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WPILib Reorganization
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
This commit is contained in:
Fredric Silberberg
420
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
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420
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
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import edu.wpi.first.wpilibj.communication.UsageReporting;
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import edu.wpi.first.wpilibj.hal.DIOJNI;
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import edu.wpi.first.wpilibj.hal.RelayJNI;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
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import edu.wpi.first.wpilibj.tables.ITable;
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import edu.wpi.first.wpilibj.tables.ITableListener;
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import edu.wpi.first.wpilibj.util.AllocationException;
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import edu.wpi.first.wpilibj.util.CheckedAllocationException;
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/**
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* Class for VEX Robotics Spike style relay outputs. Relays are intended to be
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* connected to Spikes or similar relays. The relay channels controls a pair of
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* pins that are either both off, one on, the other on, or both on. This
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* translates into two Spike outputs at 0v, one at 12v and one at 0v, one at 0v
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* and the other at 12v, or two Spike outputs at 12V. This allows off, full
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* forward, or full reverse control of motors without variable speed. It also
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* allows the two channels (forward and reverse) to be used independently for
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* something that does not care about voltage polarity (like a solenoid).
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*/
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public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable {
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private MotorSafetyHelper m_safetyHelper;
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/**
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* This class represents errors in trying to set relay values contradictory to
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* the direction to which the relay is set.
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*/
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public class InvalidValueException extends RuntimeException {
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/**
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* Create a new exception with the given message
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*
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* @param message the message to pass with the exception
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*/
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public InvalidValueException(String message) {
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super(message);
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}
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}
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/**
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* The state to drive a Relay to.
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*/
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public static enum Value {
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/**
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* value: off
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*/
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kOff(0),
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/**
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* value: on for relays with defined direction
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*/
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kOn(1),
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/**
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* value: forward
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*/
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kForward(2),
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/**
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* value: reverse
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*/
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kReverse(3);
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/**
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* The integer value representing this enumeration
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*/
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public final int value;
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private Value(int value) {
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this.value = value;
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}
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}
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/**
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* The Direction(s) that a relay is configured to operate in.
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*/
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public static enum Direction {
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/**
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* direction: both directions are valid
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*/
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kBoth(0),
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/**
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* direction: Only forward is valid
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*/
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kForward(1),
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/**
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* direction: only reverse is valid
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*/
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kReverse(2);
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/**
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* The integer value representing this enumeration
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*/
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public final int value;
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private Direction(int value) {
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this.value = value;
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}
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}
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private final int m_channel;
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private long m_port;
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private Direction m_direction;
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private static Resource relayChannels = new Resource(kRelayChannels * 2);
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/**
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* Common relay initialization method. This code is common to all Relay
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* constructors and initializes the relay and reserves all resources that need
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* to be locked. Initially the relay is set to both lines at 0v.
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*/
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private void initRelay() {
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SensorBase.checkRelayChannel(m_channel);
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try {
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if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
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relayChannels.allocate(m_channel * 2);
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UsageReporting.report(tResourceType.kResourceType_Relay, m_channel);
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}
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if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
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relayChannels.allocate(m_channel * 2 + 1);
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UsageReporting.report(tResourceType.kResourceType_Relay, m_channel + 128);
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}
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} catch (CheckedAllocationException e) {
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throw new AllocationException("Relay channel " + m_channel + " is already allocated");
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}
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m_port = DIOJNI.initializeDigitalPort(DIOJNI.getPort((byte) m_channel));
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m_safetyHelper = new MotorSafetyHelper(this);
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m_safetyHelper.setSafetyEnabled(false);
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LiveWindow.addActuator("Relay", m_channel, this);
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}
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/**
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* Relay constructor given a channel.
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*
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* @param channel The channel number for this relay (0 - 3).
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* @param direction The direction that the Relay object will control.
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*/
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public Relay(final int channel, Direction direction) {
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if (direction == null)
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throw new NullPointerException("Null Direction was given");
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m_channel = channel;
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m_direction = direction;
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initRelay();
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set(Value.kOff);
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}
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/**
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* Relay constructor given a channel, allowing both directions.
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*
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* @param channel The channel number for this relay (0 - 3).
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*/
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public Relay(final int channel) {
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this(channel, Direction.kBoth);
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}
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@Override
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public void free() {
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if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
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relayChannels.free(m_channel * 2);
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}
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if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
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relayChannels.free(m_channel * 2 + 1);
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}
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RelayJNI.setRelayForward(m_port, false);
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RelayJNI.setRelayReverse(m_port, false);
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DIOJNI.freeDIO(m_port);
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}
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/**
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* Set the relay state.
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*
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* Valid values depend on which directions of the relay are controlled by the
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* object.
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*
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* When set to kBothDirections, the relay can be set to any of the four
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* states: 0v-0v, 12v-0v, 0v-12v, 12v-12v
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*
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* When set to kForwardOnly or kReverseOnly, you can specify the constant for
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* the direction or you can simply specify kOff_val and kOn_val. Using only
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* kOff_val and kOn_val is recommended.
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*
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* @param value The state to set the relay.
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*/
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public void set(Value value) {
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switch (value) {
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case kOff:
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if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
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RelayJNI.setRelayForward(m_port, false);
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}
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if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
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RelayJNI.setRelayReverse(m_port, false);
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}
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break;
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case kOn:
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if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
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RelayJNI.setRelayForward(m_port, true);
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}
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if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
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RelayJNI.setRelayReverse(m_port, true);
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}
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break;
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case kForward:
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if (m_direction == Direction.kReverse)
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throw new InvalidValueException("A relay configured for reverse cannot be set to forward");
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if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
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RelayJNI.setRelayForward(m_port, true);
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}
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if (m_direction == Direction.kBoth) {
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RelayJNI.setRelayReverse(m_port, false);
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}
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break;
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case kReverse:
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if (m_direction == Direction.kForward)
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throw new InvalidValueException("A relay configured for forward cannot be set to reverse");
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if (m_direction == Direction.kBoth) {
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RelayJNI.setRelayForward(m_port, false);
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}
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if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
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RelayJNI.setRelayReverse(m_port, true);
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}
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break;
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default:
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// Cannot hit this, limited by Value enum
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}
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}
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/**
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* Get the Relay State
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*
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* Gets the current state of the relay.
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*
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* When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
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* kForward/kReverse (per the recommendation in Set)
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*
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* @return The current state of the relay as a Relay::Value
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*/
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public Value get() {
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if (RelayJNI.getRelayForward(m_port)) {
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if (RelayJNI.getRelayReverse(m_port)) {
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return Value.kOn;
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} else {
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if (m_direction == Direction.kForward) {
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return Value.kOn;
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} else {
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return Value.kForward;
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}
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}
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} else {
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if (RelayJNI.getRelayReverse(m_port)) {
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if (m_direction == Direction.kReverse) {
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return Value.kOn;
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} else {
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return Value.kReverse;
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}
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} else {
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return Value.kOff;
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}
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}
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}
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/**
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* Get the channel number.
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*
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* @return The channel number.
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*/
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public int getChannel() {
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return m_channel;
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}
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@Override
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public void setExpiration(double timeout) {
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m_safetyHelper.setExpiration(timeout);
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}
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@Override
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public double getExpiration() {
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return m_safetyHelper.getExpiration();
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}
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@Override
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public boolean isAlive() {
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return m_safetyHelper.isAlive();
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}
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@Override
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public void stopMotor() {
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set(Value.kOff);
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}
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@Override
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public boolean isSafetyEnabled() {
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return m_safetyHelper.isSafetyEnabled();
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}
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@Override
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public void setSafetyEnabled(boolean enabled) {
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m_safetyHelper.setSafetyEnabled(enabled);
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}
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@Override
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public String getDescription() {
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return "Relay ID " + getChannel();
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}
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/**
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* Set the Relay Direction
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*
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* Changes which values the relay can be set to depending on which direction
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* is used
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*
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* Valid inputs are kBothDirections, kForwardOnly, and kReverseOnly
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*
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* @param direction The direction for the relay to operate in
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*/
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public void setDirection(Direction direction) {
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if (direction == null)
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throw new NullPointerException("Null Direction was given");
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if (m_direction == direction) {
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return;
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}
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free();
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m_direction = direction;
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initRelay();
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}
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/*
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* Live Window code, only does anything if live window is activated.
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*/
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@Override
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public String getSmartDashboardType() {
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return "Relay";
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}
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private ITable m_table;
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private ITableListener m_table_listener;
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/**
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* {@inheritDoc}
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*/
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@Override
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public void initTable(ITable subtable) {
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m_table = subtable;
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updateTable();
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}
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/**
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* {@inheritDoc}
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*/
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@Override
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public ITable getTable() {
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return m_table;
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}
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/**
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* {@inheritDoc}
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*/
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@Override
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public void updateTable() {
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if (m_table != null) {
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if (get() == Value.kOn) {
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m_table.putString("Value", "On");
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} else if (get() == Value.kForward) {
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m_table.putString("Value", "Forward");
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} else if (get() == Value.kReverse) {
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m_table.putString("Value", "Reverse");
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} else {
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m_table.putString("Value", "Off");
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}
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}
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}
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/**
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* {@inheritDoc}
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*/
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@Override
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public void startLiveWindowMode() {
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m_table_listener = new ITableListener() {
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@Override
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public void valueChanged(ITable itable, String key, Object value, boolean bln) {
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String val = ((String) value);
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if (val.equals("Off")) {
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set(Value.kOff);
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} else if (val.equals("On")) {
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set(Value.kOn);
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} else if (val.equals("Forward")) {
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set(Value.kForward);
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} else if (val.equals("Reverse")) {
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set(Value.kReverse);
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}
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}
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};
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m_table.addTableListener("Value", m_table_listener, true);
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}
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/**
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* {@inheritDoc}
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*/
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@Override
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public void stopLiveWindowMode() {
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// TODO: Broken, should only remove the listener from "Value" only.
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m_table.removeTableListener(m_table_listener);
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}
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}
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