel. Retrieve the value of a single digital input
@@ -41,7 +57,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
    * @return the status of the digital input
    */
   public boolean get() {
-    return DIOJNI.getDIO(super.m_port);
+    return DIOJNI.getDIO(m_handle);
   }
 
   /**
@@ -50,13 +66,48 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
    * @return The GPIO channel number that this object represents.
    */
   public int getChannel() {
-    return super.m_channel;
+    return m_channel;
   }
 
+  /**
+   * Get the channel routing number.
+   *
+   * @return channel routing number
+   */
+  @Override
+  public int getChannelForRouting() {
+    return m_channel;
+  }
+
+  /**
+   * Get the module routing number.
+   *
+   * @return 0
+   */
+  @Override
+  public byte getModuleForRouting() {
+    return 0;
+  }
+
+  /**
+   * Is this an analog trigger.
+   *
+   * @return true if this is an analog trigger
+   */
   @Override
   public boolean getAnalogTriggerForRouting() {
     return false;
   }
+  
+  /**
+   * Get the HAL Port Handle.
+   *
+   * @return The HAL Handle to the specified source.
+   */
+  @Override
+  public int getPortHandle() {
+    return m_handle;
+  }
 
 
   @Override

wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java

@@ -24,6 +24,9 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
   private static final long invalidPwmGenerator = 0xffffffff;
 
   private long m_pwmGenerator = invalidPwmGenerator;
+  
+  private int m_channel = 0;
+  private int m_handle = 0;
 
   /**
    * Create an instance of a digital output. Create an instance of a digital output given a
@@ -33,7 +36,10 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
    *                the MXP
    */
   public DigitalOutput(int channel) {
-    initDigitalPort(channel, false);
+    checkDigitalChannel(channel);
+    m_channel = channel;
+    
+    m_handle = DIOJNI.initializeDIOPort(DIOJNI.getPort((byte)channel), false);
 
     UsageReporting.report(tResourceType.kResourceType_DigitalOutput, channel);
   }
@@ -47,7 +53,8 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
     if (m_pwmGenerator != invalidPwmGenerator) {
       disablePWM();
     }
-    super.free();
+    DIOJNI.freeDIOPort(m_handle);
+    m_handle = 0;
   }
 
   /**
@@ -56,14 +63,14 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
    * @param value true is on, off is false
    */
   public void set(boolean value) {
-    DIOJNI.setDIO(super.m_port, (short) (value ? 1 : 0));
+    DIOJNI.setDIO(m_handle, (short) (value ? 1 : 0));
   }
 
   /**
    * @return The GPIO channel number that this object represents.
    */
   public int getChannel() {
-    return super.m_channel;
+    return m_channel;
   }
 
   /**
@@ -74,7 +81,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
    * @param pulseLength The length of the pulse.
    */
   public void pulse(final int channel, final float pulseLength) {
-    DIOJNI.pulse(super.m_port, pulseLength);
+    DIOJNI.pulse(m_handle, pulseLength);
   }
 
   /**
@@ -89,7 +96,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
         (float) (pulseLength / 1.0e9 * (DIOJNI.getLoopTiming() * 25));
     System.err
         .println("You should use the float version of pulse for portability.  This is deprecated");
-    DIOJNI.pulse(super.m_port, convertedPulse);
+    DIOJNI.pulse(m_handle, convertedPulse);
   }
 
   /**
@@ -98,7 +105,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
    * @return true if pulsing
    */
   public boolean isPulsing() {
-    return DIOJNI.isPulsing(super.m_port);
+    return DIOJNI.isPulsing(m_handle);
   }
 
   /**
@@ -165,6 +172,46 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
     }
     PWMJNI.setPWMDutyCycle(m_pwmGenerator, dutyCycle);
   }
+  
+  /**
+   * Get the channel routing number.
+   *
+   * @return channel routing number
+   */
+  @Override
+  public int getChannelForRouting() {
+    return m_channel;
+  }
+
+  /**
+   * Get the module routing number.
+   *
+   * @return 0
+   */
+  @Override
+  public byte getModuleForRouting() {
+    return 0;
+  }
+
+  /**
+   * Is this an analog trigger.
+   *
+   * @return true if this is an analog trigger
+   */
+  @Override
+  public boolean getAnalogTriggerForRouting() {
+    return false;
+  }
+  
+  /**
+   * Get the HAL Port Handle.
+   *
+   * @return The HAL Handle to the specified source.
+   */
+  @Override
+  public int getPortHandle() {
+    return m_handle;
+  }
 
   /*
    * Live Window code, only does anything if live window is activated.

wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalSource.java

@@ -7,10 +7,6 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.hal.DIOJNI;
-import edu.wpi.first.wpilibj.util.AllocationException;
-import edu.wpi.first.wpilibj.util.CheckedAllocationException;
-
 /**
  * DigitalSource Interface. The DigitalSource represents all the possible inputs for a counter or a
  * quadrature encoder. The source may be either a digital input or an analog input. If the caller
@@ -18,64 +14,5 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
  * source. The source can either be a digital input or analog trigger but not both.
  */
 public abstract class DigitalSource extends InterruptableSensorBase {
-
-  protected static Resource channels = new Resource(kDigitalChannels);
-  protected long m_port;
-  protected int m_channel;
-
-  protected void initDigitalPort(int channel, boolean input) {
-
-    m_channel = channel;
-
-    checkDigitalChannel(m_channel);
-
-    try {
-      channels.allocate(m_channel);
-    } catch (CheckedAllocationException ex) {
-      throw new AllocationException("Digital input " + m_channel + " is already allocated");
-    }
-
-    int portHandle = DIOJNI.getPort((byte) channel);
-    m_port = DIOJNI.initializeDigitalPort(portHandle);
-    DIOJNI.allocateDIO(m_port, input);
-  }
-
-  @Override
-  public void free() {
-    channels.free(m_channel);
-    DIOJNI.freeDIO(m_port);
-    DIOJNI.freeDigitalPort(m_port);
-    m_port = 0;
-    m_channel = 0;
-  }
-
-  /**
-   * Get the channel routing number.
-   *
-   * @return channel routing number
-   */
-  @Override
-  public int getChannelForRouting() {
-    return m_channel;
-  }
-
-  /**
-   * Get the module routing number.
-   *
-   * @return 0
-   */
-  @Override
-  public byte getModuleForRouting() {
-    return 0;
-  }
-
-  /**
-   * Is this an analog trigger.
-   *
-   * @return true if this is an analog trigger
-   */
-  @Override
-  public boolean getAnalogTriggerForRouting() {
-    return false;
-  }
+  public abstract int getPortHandle();
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java

@@ -61,7 +61,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
   }
 
   private int m_channel;
-  private long m_port;
+  private int m_handle;
 
   /**
    * kDefaultPwmPeriod is in ms.
@@ -106,13 +106,9 @@ public class PWM extends SensorBase implements LiveWindowSendable {
     checkPWMChannel(channel);
     m_channel = channel;
 
-    m_port = DIOJNI.initializeDigitalPort(DIOJNI.getPort((byte) channel));
+    m_handle = PWMJNI.initializePWMPort(DIOJNI.getPort((byte) channel));
 
-    if (!PWMJNI.allocatePWMChannel(m_port)) {
-      throw new AllocationException("PWM channel " + channel + " is already allocated");
-    }
-
-    PWMJNI.setPWM(m_port, (short) 0);
+    PWMJNI.setPWM(m_handle, (short) 0);
 
     m_eliminateDeadband = false;
 
@@ -125,14 +121,12 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * <p>Free the resource associated with the PWM channel and set the value to 0.
    */
   public void free() {
-    if (m_port == 0) {
+    if (m_handle == 0) {
       return;
     }
-    PWMJNI.setPWM(m_port, (short) 0);
-    PWMJNI.freePWMChannel(m_port);
-    PWMJNI.freeDIO(m_port);
-    DIOJNI.freeDigitalPort(m_port);
-    m_port = 0;
+    PWMJNI.setPWM(m_handle, (short) 0);
+    PWMJNI.freePWMPort(m_handle);
+    m_handle = 0;
   }
 
   /**
@@ -320,7 +314,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * @param value Raw PWM value. Range 0 - 255.
    */
   public void setRaw(int value) {
-    PWMJNI.setPWM(m_port, (short) value);
+    PWMJNI.setPWM(m_handle, (short) value);
   }
 
   /**
@@ -331,7 +325,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * @return Raw PWM control value. Range: 0 - 255.
    */
   public int getRaw() {
-    return PWMJNI.getPWM(m_port);
+    return PWMJNI.getPWM(m_handle);
   }
 
   /**
@@ -343,15 +337,15 @@ public class PWM extends SensorBase implements LiveWindowSendable {
     switch (mult.value) {
       case PeriodMultiplier.k4X_val:
         // Squelch 3 out of 4 outputs
-        PWMJNI.setPWMPeriodScale(m_port, 3);
+        PWMJNI.setPWMPeriodScale(m_handle, 3);
         break;
       case PeriodMultiplier.k2X_val:
         // Squelch 1 out of 2 outputs
-        PWMJNI.setPWMPeriodScale(m_port, 1);
+        PWMJNI.setPWMPeriodScale(m_handle, 1);
         break;
       case PeriodMultiplier.k1X_val:
         // Don't squelch any outputs
-        PWMJNI.setPWMPeriodScale(m_port, 0);
+        PWMJNI.setPWMPeriodScale(m_handle, 0);
         break;
       default:
         // Cannot hit this, limited by PeriodMultiplier enum
@@ -359,7 +353,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
   }
 
   protected void setZeroLatch() {
-    PWMJNI.latchPWMZero(m_port);
+    PWMJNI.latchPWMZero(m_handle);
   }
 
   private int getMaxPositivePwm() {

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -83,7 +83,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda
           return;
         }
         if (ultrasonic.isEnabled()) {
-          ultrasonic.m_pingChannel.pulse(m_pingChannel.m_channel, (float) kPingTime); // do
+          ultrasonic.m_pingChannel.pulse(m_pingChannel.getChannel(), (float) kPingTime); // do
           // the
           // ping
         }
@@ -288,15 +288,8 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda
     setAutomaticMode(false); // turn off automatic round robin if pinging
     // single sensor
     m_counter.reset(); // reset the counter to zero (invalid data now)
-    m_pingChannel.pulse(m_pingChannel.m_channel, (float) kPingTime); // do
-    // the
-    // ping
-    // to
-    // start
-    // getting
-    // a
-    // single
-    // range
+    // do the ping to start getting a single range
+    m_pingChannel.pulse(m_pingChannel.getChannel(), (float) kPingTime); 
   }
 
   /**

wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/DIOJNI.java

@@ -9,23 +9,19 @@ package edu.wpi.first.wpilibj.hal;
 
 @SuppressWarnings("AbbreviationAsWordInName")
 public class DIOJNI extends JNIWrapper {
-  public static native long initializeDigitalPort(int halPortHandle);
+  public static native int initializeDIOPort(int halPortHandle, boolean input);
 
-  public static native void freeDigitalPort(long portPointer);
+  public static native void freeDIOPort(int dioPortHandle);
 
-  public static native boolean allocateDIO(long digitalPortPointer, boolean input);
+  public static native void setDIO(int dioPortHandle, short value);
 
-  public static native void freeDIO(long digitalPortPointer);
+  public static native boolean getDIO(int dioPortHandle);
 
-  public static native void setDIO(long digitalPortPointer, short value);
+  public static native boolean getDIODirection(int dioPortHandle);
 
-  public static native boolean getDIO(long digitalPortPointer);
+  public static native void pulse(int dioPortHandle, double pulseLength);
 
-  public static native boolean getDIODirection(long digitalPortPointer);
-
-  public static native void pulse(long digitalPortPointer, double pulseLength);
-
-  public static native boolean isPulsing(long digitalPortPointer);
+  public static native boolean isPulsing(int dioPortHandle);
 
   public static native boolean isAnyPulsing();
 

wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/DigitalGlitchFilterJNI.java

@@ -8,9 +8,9 @@
 package edu.wpi.first.wpilibj.hal;
 
 public class DigitalGlitchFilterJNI extends JNIWrapper {
-  public static native void setFilterSelect(long digitalPortPointer, int filterIndex);
+  public static native void setFilterSelect(int digitalPortHandle, int filterIndex);
 
-  public static native int getFilterSelect(long digitalPortPointer);
+  public static native int getFilterSelect(int digitalPortHandle);
 
   public static native void setFilterPeriod(int filterIndex, int fpgaCycles);
 

wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PWMJNI.java

@@ -9,17 +9,17 @@ package edu.wpi.first.wpilibj.hal;
 
 @SuppressWarnings("AbbreviationAsWordInName")
 public class PWMJNI extends DIOJNI {
-  public static native boolean allocatePWMChannel(long digitalPortPointer);
+  public static native int initializePWMPort(int halPortHandle);
 
-  public static native void freePWMChannel(long digitalPortPointer);
+  public static native void freePWMPort(int pwmPortHandle);
 
-  public static native void setPWM(long digitalPortPointer, short value);
+  public static native void setPWM(int pwmPortHandle, short value);
 
-  public static native short getPWM(long digitalPortPointer);
+  public static native short getPWM(int pwmPortHandle);
 
-  public static native void latchPWMZero(long digitalPortPointer);
+  public static native void latchPWMZero(int pwmPortHandle);
 
-  public static native void setPWMPeriodScale(long digitalPortPointer, int squelchMask);
+  public static native void setPWMPeriodScale(int pwmPortHandle, int squelchMask);
 
   public static native long allocatePWM();