Added BuiltInAccelerometer in Java and updated C++

Change-Id: I5a3360c51334e85da6a15fd640f9420bc3b64dca

wpilibc/wpilibC++/include/BuiltInAccelerometer.h

@@ -6,13 +6,14 @@
 #pragma once
 
 #include "SensorBase.h"
+#include "LiveWindow/LiveWindowSendable.h"
 
 /**
  * Built-in accelerometer.
  *
  * This class allows access to the RoboRIO's internal accelerometer.
  */
-class BuiltInAccelerometer : public SensorBase
+class BuiltInAccelerometer : public SensorBase, public LiveWindowSendable
 {
 public:
 	enum Range
@@ -22,9 +23,18 @@ public:
 		kRange_8G = 0x02,
 	};
 
-	BuiltInAccelerometer(Range range = kRange_2G);
+	BuiltInAccelerometer(Range range = kRange_8G);
-	virtual ~BuiltInAccelerometer();
 	virtual double GetX() const;
 	virtual double GetY() const;
 	virtual double GetZ() const;
+
+	virtual std::string GetSmartDashboardType();
+	virtual void InitTable(ITable *subtable);
+	virtual void UpdateTable();
+	virtual ITable* GetTable();
+	virtual void StartLiveWindowMode() {}
+	virtual void StopLiveWindowMode() {}
+
+private:
+	ITable *m_table;
 };

wpilibc/wpilibC++/include/WPILib.h

@@ -19,6 +19,7 @@
 #include "AnalogModule.h"
 #include "AnalogTrigger.h"
 #include "AnalogTriggerOutput.h"
+#include "BuiltInAccelerometer.h"
 #include "Buttons/AnalogIOButton.h"
 #include "Buttons/DigitalIOButton.h"
 #include "Buttons/InternalButton.h"

wpilibc/wpilibC++/lib/BuiltInAccelerometer.cpp

@@ -12,6 +12,7 @@
  * @param range The range the accelerometer will measure
  */
 BuiltInAccelerometer::BuiltInAccelerometer(Range range)
+	: m_table(0)
 {
 	setAccelerometerActive(false);
 	setAccelerometerRange((AccelerometerRange)range);
@@ -20,14 +21,6 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range)
 	HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
 }
 
-/**
- * Destructor.
- */
-BuiltInAccelerometer::~BuiltInAccelerometer()
-{
-	setAccelerometerActive(false);
-}
-
 /**
  * @return The acceleration of the RoboRIO along the X axis in g-forces
  */
@@ -51,3 +44,24 @@ double BuiltInAccelerometer::GetZ() const
 {
 	return getAccelerometerZ();
 }
+
+std::string BuiltInAccelerometer::GetSmartDashboardType() {
+	return "Accelerometer";
+}
+
+void BuiltInAccelerometer::InitTable(ITable *subtable) {
+	m_table = subtable;
+	UpdateTable();
+}
+
+void BuiltInAccelerometer::UpdateTable() {
+	if (m_table != NULL) {
+		m_table->PutNumber("X", GetX());
+		m_table->PutNumber("Y", GetY());
+		m_table->PutNumber("Z", GetZ());
+	}
+}
+
+ITable* BuiltInAccelerometer::GetTable() {
+	return m_table;
+}

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java

@@ -0,0 +1,105 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+import edu.wpi.first.wpilibj.hal.AccelerometerJNI;
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+import edu.wpi.first.wpilibj.parsing.ISensor;
+import edu.wpi.first.wpilibj.tables.ITable;
+
+/**
+ * Built-in accelerometer.
+ *
+ * This class allows access to the RoboRIO's internal accelerometer.
+ */
+public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
+{
+	public enum Range { k2G, k4G, k8G }
+
+	/**
+	 * Constructor.
+	 * @param range The range the accelerometer will measure
+	 */
+	public BuiltInAccelerometer(Range range) {
+		AccelerometerJNI.setAccelerometerActive(false);
+
+		switch(range) {
+		case k2G:
+			AccelerometerJNI.setAccelerometerRange(0);
+			break;
+		case k4G:
+			AccelerometerJNI.setAccelerometerRange(1);
+			break;
+		case k8G:
+			AccelerometerJNI.setAccelerometerRange(2);
+			break;
+		}
+
+		AccelerometerJNI.setAccelerometerActive(true);
+
+		UsageReporting.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
+	}
+
+	/**
+	 * Constructor.
+	 * The accelerometer will measure +/-8 g-forces
+	 */
+	public BuiltInAccelerometer() {
+		this(Range.k8G);
+	}
+
+	/**
+	 * @return The acceleration of the RoboRIO along the X axis in g-forces
+	 */
+	public double getX() {
+		return AccelerometerJNI.getAccelerometerX();
+	}
+
+	/**
+	 * @return The acceleration of the RoboRIO along the Y axis in g-forces
+	 */
+	public double getY() {
+		return AccelerometerJNI.getAccelerometerY();
+	}
+
+	/**
+	 * @return The acceleration of the RoboRIO along the Z axis in g-forces
+	 */
+	public double getZ() {
+		return AccelerometerJNI.getAccelerometerZ();
+	}
+
+	public String getSmartDashboardType(){
+		return "Accelerometer";
+	}
+
+	private ITable m_table;
+
+	/** {@inheritDoc} */
+	public void initTable(ITable subtable) {
+		m_table = subtable;
+		updateTable();
+	}
+
+	/** {@inheritDoc} */
+	public void updateTable() {
+		if (m_table != null) {
+			m_table.putNumber("X", getX());
+			m_table.putNumber("Y", getY());
+			m_table.putNumber("Z", getZ());
+		}
+	}
+
+	/** {@inheritDoc} */
+	public ITable getTable(){
+		return m_table;
+	}
+
+	public void startLiveWindowMode() {}
+	public void stopLiveWindowMode() {}
+};

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/hal/AccelerometerJNI.java

@@ -0,0 +1,9 @@
+package edu.wpi.first.wpilibj.hal;
+
+public class AccelerometerJNI extends JNIWrapper {
+	public static native void setAccelerometerActive(boolean active);
+	public static native void setAccelerometerRange(int range);
+	public static native double getAccelerometerX();
+	public static native double getAccelerometerY();
+	public static native double getAccelerometerZ();
+}

wpilibj/wpilibJavaJNI/lib/AccelerometerJNI.cpp

@@ -0,0 +1,58 @@
+#include <jni.h>
+#include "edu_wpi_first_wpilibj_hal_AccelerometerJNI.h"
+#include "HAL/Accelerometer.hpp"
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    setAccelerometerActive
+ * Signature: (Z)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerActive
+  (JNIEnv *, jclass, jboolean active)
+{
+	setAccelerometerActive(active);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    setAccelerometerRange
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerRange
+  (JNIEnv *, jclass, jint range)
+{
+	setAccelerometerRange((AccelerometerRange)range);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    getAccelerometerX
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerX
+  (JNIEnv *, jclass)
+{
+	return getAccelerometerX();
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    getAccelerometerY
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerY
+  (JNIEnv *, jclass)
+{
+	return getAccelerometerY();
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    getAccelerometerZ
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerZ
+  (JNIEnv *, jclass)
+{
+	return getAccelerometerZ();
+}

wpilibj/wpilibJavaJNI/pom.xml

@@ -113,6 +113,7 @@ this default location, specify a value for the 'embeddedJDKHome' property at the
 								<javahClassName>edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary</javahClassName>
 								<javahClassName>edu.wpi.first.wpilibj.hal.HALUtil</javahClassName>
 								<javahClassName>edu.wpi.first.wpilibj.hal.JNIWrapper</javahClassName>
+								<javahClassName>edu.wpi.first.wpilibj.hal.AccelerometerJNI</javahClassName>
 								<javahClassName>edu.wpi.first.wpilibj.hal.AnalogJNI</javahClassName>
 								<javahClassName>edu.wpi.first.wpilibj.hal.CounterJNI</javahClassName>
 								<javahClassName>edu.wpi.first.wpilibj.hal.DIOJNI</javahClassName>