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Directly construct PWM port from HAL, avoid wpilib PWM object (#2106)

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This commit is contained in:
Thad House
2019-11-20 14:48:14 -08:00
committed by Peter Johnson
parent c0e36df9d8
commit 5443fdabc1
3 changed files with 30 additions and 79 deletions
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52
wpilibc/src/main/native/cpp/AddressableLED.cpp
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@@ -8,44 +8,34 @@
#include "frc/AddressableLED.h"
#include <hal/AddressableLED.h>
#include <hal/HALBase.h>
#include <hal/PWM.h>
#include <hal/Ports.h>
#include "frc/PWM.h"
#include "frc/WPIErrors.h"
using namespace frc;
AddressableLED::AddressableLED(PWM& output)
: m_pwmOutput{&output, NullDeleter<PWM>()} {
Init();
}
AddressableLED::AddressableLED(PWM* output)
: m_pwmOutput{output, NullDeleter<PWM>()} {
if (m_pwmOutput == nullptr) {
wpi_setWPIError(NullParameter);
} else {
Init();
}
}
AddressableLED::AddressableLED(std::shared_ptr<PWM> output)
: m_pwmOutput{std::move(output)} {
Init();
}
AddressableLED::AddressableLED(int port)
: m_pwmOutput{std::make_shared<PWM>(port)} {
if (!m_pwmOutput->StatusIsFatal()) {
Init();
}
}
AddressableLED::~AddressableLED() { HAL_FreeAddressableLED(m_handle); }
void AddressableLED::Init() {
AddressableLED::AddressableLED(int port) {
int32_t status = 0;
m_handle = HAL_InitializeAddressableLED(m_pwmOutput->m_handle, &status);
m_pwmHandle = HAL_InitializePWMPort(HAL_GetPort(port), &status);
wpi_setHALErrorWithRange(status, 0, HAL_GetNumPWMChannels(), port);
if (m_pwmHandle == HAL_kInvalidHandle) {
return;
}
m_handle = HAL_InitializeAddressableLED(m_pwmHandle, &status);
wpi_setHALError(status);
if (m_handle == HAL_kInvalidHandle) {
HAL_FreePWMPort(m_pwmHandle, &status);
}
}
AddressableLED::~AddressableLED() {
HAL_FreeAddressableLED(m_handle);
int32_t status = 0;
HAL_FreePWMPort(m_pwmHandle, &status);
}
void AddressableLED::SetLength(int length) {

26
wpilibc/src/main/native/include/frc/AddressableLED.h
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@@ -17,7 +17,6 @@
#include "frc/ErrorBase.h"
namespace frc {
class PWM;
/**
* A class for driving addressable LEDs, such as WS2812s and NeoPixels.
@@ -44,27 +43,6 @@ class AddressableLED : public ErrorBase {
}
};
/**
* Constructs a new driver from a PWM output.
*
* @param output the pwm output to use
*/
explicit AddressableLED(PWM& output);
/**
* Constructs a new driver from a PWM output.
*
* @param output the pwm output to use
*/
explicit AddressableLED(PWM* output);
/**
* Constructs a new driver from a PWM output.
*
* @param output the pwm output to use
*/
explicit AddressableLED(std::shared_ptr<PWM> output);
/**
* Constructs a new driver for a specific port.
*
@@ -142,9 +120,7 @@ class AddressableLED : public ErrorBase {
void Stop();
private:
void Init();
std::shared_ptr<PWM> m_pwmOutput;
hal::Handle<HAL_DigitalHandle> m_pwmHandle;
hal::Handle<HAL_AddressableLEDHandle> m_handle;
};
} // namespace frc

31
wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLED.java
View File

@@ -8,25 +8,15 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.AddressableLEDJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.PWMJNI;
/**
* A class for driving addressable LEDs, such as WS2812s and NeoPixels.
*/
public class AddressableLED implements AutoCloseable {
private final PWM m_pwmOutput;
private int m_handle;
private final boolean m_ownsPwm;
/**
* Constructs a new driver from a PWM output.
*
* @param output the pwm output to use
*/
public AddressableLED(PWM output) {
m_pwmOutput = output;
m_ownsPwm = false;
init();
}
private final int m_pwmHandle;
private final int m_handle;
/**
* Constructs a new driver for a specific port.
@@ -34,13 +24,8 @@ public class AddressableLED implements AutoCloseable {
* @param port the output port to use (Must be a PWM port)
*/
public AddressableLED(int port) {
m_pwmOutput = new PWM(port);
m_ownsPwm = true;
init();
}
private void init() {
m_handle = AddressableLEDJNI.initialize(m_pwmOutput.m_handle);
m_pwmHandle = PWMJNI.initializePWMPort(HAL.getPort((byte) port));
m_handle = AddressableLEDJNI.initialize(m_pwmHandle);
}
@Override
@@ -48,8 +33,8 @@ public class AddressableLED implements AutoCloseable {
if (m_handle != 0) {
AddressableLEDJNI.free(m_handle);
}
if (m_ownsPwm) {
m_pwmOutput.close();
if (m_pwmHandle != 0) {
PWMJNI.freePWMPort(m_pwmHandle);
}
}