Switches Solenoids to Handles (#126)

wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -9,6 +9,7 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.SolenoidJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -37,6 +38,8 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
   private int m_reverseChannel; // /< The reverse channel on the module to control.
   private byte m_forwardMask; // /< The mask for the forward channel.
   private byte m_reverseMask; // /< The mask for the reverse channel.
+  private int m_forwardHandle = 0;
+  private int m_reverseHandle = 0;
 
   /**
    * Constructor. Uses the default PCM ID of 0.
@@ -65,18 +68,20 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
     checkSolenoidChannel(m_forwardChannel);
     checkSolenoidChannel(m_reverseChannel);
 
+    int portHandle = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_forwardChannel);
+    m_forwardHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
+    
     try {
-      allocated.allocate(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
-    } catch (CheckedAllocationException exception) {
-      throw new AllocationException("Solenoid channel " + m_forwardChannel + " on module "
-          + m_moduleNumber + " is already allocated");
-    }
-    try {
-      allocated.allocate(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
-    } catch (CheckedAllocationException exception) {
-      throw new AllocationException("Solenoid channel " + m_reverseChannel + " on module "
-          + m_moduleNumber + " is already allocated");
+      portHandle = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_reverseChannel);
+      m_reverseHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
+    } catch (RuntimeException ex) {
+      // free the forward handle on exception, then rethrow
+      SolenoidJNI.freeSolenoidPort(m_forwardHandle);
+      m_forwardHandle = 0;
+      m_reverseHandle = 0;
+      throw ex;
     }
+
     m_forwardMask = (byte) (1 << m_forwardChannel);
     m_reverseMask = (byte) (1 << m_reverseChannel);
 
@@ -89,8 +94,8 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
    * Destructor.
    */
   public synchronized void free() {
-    allocated.free(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
-    allocated.free(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
+    SolenoidJNI.freeSolenoidPort(m_forwardHandle);
+    SolenoidJNI.freeSolenoidPort(m_reverseChannel);
     super.free();
   }
 
@@ -100,24 +105,29 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
    * @param value The value to set (Off, Forward, Reverse)
    */
   public void set(final Value value) {
-    final byte rawValue;
-
+    boolean forward = false;
+    boolean reverse = false;
+    
     switch (value) {
       case kOff:
-        rawValue = 0x00;
+        forward = false;
+        reverse = false;
         break;
       case kForward:
-        rawValue = m_forwardMask;
+        forward = true;
+        reverse = false;
         break;
       case kReverse:
-        rawValue = m_reverseMask;
+        forward = false;
+        reverse = true;
         break;
       default:
         throw new AssertionError("Illegal value: " + value);
 
     }
 
-    set(rawValue, m_forwardMask | m_reverseMask);
+    SolenoidJNI.setSolenoid(m_forwardHandle, forward);
+    SolenoidJNI.setSolenoid(m_reverseHandle, reverse);
   }
 
   /**
@@ -126,12 +136,13 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
    * @return The current value of the solenoid.
    */
   public Value get() {
-    byte value = getAll();
-
-    if ((value & m_forwardMask) != 0) {
+    boolean valueForward = SolenoidJNI.getSolenoid(m_forwardHandle);
+    boolean valueReverse = SolenoidJNI.getSolenoid(m_reverseHandle);
+    
+    if (valueForward) {
       return Value.kForward;
     }
-    if ((value & m_reverseMask) != 0) {
+    if (valueReverse) {
       return Value.kReverse;
     }
     return Value.kOff;

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -26,7 +26,7 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
 public class Solenoid extends SolenoidBase implements LiveWindowSendable {
 
   private final int m_channel; // /< The channel to control.
-  private long m_solenoidPort;
+  private int m_solenoidHandle;
 
   /**
    * Constructor using the default PCM ID (0)
@@ -50,15 +50,8 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
     checkSolenoidModule(m_moduleNumber);
     checkSolenoidChannel(m_channel);
 
-    try {
-      allocated.allocate(m_moduleNumber * kSolenoidChannels + m_channel);
-    } catch (CheckedAllocationException ex) {
-      throw new AllocationException("Solenoid channel " + m_channel + " on module "
-        + m_moduleNumber + " is already allocated");
-    }
-
     int portHandle = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_channel);
-    m_solenoidPort = SolenoidJNI.initializeSolenoidPort(portHandle);
+    m_solenoidHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
 
     LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
     UsageReporting.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber);
@@ -68,9 +61,11 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
    * Destructor.
    */
   public synchronized void free() {
-    allocated.free(m_moduleNumber * kSolenoidChannels + m_channel);
-    SolenoidJNI.freeSolenoidPort(m_solenoidPort);
-    m_solenoidPort = 0;
+    SolenoidJNI.freeSolenoidPort(m_solenoidHandle);
+    m_solenoidHandle = 0;
+    if (m_table != null) {
+      m_table.removeTableListener(m_tableListener);
+    }
     super.free();
   }
 
@@ -80,10 +75,7 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
    * @param on Turn the solenoid output off or on.
    */
   public void set(boolean on) {
-    byte value = (byte) (on ? 0xFF : 0x00);
-    byte mask = (byte) (1 << m_channel);
-
-    set(value, mask);
+    SolenoidJNI.setSolenoid(m_solenoidHandle, on);
   }
 
   /**
@@ -92,8 +84,7 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
    * @return The current value of the solenoid.
    */
   public boolean get() {
-    int value = getAll() & (1 << m_channel);
-    return (value != 0);
+    return SolenoidJNI.getSolenoid(m_solenoidHandle);
   }
 
   /**

wpilibj/src/athena/java/edu/wpi/first/wpilibj/SolenoidBase.java

@@ -13,11 +13,8 @@ import edu.wpi.first.wpilibj.hal.SolenoidJNI;
  * SolenoidBase class is the common base class for the Solenoid and DoubleSolenoid classes.
  */
 public abstract class SolenoidBase extends SensorBase {
-
-  private final long[] m_ports;
-  protected final int m_moduleNumber; // /< The number of the solenoid module being
+  protected final byte m_moduleNumber; // /< The number of the solenoid module being
   // used.
-  protected static final Resource allocated = new Resource(63 * SensorBase.kSolenoidChannels);
 
   /**
    * Constructor.
@@ -25,38 +22,7 @@ public abstract class SolenoidBase extends SensorBase {
    * @param moduleNumber The PCM CAN ID
    */
   public SolenoidBase(final int moduleNumber) {
-    m_moduleNumber = moduleNumber;
-    m_ports = new long[SensorBase.kSolenoidChannels];
-    for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
-      int portHandle = SolenoidJNI.getPortWithModule((byte) moduleNumber, (byte) i);
-      m_ports[i] = SolenoidJNI.initializeSolenoidPort(portHandle);
-    }
-  }
-
-  /**
-   * Free the resources associated with by the solenoid base.
-   */
-  @Override
-  public void free() {
-    for (int i = 0; i < m_ports.length; i++) {
-      SolenoidJNI.freeSolenoidPort(m_ports[i]);
-      m_ports[i] = 0;
-    }
-  }
-
-  /**
-   * Set the value of a solenoid.
-   *
-   * @param value The value you want to set on the module.
-   * @param mask  The channels you want to be affected.
-   */
-  protected synchronized void set(int value, int mask) {
-    for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
-      int localMask = 1 << i;
-      if ((mask & localMask) != 0) {
-        SolenoidJNI.setSolenoid(m_ports[i], (value & localMask) != 0);
-      }
-    }
+    m_moduleNumber = (byte)moduleNumber;
   }
 
   /**
@@ -65,7 +31,7 @@ public abstract class SolenoidBase extends SensorBase {
    * @return The current value of all 8 solenoids on this module.
    */
   public byte getAll() {
-    return SolenoidJNI.getAllSolenoids(m_ports[0]);
+    return SolenoidJNI.getAllSolenoids(m_moduleNumber);
   }
 
   /**
@@ -77,7 +43,7 @@ public abstract class SolenoidBase extends SensorBase {
    * @see #clearAllPCMStickyFaults()
    */
   public byte getPCMSolenoidBlackList() {
-    return (byte) SolenoidJNI.getPCMSolenoidBlackList(m_ports[0]);
+    return (byte) SolenoidJNI.getPCMSolenoidBlackList(m_moduleNumber);
   }
 
   /**
@@ -87,7 +53,7 @@ public abstract class SolenoidBase extends SensorBase {
    * @return true if PCM sticky fault is set
    */
   public boolean getPCMSolenoidVoltageStickyFault() {
-    return SolenoidJNI.getPCMSolenoidVoltageStickyFault(m_ports[0]);
+    return SolenoidJNI.getPCMSolenoidVoltageStickyFault(m_moduleNumber);
   }
 
   /**
@@ -97,7 +63,7 @@ public abstract class SolenoidBase extends SensorBase {
    * @return true if PCM is in fault state.
    */
   public boolean getPCMSolenoidVoltageFault() {
-    return SolenoidJNI.getPCMSolenoidVoltageFault(m_ports[0]);
+    return SolenoidJNI.getPCMSolenoidVoltageFault(m_moduleNumber);
   }
 
   /**
@@ -110,6 +76,6 @@ public abstract class SolenoidBase extends SensorBase {
    * <p>If no sticky faults are set then this call will have no effect.
    */
   public void clearAllPCMStickyFaults() {
-    SolenoidJNI.clearAllPCMStickyFaults(m_ports[0]);
+    SolenoidJNI.clearAllPCMStickyFaults(m_moduleNumber);
   }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/SolenoidJNI.java

@@ -8,21 +8,21 @@
 package edu.wpi.first.wpilibj.hal;
 
 public class SolenoidJNI extends JNIWrapper {
-  public static native long initializeSolenoidPort(int halPortHandle);
+  public static native int initializeSolenoidPort(int halPortHandle);
 
-  public static native void freeSolenoidPort(long portPointer);
+  public static native void freeSolenoidPort(int portHandle);
 
-  public static native void setSolenoid(long port, boolean on);
+  public static native void setSolenoid(int portHandle, boolean on);
 
-  public static native boolean getSolenoid(long port);
+  public static native boolean getSolenoid(int portHandle);
 
-  public static native byte getAllSolenoids(long port);
+  public static native byte getAllSolenoids(byte module);
 
-  public static native int getPCMSolenoidBlackList(long pcmPointer);
+  public static native int getPCMSolenoidBlackList(byte module);
 
-  public static native boolean getPCMSolenoidVoltageStickyFault(long pcmPointer);
+  public static native boolean getPCMSolenoidVoltageStickyFault(byte module);
 
-  public static native boolean getPCMSolenoidVoltageFault(long pcmPointer);
+  public static native boolean getPCMSolenoidVoltageFault(byte module);
 
-  public static native void clearAllPCMStickyFaults(long pcmPointer);
+  public static native void clearAllPCMStickyFaults(byte module);
 }