[hal] Add systemcore duty cycle (#7682)

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java

@@ -23,27 +23,20 @@ import edu.wpi.first.util.sendable.SendableRegistry;
 public class DutyCycle implements Sendable, AutoCloseable {
   // Explicitly package private
   final int m_handle;
-
-  private final DigitalSource m_source;
+  private final int m_channel;
 
   /**
-   * Constructs a DutyCycle input from a DigitalSource input.
+   * Constructs a DutyCycle input from a smartio channel.
    *
-   * <p>This class does not own the inputted source.
-   *
-   * @param digitalSource The DigitalSource to use.
+   * @param channel The channel to use.
    */
   @SuppressWarnings("this-escape")
-  public DutyCycle(DigitalSource digitalSource) {
-    m_handle =
-        DutyCycleJNI.initialize(
-            digitalSource.getPortHandleForRouting(),
-            digitalSource.getAnalogTriggerTypeForRouting());
+  public DutyCycle(int channel) {
+    m_handle = DutyCycleJNI.initialize(HAL.getPort((byte) channel));
 
-    m_source = digitalSource;
-    int index = getFPGAIndex();
-    HAL.report(tResourceType.kResourceType_DutyCycle, index + 1);
-    SendableRegistry.addLW(this, "Duty Cycle", index);
+    m_channel = channel;
+    HAL.report(tResourceType.kResourceType_DutyCycle, channel + 1);
+    SendableRegistry.addLW(this, "Duty Cycle", channel);
   }
 
   /** Close the DutyCycle and free all resources. */
@@ -109,7 +102,7 @@ public class DutyCycle implements Sendable, AutoCloseable {
    * @return the source channel
    */
   public int getSourceChannel() {
-    return m_source.getChannel();
+    return m_channel;
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java

@@ -19,7 +19,6 @@ import edu.wpi.first.util.sendable.SendableRegistry;
 public class DutyCycleEncoder implements Sendable, AutoCloseable {
   private final DutyCycle m_dutyCycle;
   private boolean m_ownsDutyCycle;
-  private DigitalInput m_digitalInput;
   private int m_frequencyThreshold = 100;
   private double m_fullRange;
   private double m_expectedZero;
@@ -41,9 +40,8 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
    */
   @SuppressWarnings("this-escape")
   public DutyCycleEncoder(int channel, double fullRange, double expectedZero) {
-    m_digitalInput = new DigitalInput(channel);
     m_ownsDutyCycle = true;
-    m_dutyCycle = new DutyCycle(m_digitalInput);
+    m_dutyCycle = new DutyCycle(channel);
     init(fullRange, expectedZero);
   }
 
@@ -60,20 +58,6 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
     init(fullRange, expectedZero);
   }
 
-  /**
-   * Construct a new DutyCycleEncoder attached to a DigitalSource object.
-   *
-   * @param source the digital source to attach to
-   * @param fullRange the value to report at maximum travel
-   * @param expectedZero the reading where you would expect a 0 from get()
-   */
-  @SuppressWarnings("this-escape")
-  public DutyCycleEncoder(DigitalSource source, double fullRange, double expectedZero) {
-    m_ownsDutyCycle = true;
-    m_dutyCycle = new DutyCycle(source);
-    init(fullRange, expectedZero);
-  }
-
   /**
    * Construct a new DutyCycleEncoder on a specific channel.
    *
@@ -98,18 +82,6 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
     this(dutyCycle, 1.0, 0.0);
   }
 
-  /**
-   * Construct a new DutyCycleEncoder attached to a DigitalSource object.
-   *
-   * <p>This has a fullRange of 1 and an expectedZero of 0.
-   *
-   * @param source the digital source to attach to
-   */
-  @SuppressWarnings("this-escape")
-  public DutyCycleEncoder(DigitalSource source) {
-    this(source, 1.0, 0.0);
-  }
-
   private void init(double fullRange, double expectedZero) {
     m_simDevice = SimDevice.create("DutyCycle:DutyCycleEncoder", m_dutyCycle.getSourceChannel());
 
@@ -258,9 +230,6 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
     if (m_ownsDutyCycle) {
       m_dutyCycle.close();
     }
-    if (m_digitalInput != null) {
-      m_digitalInput.close();
-    }
     if (m_simDevice != null) {
       m_simDevice.close();
     }