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https://github.com/wpilibsuite/allwpilib
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[hal, wpilib] Remove DigitalSource and AnalogTrigger (#7753)
This commit is contained in:
Thad House
@@ -1,198 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.hal.AnalogJNI;
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import edu.wpi.first.hal.FRCNetComm.tResourceType;
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import edu.wpi.first.hal.HAL;
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import edu.wpi.first.hal.util.BoundaryException;
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import edu.wpi.first.util.sendable.Sendable;
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import edu.wpi.first.util.sendable.SendableBuilder;
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import edu.wpi.first.util.sendable.SendableRegistry;
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import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
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import java.lang.ref.Reference;
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/** Class for creating and configuring Analog Triggers. */
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public class AnalogTrigger implements Sendable, AutoCloseable {
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/** Where the analog trigger is attached. */
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protected int m_port;
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private AnalogInput m_analogInput;
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private DutyCycle m_dutyCycle;
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private boolean m_ownsAnalog;
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/**
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* Constructor for an analog trigger given a channel number.
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*
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* @param channel the port to use for the analog trigger
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*/
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@SuppressWarnings("this-escape")
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public AnalogTrigger(final int channel) {
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this(new AnalogInput(channel));
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m_ownsAnalog = true;
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SendableRegistry.addChild(this, m_analogInput);
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}
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/**
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* Construct an analog trigger given an analog channel. This should be used in the case of sharing
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* an analog channel between the trigger and an analog input object.
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*
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* @param channel the AnalogInput to use for the analog trigger
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*/
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@SuppressWarnings("this-escape")
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public AnalogTrigger(AnalogInput channel) {
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m_analogInput = channel;
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m_port = AnalogJNI.initializeAnalogTrigger(channel.m_port);
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int index = getIndex();
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HAL.report(tResourceType.kResourceType_AnalogTrigger, index + 1);
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SendableRegistry.add(this, "AnalogTrigger", index);
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}
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/**
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* Construct an analog trigger given a duty cycle input.
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*
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* @param input the DutyCycle to use for the analog trigger
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*/
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@SuppressWarnings("this-escape")
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public AnalogTrigger(DutyCycle input) {
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m_dutyCycle = input;
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m_port = AnalogJNI.initializeAnalogTriggerDutyCycle(input.m_handle);
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int index = getIndex();
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HAL.report(tResourceType.kResourceType_AnalogTrigger, index + 1);
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SendableRegistry.add(this, "AnalogTrigger", index);
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}
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@Override
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public void close() {
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try {
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SendableRegistry.remove(this);
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AnalogJNI.cleanAnalogTrigger(m_port);
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m_port = 0;
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if (m_ownsAnalog && m_analogInput != null) {
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m_analogInput.close();
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}
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} finally {
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Reference.reachabilityFence(m_dutyCycle);
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}
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}
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/**
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* Set the upper and lower limits of the analog trigger. The limits are given in ADC codes. If
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* oversampling is used, the units must be scaled appropriately.
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*
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* @param lower the lower raw limit
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* @param upper the upper raw limit
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*/
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public void setLimitsRaw(final int lower, final int upper) {
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if (lower > upper) {
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throw new BoundaryException("Lower bound is greater than upper");
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}
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AnalogJNI.setAnalogTriggerLimitsRaw(m_port, lower, upper);
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}
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/**
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* Set the upper and lower limits of the analog trigger. The limits are given as floating point
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* values between 0 and 1.
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*
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* @param lower the lower duty cycle limit
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* @param upper the upper duty cycle limit
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*/
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public void setLimitsDutyCycle(double lower, double upper) {
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if (lower > upper) {
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throw new BoundaryException("Lower bound is greater than upper bound");
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}
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AnalogJNI.setAnalogTriggerLimitsDutyCycle(m_port, lower, upper);
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}
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/**
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* Set the upper and lower limits of the analog trigger. The limits are given as floating point
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* voltage values.
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*
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* @param lower the lower voltage limit
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* @param upper the upper voltage limit
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*/
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public void setLimitsVoltage(double lower, double upper) {
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if (lower > upper) {
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throw new BoundaryException("Lower bound is greater than upper bound");
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}
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AnalogJNI.setAnalogTriggerLimitsVoltage(m_port, lower, upper);
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}
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/**
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* Configure the analog trigger to use the averaged vs. raw values. If the value is true, then the
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* averaged value is selected for the analog trigger, otherwise the immediate value is used.
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*
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* @param useAveragedValue true to use an averaged value, false otherwise
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*/
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public void setAveraged(boolean useAveragedValue) {
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AnalogJNI.setAnalogTriggerAveraged(m_port, useAveragedValue);
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}
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/**
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* Configure the analog trigger to use a filtered value. The analog trigger will operate with a 3
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* point average rejection filter. This is designed to help with 360 degree pot applications for
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* the period where the pot crosses through zero.
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*
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* @param useFilteredValue true to use a filtered value, false otherwise
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*/
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public void setFiltered(boolean useFilteredValue) {
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AnalogJNI.setAnalogTriggerFiltered(m_port, useFilteredValue);
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}
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/**
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* Return the index of the analog trigger. This is the FPGA index of this analog trigger instance.
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*
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* @return The index of the analog trigger.
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*/
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public final int getIndex() {
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return AnalogJNI.getAnalogTriggerFPGAIndex(m_port);
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}
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/**
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* Return the InWindow output of the analog trigger. True if the analog input is between the upper
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* and lower limits.
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*
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* @return The InWindow output of the analog trigger.
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*/
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public boolean getInWindow() {
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return AnalogJNI.getAnalogTriggerInWindow(m_port);
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}
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/**
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* Return the TriggerState output of the analog trigger. True if above upper limit. False if below
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* lower limit. If in Hysteresis, maintain previous state.
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*
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* @return The TriggerState output of the analog trigger.
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*/
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public boolean getTriggerState() {
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return AnalogJNI.getAnalogTriggerTriggerState(m_port);
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}
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/**
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* Creates an AnalogTriggerOutput object. Gets an output object that can be used for routing.
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* Caller is responsible for deleting the AnalogTriggerOutput object.
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*
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* @param type An enum of the type of output object to create.
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* @return A pointer to a new AnalogTriggerOutput object.
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*/
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public AnalogTriggerOutput createOutput(AnalogTriggerType type) {
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return new AnalogTriggerOutput(this, type);
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}
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@Override
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public void initSendable(SendableBuilder builder) {
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if (m_ownsAnalog) {
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m_analogInput.initSendable(builder);
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}
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}
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}
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@@ -1,127 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
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import edu.wpi.first.hal.AnalogJNI;
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import edu.wpi.first.hal.FRCNetComm.tResourceType;
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import edu.wpi.first.hal.HAL;
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import edu.wpi.first.util.sendable.Sendable;
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import edu.wpi.first.util.sendable.SendableBuilder;
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/**
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* Class to represent a specific output from an analog trigger. This class is used to get the
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* current output value and also as a DigitalSource to provide routing of an output to digital
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* subsystems on the FPGA such as Counter, Encoder, and Interrupt.
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*
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* <p>The TriggerState output indicates the primary output value of the trigger. If the analog
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* signal is less than the lower limit, the output is false. If the analog value is greater than the
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* upper limit, then the output is true. If the analog value is in between, then the trigger output
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* state maintains its most recent value.
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*
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* <p>The InWindow output indicates whether the analog signal is inside the range defined by the
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* limits.
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*
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* <p>The RisingPulse and FallingPulse outputs detect an instantaneous transition from above the
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* upper limit to below the lower limit, and vice versa. These pulses represent a rollover condition
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* of a sensor and can be routed to an up / down counter or to interrupts. Because the outputs
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* generate a pulse, they cannot be read directly. To help ensure that a rollover condition is not
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* missed, there is an average rejection filter available that operates on the upper 8 bits of a 12
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* bit number and selects the nearest outlier of 3 samples. This will reject a sample that is (due
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* to averaging or sampling) errantly between the two limits. This filter will fail if more than one
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* sample in a row is errantly in between the two limits. You may see this problem if attempting to
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* use this feature with a mechanical rollover sensor, such as a 360 degree no-stop potentiometer
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* without signal conditioning, because the rollover transition is not sharp / clean enough. Using
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* the averaging engine may help with this, but rotational speeds of the sensor will then be
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* limited.
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*/
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public class AnalogTriggerOutput extends DigitalSource implements Sendable {
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/** Exceptions dealing with improper operation of the Analog trigger output. */
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public static class AnalogTriggerOutputException 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 AnalogTriggerOutputException(String message) {
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super(message);
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}
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}
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private final AnalogTrigger m_trigger;
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private final AnalogTriggerType m_outputType;
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/**
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* Create an object that represents one of the four outputs from an analog trigger.
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*
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* <p>Because this class derives from DigitalSource, it can be passed into routing functions for
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* Counter, Encoder, etc.
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*
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* @param trigger The trigger for which this is an output.
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* @param outputType An enum that specifies the output on the trigger to represent.
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*/
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public AnalogTriggerOutput(AnalogTrigger trigger, final AnalogTriggerType outputType) {
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requireNonNullParam(trigger, "trigger", "AnalogTriggerOutput");
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requireNonNullParam(outputType, "outputType", "AnalogTriggerOutput");
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m_trigger = trigger;
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m_outputType = outputType;
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HAL.report(
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tResourceType.kResourceType_AnalogTriggerOutput,
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trigger.getIndex() + 1,
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outputType.value + 1);
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}
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/**
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* Get the state of the analog trigger output.
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*
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* @return The state of the analog trigger output.
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*/
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public boolean get() {
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return AnalogJNI.getAnalogTriggerOutput(m_trigger.m_port, m_outputType.value);
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}
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@Override
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public int getPortHandleForRouting() {
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return m_trigger.m_port;
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}
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@Override
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public int getAnalogTriggerTypeForRouting() {
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return m_outputType.value;
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}
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@Override
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public int getChannel() {
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return m_trigger.getIndex();
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}
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@Override
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public boolean isAnalogTrigger() {
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return true;
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}
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/** Defines the state in which the AnalogTrigger triggers. */
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public enum AnalogTriggerType {
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/** In window. */
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kInWindow(AnalogJNI.AnalogTriggerType.kInWindow),
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/** State. */
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kState(AnalogJNI.AnalogTriggerType.kState),
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/** Rising pulse. */
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kRisingPulse(AnalogJNI.AnalogTriggerType.kRisingPulse),
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/** Falling pulse. */
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kFallingPulse(AnalogJNI.AnalogTriggerType.kFallingPulse);
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private final int value;
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AnalogTriggerType(int value) {
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this.value = value;
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}
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}
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@Override
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public void initSendable(SendableBuilder builder) {}
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}
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@@ -18,7 +18,7 @@ import edu.wpi.first.util.sendable.SendableRegistry;
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* elsewhere will automatically allocate digital inputs and outputs as required. This class is only
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* for devices like switches etc. that aren't implemented anywhere else.
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*/
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public class DigitalInput extends DigitalSource implements Sendable {
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public class DigitalInput implements AutoCloseable, Sendable {
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private final int m_channel;
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private int m_handle;
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@@ -40,7 +40,6 @@ public class DigitalInput extends DigitalSource implements Sendable {
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@Override
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public void close() {
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super.close();
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SendableRegistry.remove(this);
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DIOJNI.freeDIOPort(m_handle);
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m_handle = 0;
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@@ -61,41 +60,10 @@ public class DigitalInput extends DigitalSource implements Sendable {
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*
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* @return The GPIO channel number that this object represents.
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*/
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@Override
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public int getChannel() {
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return m_channel;
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}
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/**
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* Get the analog trigger type.
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*
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* @return false
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*/
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@Override
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public int getAnalogTriggerTypeForRouting() {
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return 0;
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}
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/**
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* Is this an analog trigger.
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*
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* @return true if this is an analog trigger
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*/
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@Override
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public boolean isAnalogTrigger() {
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return false;
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}
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/**
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* Get the HAL Port Handle.
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*
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* @return The HAL Handle to the specified source.
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*/
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@Override
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public int getPortHandleForRouting() {
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return m_handle;
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}
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/**
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* Indicates this input is used by a simulated device.
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*
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@@ -16,7 +16,7 @@ import edu.wpi.first.util.sendable.SendableRegistry;
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* Class to write digital outputs. This class will write digital outputs. Other devices that are
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* implemented elsewhere will automatically allocate digital inputs and outputs as required.
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*/
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public class DigitalOutput extends DigitalSource implements Sendable {
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public class DigitalOutput implements AutoCloseable, Sendable {
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private static final int invalidPwmGenerator = 0;
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private int m_pwmGenerator = invalidPwmGenerator;
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@@ -42,7 +42,6 @@ public class DigitalOutput extends DigitalSource implements Sendable {
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@Override
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public void close() {
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super.close();
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SendableRegistry.remove(this);
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// Disable the pwm only if we have allocated it
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if (m_pwmGenerator != invalidPwmGenerator) {
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@@ -75,7 +74,6 @@ public class DigitalOutput extends DigitalSource implements Sendable {
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||||
*
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||||
* @return The GPIO channel number.
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*/
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@Override
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||||
public int getChannel() {
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return m_channel;
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||||
}
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||||
@@ -199,34 +197,4 @@ public class DigitalOutput extends DigitalSource implements Sendable {
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builder.setSmartDashboardType("Digital Output");
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builder.addBooleanProperty("Value", this::get, this::set);
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}
|
||||
|
||||
/**
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||||
* Is this an analog trigger.
|
||||
*
|
||||
* @return true if this is an analog trigger
|
||||
*/
|
||||
@Override
|
||||
public boolean isAnalogTrigger() {
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the analog trigger type.
|
||||
*
|
||||
* @return false
|
||||
*/
|
||||
@Override
|
||||
public int getAnalogTriggerTypeForRouting() {
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||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the HAL Port Handle.
|
||||
*
|
||||
* @return The HAL Handle to the specified source.
|
||||
*/
|
||||
@Override
|
||||
public int getPortHandleForRouting() {
|
||||
return m_handle;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,47 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package edu.wpi.first.wpilibj;
|
||||
|
||||
/**
|
||||
* DigitalSource Interface. The DigitalSource represents all the possible inputs for a counter or a
|
||||
* quadrature encoder. The source may be either a digital input or an analog input. If the caller
|
||||
* just provides a channel, then a digital input will be constructed and freed when finished for the
|
||||
* source. The source can either be a digital input or analog trigger but not both.
|
||||
*/
|
||||
public abstract class DigitalSource implements AutoCloseable {
|
||||
/** Default constructor. */
|
||||
public DigitalSource() {}
|
||||
|
||||
/**
|
||||
* Returns true if this DigitalSource is an AnalogTrigger.
|
||||
*
|
||||
* @return True if this DigitalSource is an AnalogTrigger.
|
||||
*/
|
||||
public abstract boolean isAnalogTrigger();
|
||||
|
||||
/**
|
||||
* The DigitalSource channel.
|
||||
*
|
||||
* @return The DigitalSource channel.
|
||||
*/
|
||||
public abstract int getChannel();
|
||||
|
||||
/**
|
||||
* If this is an analog trigger.
|
||||
*
|
||||
* @return true if this is an analog trigger.
|
||||
*/
|
||||
public abstract int getAnalogTriggerTypeForRouting();
|
||||
|
||||
/**
|
||||
* The channel routing number.
|
||||
*
|
||||
* @return channel routing number
|
||||
*/
|
||||
public abstract int getPortHandleForRouting();
|
||||
|
||||
@Override
|
||||
public void close() {}
|
||||
}
|
||||
@@ -15,7 +15,7 @@ import edu.wpi.first.util.sendable.SendableRegistry;
|
||||
* Class to read a duty cycle PWM input.
|
||||
*
|
||||
* <p>PWM input signals are specified with a frequency and a ratio of high to low in that frequency.
|
||||
* There are 8 of these in the roboRIO, and they can be attached to any {@link DigitalSource}.
|
||||
* There are 8 of these in the roboRIO, and they can be attached to any SmartIO Channel.
|
||||
*
|
||||
* <p>These can be combined as the input of an AnalogTrigger to a Counter in order to implement
|
||||
* rollover checking.
|
||||
|
||||
@@ -1,153 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package edu.wpi.first.wpilibj.simulation;
|
||||
|
||||
import edu.wpi.first.hal.simulation.AnalogTriggerDataJNI;
|
||||
import edu.wpi.first.hal.simulation.NotifyCallback;
|
||||
import edu.wpi.first.wpilibj.AnalogTrigger;
|
||||
import java.util.NoSuchElementException;
|
||||
|
||||
/** Class to control a simulated analog trigger. */
|
||||
public class AnalogTriggerSim {
|
||||
private final int m_index;
|
||||
|
||||
/**
|
||||
* Constructs from an AnalogTrigger object.
|
||||
*
|
||||
* @param analogTrigger AnalogTrigger to simulate
|
||||
*/
|
||||
public AnalogTriggerSim(AnalogTrigger analogTrigger) {
|
||||
m_index = analogTrigger.getIndex();
|
||||
}
|
||||
|
||||
private AnalogTriggerSim(int index) {
|
||||
m_index = index;
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an AnalogTriggerSim for an analog input channel.
|
||||
*
|
||||
* @param channel analog input channel
|
||||
* @return Simulated object
|
||||
* @throws NoSuchElementException if no AnalogTrigger is configured for that channel
|
||||
*/
|
||||
public static AnalogTriggerSim createForChannel(int channel) {
|
||||
int index = AnalogTriggerDataJNI.findForChannel(channel);
|
||||
if (index < 0) {
|
||||
throw new NoSuchElementException("no analog trigger found for channel " + channel);
|
||||
}
|
||||
return new AnalogTriggerSim(index);
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates an AnalogTriggerSim for a simulated index. The index is incremented for each simulated
|
||||
* AnalogTrigger.
|
||||
*
|
||||
* @param index simulator index
|
||||
* @return Simulated object
|
||||
*/
|
||||
public static AnalogTriggerSim createForIndex(int index) {
|
||||
return new AnalogTriggerSim(index);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback on whether the analog trigger is initialized.
|
||||
*
|
||||
* @param callback the callback that will be called whenever the analog trigger is initialized
|
||||
* @param initialNotify if true, the callback will be run on the initial value
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
|
||||
int uid = AnalogTriggerDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
|
||||
return new CallbackStore(m_index, uid, AnalogTriggerDataJNI::cancelInitializedCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Check if this analog trigger has been initialized.
|
||||
*
|
||||
* @return true if initialized
|
||||
*/
|
||||
public boolean getInitialized() {
|
||||
return AnalogTriggerDataJNI.getInitialized(m_index);
|
||||
}
|
||||
|
||||
/**
|
||||
* Change whether this analog trigger has been initialized.
|
||||
*
|
||||
* @param initialized the new value
|
||||
*/
|
||||
public void setInitialized(boolean initialized) {
|
||||
AnalogTriggerDataJNI.setInitialized(m_index, initialized);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback on the lower bound.
|
||||
*
|
||||
* @param callback the callback that will be called whenever the lower bound is changed
|
||||
* @param initialNotify if true, the callback will be run on the initial value
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public CallbackStore registerTriggerLowerBoundCallback(
|
||||
NotifyCallback callback, boolean initialNotify) {
|
||||
int uid =
|
||||
AnalogTriggerDataJNI.registerTriggerLowerBoundCallback(m_index, callback, initialNotify);
|
||||
return new CallbackStore(m_index, uid, AnalogTriggerDataJNI::cancelTriggerLowerBoundCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the lower bound.
|
||||
*
|
||||
* @return the lower bound
|
||||
*/
|
||||
public double getTriggerLowerBound() {
|
||||
return AnalogTriggerDataJNI.getTriggerLowerBound(m_index);
|
||||
}
|
||||
|
||||
/**
|
||||
* Change the lower bound.
|
||||
*
|
||||
* @param triggerLowerBound the new lower bound
|
||||
*/
|
||||
public void setTriggerLowerBound(double triggerLowerBound) {
|
||||
AnalogTriggerDataJNI.setTriggerLowerBound(m_index, triggerLowerBound);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback on the upper bound.
|
||||
*
|
||||
* @param callback the callback that will be called whenever the upper bound is changed
|
||||
* @param initialNotify if true, the callback will be run on the initial value
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public CallbackStore registerTriggerUpperBoundCallback(
|
||||
NotifyCallback callback, boolean initialNotify) {
|
||||
int uid =
|
||||
AnalogTriggerDataJNI.registerTriggerUpperBoundCallback(m_index, callback, initialNotify);
|
||||
return new CallbackStore(m_index, uid, AnalogTriggerDataJNI::cancelTriggerUpperBoundCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the upper bound.
|
||||
*
|
||||
* @return the upper bound
|
||||
*/
|
||||
public double getTriggerUpperBound() {
|
||||
return AnalogTriggerDataJNI.getTriggerUpperBound(m_index);
|
||||
}
|
||||
|
||||
/**
|
||||
* Change the upper bound.
|
||||
*
|
||||
* @param triggerUpperBound the new upper bound
|
||||
*/
|
||||
public void setTriggerUpperBound(double triggerUpperBound) {
|
||||
AnalogTriggerDataJNI.setTriggerUpperBound(m_index, triggerUpperBound);
|
||||
}
|
||||
|
||||
/** Reset all simulation data for this object. */
|
||||
public void resetData() {
|
||||
AnalogTriggerDataJNI.resetData(m_index);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user