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Adds Resource tracking to CANJaguar

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Change-Id: Ic5da91d378d997f57c65b3bace5fcfd24485dddb
This commit is contained in:
Jonathan Leitschuh
2014-07-18 15:00:59 -04:00
parent 1dd1e0be1e
commit 3d740a9a25
1 changed files with 11 additions and 0 deletions
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11
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
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@@ -16,6 +16,8 @@ import edu.wpi.first.wpilibj.can.CANMessageNotFoundException;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
import edu.wpi.first.wpilibj.util.AllocationException;
import edu.wpi.first.wpilibj.util.CheckedAllocationException;
/**
* Texas Instruments Jaguar Speed Controller as a CAN device.
@@ -30,6 +32,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
public static final double kApproxBusVoltage = 12.0;
private MotorSafetyHelper m_safetyHelper;
private static final Resource allocated = new Resource(63);
private static final int kFullMessageIDMask = CANJNI.CAN_MSGID_API_M | CANJNI.CAN_MSGID_MFR_M | CANJNI.CAN_MSGID_DTYPE_M;
private static final int kSendMessagePeriod = 20;
@@ -155,6 +158,13 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
* @see CANJaguar#setVoltageMode(QuadEncoderTag, int)
*/
public CANJaguar(int deviceNumber) {
try {
allocated.allocate(deviceNumber-1);
} catch (CheckedAllocationException e1) {
throw new AllocationException(
"CANJaguar device " + e1.getMessage() + "(increment index by one)");
}
m_deviceNumber = (byte)deviceNumber;
m_controlMode = ControlMode.PercentVbus;
@@ -212,6 +222,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
* No other methods should be called after this is called.
*/
public void free() {
allocated.free(m_deviceNumber-1);
m_safetyHelper = null;
ByteBuffer status = ByteBuffer.allocateDirect(4);