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Changes DigitalSource API for HAL ease of use (#144)

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This commit is contained in:
Thad House
2016-07-07 21:43:55 -07:00
committed by Peter Johnson
parent 7597e3c274
commit 4a3e3a6324
38 changed files with 398 additions and 336 deletions
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22
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
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@@ -101,23 +101,23 @@ public class AnalogTriggerOutput extends DigitalSource {
}
@Override
public int getChannelForRouting() {
return (m_trigger.m_index << 2) + m_outputType.m_value;
public int getPortHandleForRouting() {
return m_trigger.m_port;
}
@Override
public byte getModuleForRouting() {
return (byte) (m_trigger.m_index >> 2);
}
@Override
public boolean getAnalogTriggerForRouting() {
return true;
public int getAnalogTriggerTypeForRouting() {
return m_outputType.m_value;
}
@Override
public int getPortHandle() {
return m_trigger.m_port;
public int getChannel() {
return m_trigger.m_index;
}
@Override
public boolean isAnalogTrigger() {
return true;
}
/**

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java
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@@ -230,8 +230,8 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
m_allocatedUpSource = false;
}
m_upSource = source;
CounterJNI.setCounterUpSource(m_counter, source.getChannelForRouting(),
source.getAnalogTriggerForRouting());
CounterJNI.setCounterUpSource(m_counter, source.getPortHandleForRouting(),
source.getAnalogTriggerTypeForRouting());
}
/**
@@ -303,8 +303,8 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
m_downSource.free();
m_allocatedDownSource = false;
}
CounterJNI.setCounterDownSource(m_counter, source.getChannelForRouting(),
source.getAnalogTriggerForRouting());
CounterJNI.setCounterDownSource(m_counter, source.getPortHandleForRouting(),
source.getAnalogTriggerTypeForRouting());
m_downSource = source;
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
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@@ -54,12 +54,12 @@ public class DigitalGlitchFilter extends SensorBase {
private static void setFilter(DigitalSource input, int channelIndex) {
if (input != null) { // Counter might have just one input
// analog triggers are not supported for DigitalGlitchFilters
if (input.getAnalogTriggerForRouting()) {
if (input.isAnalogTrigger()) {
throw new IllegalStateException("Analog Triggers not supported for DigitalGlitchFilters");
}
DigitalGlitchFilterJNI.setFilterSelect(input.getPortHandle(), channelIndex);
DigitalGlitchFilterJNI.setFilterSelect(input.getPortHandleForRouting(), channelIndex);
int selected = DigitalGlitchFilterJNI.getFilterSelect(input.getPortHandle());
int selected = DigitalGlitchFilterJNI.getFilterSelect(input.getPortHandleForRouting());
if (selected != channelIndex) {
throw new IllegalStateException("DigitalGlitchFilterJNI.setFilterSelect("
+ channelIndex + ") failed -> " + selected);

24
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
View File

@@ -65,37 +65,28 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
*
* @return The GPIO channel number that this object represents.
*/
@Override
public int getChannel() {
return m_channel;
}
/**
* Get the channel routing number.
* Get the analog trigger type.
*
* @return channel routing number
* @return false
*/
@Override
public int getChannelForRouting() {
return m_channel;
}
/**
* Get the module routing number.
*
* @return 0
*/
@Override
public byte getModuleForRouting() {
public int getAnalogTriggerTypeForRouting() {
return 0;
}
/**
* Is this an analog trigger.
*
* @return true if this is an analog trigger
*/
@Override
public boolean getAnalogTriggerForRouting() {
public boolean isAnalogTrigger() {
return false;
}
@@ -105,11 +96,10 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
* @return The HAL Handle to the specified source.
*/
@Override
public int getPortHandle() {
public int getPortHandleForRouting() {
return m_handle;
}
@Override
public String getSmartDashboardType() {
return "Digital Input";

23
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
View File

@@ -67,6 +67,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
/**
* @return The GPIO channel number that this object represents.
*/
@Override
public int getChannel() {
return m_channel;
}
@@ -170,34 +171,24 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
}
DIOJNI.setDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle);
}
/**
* Get the channel routing number.
*
* @return channel routing number
*/
@Override
public int getChannelForRouting() {
return m_channel;
}
/**
* Get the module routing number.
* Get the analog trigger type.
*
* @return 0
* @return false
*/
@Override
public byte getModuleForRouting() {
public int getAnalogTriggerTypeForRouting() {
return 0;
}
/**
* Is this an analog trigger.
*
* @return true if this is an analog trigger
*/
@Override
public boolean getAnalogTriggerForRouting() {
public boolean isAnalogTrigger() {
return false;
}
@@ -207,7 +198,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
* @return The HAL Handle to the specified source.
*/
@Override
public int getPortHandle() {
public int getPortHandleForRouting() {
return m_handle;
}

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalSource.java
View File

@@ -14,5 +14,7 @@ package edu.wpi.first.wpilibj;
* source. The source can either be a digital input or analog trigger but not both.
*/
public abstract class DigitalSource extends InterruptableSensorBase {
public abstract int getPortHandle();
public abstract boolean isAnalogTrigger();
public abstract int getChannel();
}

23
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
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@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.hal.EncoderJNI;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.util.AllocationException;
/**
* Class to read quad encoders. Quadrature encoders are devices that count shaft rotation and can
@@ -72,15 +73,14 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @param reverseDirection If true, counts down instead of up (this is all relative)
*/
private void initEncoder(boolean reverseDirection, final EncodingType type) {
m_encoder = EncoderJNI.initializeEncoder(m_aSource.getModuleForRouting(),
(byte)m_aSource.getChannelForRouting(), m_aSource.getAnalogTriggerForRouting(),
m_bSource.getModuleForRouting(), (byte)m_bSource.getChannelForRouting(),
m_bSource.getAnalogTriggerForRouting(), reverseDirection, type.value);
m_encoder = EncoderJNI.initializeEncoder(m_aSource.getPortHandleForRouting(),
m_aSource.getAnalogTriggerTypeForRouting(), m_bSource.getPortHandleForRouting(),
m_bSource.getAnalogTriggerTypeForRouting(), reverseDirection, type.value);
m_pidSource = PIDSourceType.kDisplacement;
UsageReporting.report(tResourceType.kResourceType_Encoder, getFPGAIndex(), type.value);
LiveWindow.addSensor("Encoder", m_aSource.getChannelForRouting(), this);
LiveWindow.addSensor("Encoder", m_aSource.getChannel(), this);
}
/**
@@ -164,7 +164,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
m_bSource = new DigitalInput(channelB);
m_indexSource = new DigitalInput(indexChannel);
initEncoder(reverseDirection, EncodingType.k4X);
setIndexSource(indexChannel);
setIndexSource(m_indexSource);
}
/**
@@ -564,7 +564,12 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @param type The state that will cause the encoder to reset
*/
public void setIndexSource(int channel, IndexingType type) {
EncoderJNI.setEncoderIndexSource(m_encoder, channel, false, type.value);
if (m_allocatedI) {
throw new AllocationException("Digital Input for Indexing already allocated");
}
m_indexSource = new DigitalInput(channel);
m_allocatedI = true;
setIndexSource(m_indexSource, type);
}
/**
@@ -575,8 +580,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @param type The state that will cause the encoder to reset
*/
public void setIndexSource(DigitalSource source, IndexingType type) {
EncoderJNI.setEncoderIndexSource(m_encoder, source.getChannelForRouting(),
source.getAnalogTriggerForRouting(), type.value);
EncoderJNI.setEncoderIndexSource(m_encoder, source.getPortHandleForRouting(),
source.getAnalogTriggerTypeForRouting(), type.value);
}
/**

19
wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
View File

@@ -61,21 +61,14 @@ public abstract class InterruptableSensorBase extends SensorBase {
*
* @return true if this is an analog trigger.
*/
abstract boolean getAnalogTriggerForRouting();
public abstract int getAnalogTriggerTypeForRouting();
/**
* The channel routing number.
*
* @return channel routing number
*/
abstract int getChannelForRouting();
/**
* The modules routing number.
*
* @return module routing number
*/
abstract byte getModuleForRouting();
public abstract int getPortHandleForRouting();
/**
* Request one of the 8 interrupts asynchronously on this digital input.
@@ -95,8 +88,8 @@ public abstract class InterruptableSensorBase extends SensorBase {
assert (m_interrupt != 0);
InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(), getChannelForRouting(),
getAnalogTriggerForRouting());
InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
getAnalogTriggerTypeForRouting());
setUpSourceEdge(true, false);
InterruptJNI.attachInterruptHandler(m_interrupt, handler.m_function,
handler.overridableParameter());
@@ -116,8 +109,8 @@ public abstract class InterruptableSensorBase extends SensorBase {
assert (m_interrupt != 0);
InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(), getChannelForRouting(),
getAnalogTriggerForRouting());
InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
getAnalogTriggerTypeForRouting());
setUpSourceEdge(true, false);
}

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/CounterJNI.java
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@@ -16,16 +16,16 @@ public class CounterJNI extends JNIWrapper {
public static native void setCounterAverageSize(int counterHandle, int size);
public static native void setCounterUpSource(int counterHandle, int pin,
boolean analogTrigger);
public static native void setCounterUpSource(int counterHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void setCounterUpSourceEdge(int counterHandle, boolean risingEdge,
boolean fallingEdge);
public static native void clearCounterUpSource(int counterHandle);
public static native void setCounterDownSource(int counterHandle, int pin,
boolean analogTrigger);
public static native void setCounterDownSource(int counterHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void setCounterDownSourceEdge(int counterHandle, boolean risingEdge,
boolean fallingEdge);

11
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java
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@@ -11,10 +11,9 @@ import java.nio.IntBuffer;
public class EncoderJNI extends JNIWrapper {
public static native int initializeEncoder(byte portAModule, int portAPin,
boolean portAAnalogTrigger, byte portBModule,
int portBPin, boolean portBAnalogTrigger,
boolean reverseDirection, int encodingType);
public static native int initializeEncoder(int digitalSourceHandleA, int analogTriggerTypeA,
int digitalSourceHandleB, int analogTriggerTypeB,
boolean reverseDirection, int encodingType);
public static native void freeEncoder(int encoderHandle);
@@ -50,8 +49,8 @@ public class EncoderJNI extends JNIWrapper {
public static native int getEncoderSamplesToAverage(int encoderHandle);
public static native void setEncoderIndexSource(int encoderHandle, int pin,
boolean analogTrigger, int indexingType);
public static native void setEncoderIndexSource(int encoderHandle, int digitalSourceHandle,
int analogTriggerType, int indexingType);
@SuppressWarnings("AbbreviationAsWordInName")
public static native int getEncoderFPGAIndex(int encoderHandle);

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java
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@@ -29,8 +29,8 @@ public class InterruptJNI extends JNIWrapper {
public static native double readFallingTimestamp(int interruptHandle);
public static native void requestInterrupts(int interruptHandle, byte routingModule,
int routingPin, boolean routingAnalogTrigger);
public static native void requestInterrupts(int interruptHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void attachInterruptHandler(int interruptHandle,
InterruptJNIHandlerFunction handler,