Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-03 03:01:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Makes SensorBase checks use HAL check methods (#182)

Browse Source
This commit is contained in:
Thad House
2016-07-20 22:47:29 -07:00
committed by Peter Johnson
parent 0901ae0808
commit 512ecf6490
24 changed files with 238 additions and 103 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
wpilibj/src/athena/cpp/lib/DIOJNI.cpp
View File

@@ -49,9 +49,21 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort(
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: freeDIOPort
* Signature: (I)V;
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: checkDIOChannel
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_checkDIOChannel(
JNIEnv *env, jclass, jint channel) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI checkDIOChannel";
DIOJNI_LOG(logDEBUG) << "Channel = " << channel;
return HAL_CheckDIOChannel(channel);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: freeDIOPort
* Signature: (I)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIOPort(
JNIEnv *env, jclass, jint id) {

20
wpilibj/src/athena/cpp/lib/PDPJNI.cpp
View File

@@ -24,6 +24,26 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_initializePDP(
CheckStatusRange(env, 0, HAL_GetNumPDPModules(), module, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PDPJNI
* Method: checkPDPChannel
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPChannel(
JNIEnv *env, jclass, jint channel) {
return HAL_CheckPDPChannel(channel);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PDPJNI
* Method: checkPDPModule
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPModule(
JNIEnv *env, jclass, jint module) {
return HAL_CheckPDPModule(module);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PDPJNI
* Method: getPDPTemperature

12
wpilibj/src/athena/cpp/lib/PWMJNI.cpp
View File

@@ -47,6 +47,18 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort(
return (jint)pwm;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: checkPWMChannel
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_checkPWMChannel(
JNIEnv *env, jclass, jint channel) {
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI checkPWMChannel";
PWMJNI_LOG(logDEBUG) << "Channel = " << channel;
return HAL_CheckPWMChannel(channel);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: freeDIOPort

24
wpilibj/src/athena/cpp/lib/SolenoidJNI.cpp
View File

@@ -49,6 +49,30 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort(
return (jint)handle;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: checkSolenoidChannel
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidChannel(
JNIEnv *env, jclass, jint channel) {
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidChannel";
SOLENOIDJNI_LOG(logDEBUG) << "Channel = " << channel;
return HAL_CheckSolenoidChannel(channel);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: checkSolenoidModule
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidModule(
JNIEnv *env, jclass, jint module) {
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidModule";
SOLENOIDJNI_LOG(logDEBUG) << "Module = " << module;
return HAL_CheckSolenoidModule(module);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: freeSolenoidPort

27
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java
View File

@@ -7,8 +7,14 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.AnalogJNI;
import edu.wpi.first.wpilibj.hal.ConstantsJNI;
import edu.wpi.first.wpilibj.hal.DIOJNI;
import edu.wpi.first.wpilibj.hal.PDPJNI;
import edu.wpi.first.wpilibj.hal.PWMJNI;
import edu.wpi.first.wpilibj.hal.PortsJNI;
import edu.wpi.first.wpilibj.hal.RelayJNI;
import edu.wpi.first.wpilibj.hal.SolenoidJNI;
/**
* Base class for all sensors. Stores most recent status information as well as containing utility
@@ -43,7 +49,7 @@ public abstract class SensorBase { // TODO: Refactor
/**
* Number of relay channels per roboRIO.
*/
public static final int kRelayChannels = PortsJNI.getNumRelayPins();
public static final int kRelayChannels = PortsJNI.getNumRelayHeaders();
/**
* Number of power distribution channels.
*/
@@ -81,6 +87,9 @@ public abstract class SensorBase { // TODO: Refactor
* @param moduleNumber The solenoid module module number to check.
*/
protected static void checkSolenoidModule(final int moduleNumber) {
if (!SolenoidJNI.checkSolenoidModule(moduleNumber)) {
throw new IndexOutOfBoundsException("Requested solenoid module number is out of range");
}
}
/**
@@ -90,7 +99,7 @@ public abstract class SensorBase { // TODO: Refactor
* @param channel The channel number to check.
*/
protected static void checkDigitalChannel(final int channel) {
if (channel < 0 || channel >= kDigitalChannels) {
if (!DIOJNI.checkDIOChannel(channel)) {
throw new IndexOutOfBoundsException("Requested digital channel number is out of range.");
}
}
@@ -102,7 +111,7 @@ public abstract class SensorBase { // TODO: Refactor
* @param channel The channel number to check.
*/
protected static void checkRelayChannel(final int channel) {
if (channel < 0 || channel >= kRelayChannels) {
if (!RelayJNI.checkRelayChannel(channel)) {
throw new IndexOutOfBoundsException("Requested relay channel number is out of range.");
}
}
@@ -114,7 +123,7 @@ public abstract class SensorBase { // TODO: Refactor
* @param channel The channel number to check.
*/
protected static void checkPWMChannel(final int channel) {
if (channel < 0 || channel >= kPwmChannels) {
if (!PWMJNI.checkPWMChannel(channel)) {
throw new IndexOutOfBoundsException("Requested PWM channel number is out of range.");
}
}
@@ -126,7 +135,7 @@ public abstract class SensorBase { // TODO: Refactor
* @param channel The channel number to check.
*/
protected static void checkAnalogInputChannel(final int channel) {
if (channel < 0 || channel >= kAnalogInputChannels) {
if (!AnalogJNI.checkAnalogInputChannel(channel)) {
throw new IndexOutOfBoundsException("Requested analog input channel number is out of range.");
}
}
@@ -138,7 +147,7 @@ public abstract class SensorBase { // TODO: Refactor
* @param channel The channel number to check.
*/
protected static void checkAnalogOutputChannel(final int channel) {
if (channel < 0 || channel >= kAnalogOutputChannels) {
if (!AnalogJNI.checkAnalogOutputChannel(channel)) {
throw new IndexOutOfBoundsException(
"Requested analog output channel number is out of range.");
}
@@ -150,7 +159,7 @@ 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 (!SolenoidJNI.checkSolenoidChannel(channel)) {
throw new IndexOutOfBoundsException("Requested solenoid channel number is out of range.");
}
}
@@ -162,7 +171,7 @@ 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 (!PDPJNI.checkPDPChannel(channel)) {
throw new IndexOutOfBoundsException("Requested PDP channel number is out of range.");
}
}
@@ -173,7 +182,7 @@ public abstract class SensorBase { // TODO: Refactor
* @param module The module number to check.
*/
protected static void checkPDPModule(final int module) {
if (module < 0 || module > kPDPModules) {
if (!PDPJNI.checkPDPModule(module)) {
throw new IndexOutOfBoundsException("Requested PDP module number is out of range.");
}
}

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/DIOJNI.java
View File

@@ -11,6 +11,8 @@ package edu.wpi.first.wpilibj.hal;
public class DIOJNI extends JNIWrapper {
public static native int initializeDIOPort(int halPortHandle, boolean input);
public static native boolean checkDIOChannel(int channel);
public static native void freeDIOPort(int dioPortHandle);
public static native void setDIO(int dioPortHandle, short value);

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

@@ -11,6 +11,10 @@ package edu.wpi.first.wpilibj.hal;
public class PDPJNI extends JNIWrapper {
public static native void initializePDP(int module);
public static native boolean checkPDPModule(int module);
public static native boolean checkPDPChannel(int channel);
public static native double getPDPTemperature(int module);
public static native double getPDPVoltage(int module);

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PWMJNI.java
View File

@@ -13,6 +13,8 @@ import edu.wpi.first.wpilibj.PWMConfigDataResult;
public class PWMJNI extends DIOJNI {
public static native int initializePWMPort(int halPortHandle);
public static native boolean checkPWMChannel(int channel);
public static native void freePWMPort(int pwmPortHandle);
public static native void setPWMConfigRaw(int pwmPortHandle, int maxPwm,

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

@@ -10,6 +10,10 @@ package edu.wpi.first.wpilibj.hal;
public class SolenoidJNI extends JNIWrapper {
public static native int initializeSolenoidPort(int halPortHandle);
public static native boolean checkSolenoidModule(int module);
public static native boolean checkSolenoidChannel(int channel);
public static native void freeSolenoidPort(int portHandle);
public static native void setSolenoid(int portHandle, boolean on);