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Makes SensorBase checks use HAL check methods (#182)

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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
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27
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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);