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Support for the CAN pneumatics module in C++ and Java

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Change-Id: I2ccb1d13d1c5da00a99329c761b75a6c2b3ea56d
This commit is contained in:
thomasclark
2014-05-29 14:25:09 -04:00
parent 9b831ed34c
commit 980d52becc
19 changed files with 2286 additions and 91 deletions
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129
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PCMCompressor.java Normal file
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@@ -0,0 +1,129 @@
package edu.wpi.first.wpilibj;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import edu.wpi.first.wpilibj.SensorBase;
import edu.wpi.first.wpilibj.hal.CompressorJNI;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.parsing.IDevice;
import edu.wpi.first.wpilibj.tables.ITable;
public class PCMCompressor extends SensorBase implements IDevice, LiveWindowSendable {
private ByteBuffer m_pcm;
public PCMCompressor(int module) {
initCompressor(module);
}
public PCMCompressor() {
initCompressor(getDefaultSolenoidModule());
}
private void initCompressor(int module) {
m_table = null;
m_pcm = CompressorJNI.initializeCompressor((byte)module);
}
void start() {
setClosedLoopControl(false);
setCompressor(true);
}
void stop() {
setClosedLoopControl(false);
setCompressor(false);
}
boolean enabled() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getCompressor(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
boolean getPressureSwitchValue() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getPressureSwitch(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
float getCompressorCurrent() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
float current = CompressorJNI.getCompressorCurrent(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return current;
}
void setClosedLoopControl(boolean on) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
CompressorJNI.setClosedLoopControl(m_pcm, on, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
boolean getClosedLoopControl() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getClosedLoopControl(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
@Override
public void startLiveWindowMode() {
}
@Override
public void stopLiveWindowMode() {
}
private void setCompressor(boolean on) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
CompressorJNI.setCompressor(m_pcm, on, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@Override
public String getSmartDashboardType() {
return "Compressor";
}
private ITable m_table;
@Override
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
@Override
public ITable getTable() {
return m_table;
}
@Override
public void updateTable() {
if (m_table != null) {
m_table.putBoolean("Enabled", enabled());
m_table.putBoolean("Pressure Switch", getPressureSwitchValue());
}
}
}

45
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
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@@ -7,12 +7,13 @@
package edu.wpi.first.wpilibj;
import java.nio.IntBuffer;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.hal.HALUtil;
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;
@@ -29,30 +30,31 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
public class Solenoid extends SolenoidBase implements LiveWindowSendable {
private int m_channel; ///< The channel on the module to control.
private ByteBuffer m_port;
private ByteBuffer m_solenoid_port;
/**
* Common function to implement constructor behavior.
*/
private synchronized void initSolenoid() {
// checkSolenoidModule(m_moduleNumber);
// checkSolenoidChannel(m_channel);
//
checkSolenoidModule(m_moduleNumber);
checkSolenoidChannel(m_channel);
// try {
// m_allocated.allocate((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1);
// } catch (CheckedAllocationException e) {
// throw new AllocationException(
// "Solenoid channel " + m_channel + " on module " + m_moduleNumber + " is already allocated");
// }
//
// IntBuffer status = IntBuffer.allocate(1);
// m_port = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_channel);
// HALUtil.checkStatus(status);
// SolenoidJNI.initializeSolenoidPort(m_port, status);
// HALUtil.checkStatus(status);
//
// LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
// UsageReporting.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber - 1);
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
ByteBuffer port = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_channel);
m_solenoid_port = SolenoidJNI.initializeSolenoidPort(port, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
UsageReporting.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber - 1);
}
/**
@@ -91,9 +93,10 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
* @param on Turn the solenoid output off or on.
*/
public void set(boolean on) {
// IntBuffer status = IntBuffer.allocate(1);
// SolenoidJNI.setSolenoid(m_port, (byte) (on ? 1 : 0), status);
// HALUtil.checkStatus(status);
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SolenoidJNI.setSolenoid(m_solenoid_port, (byte) (on ? 1 : 0), status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
@@ -102,10 +105,10 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
* @return The current value of the solenoid.
*/
public boolean get() {
boolean value = false;
// IntBuffer status = IntBuffer.allocate(1);
// boolean value = SolenoidJNI.getSolenoid(m_port, status) != 0;
// HALUtil.checkStatus(status);
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean value = SolenoidJNI.getSolenoid(m_solenoid_port, status.asIntBuffer()) != 0;
HALUtil.checkStatus(status.asIntBuffer());
return value;
}

18
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/hal/CompressorJNI.java Normal file
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@@ -0,0 +1,18 @@
package edu.wpi.first.wpilibj.hal;
import java.nio.ByteBuffer;
import java.nio.IntBuffer;
public class CompressorJNI extends JNIWrapper {
public static native ByteBuffer initializeCompressor(byte module);
public static native boolean checkCompressorModule(byte module);
public static native void setCompressor(ByteBuffer pcm_pointer, boolean value, IntBuffer status);
public static native boolean getCompressor(ByteBuffer pcm_pointer, IntBuffer status);
public static native void setClosedLoopControl(ByteBuffer pcm_pointer, boolean value, IntBuffer status);
public static native boolean getClosedLoopControl(ByteBuffer pcm_pointer, IntBuffer status);
public static native boolean getPressureSwitch(ByteBuffer pcm_pointer, IntBuffer status);
public static native float getCompressorCurrent(ByteBuffer pcm_pointer, IntBuffer status);
}

10
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/hal/SolenoidJNI.java Normal file
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@@ -0,0 +1,10 @@
package edu.wpi.first.wpilibj.hal;
import java.nio.IntBuffer;
import java.nio.ByteBuffer;
public class SolenoidJNI extends JNIWrapper {
public static native ByteBuffer initializeSolenoidPort(ByteBuffer portPointer, IntBuffer status);
public static native ByteBuffer getPortWithModule(byte module, byte channel);
public static native void setSolenoid(ByteBuffer port, byte on, IntBuffer status);
public static native byte getSolenoid(ByteBuffer port, IntBuffer status);
}