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Make DoubleSolenoid work in Java [artf3457]

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Make DoubleSolenoid and Solenoid use SolenoidBase, like in C++.

Add an integration tests for double solenoids.

Change-Id: I9a7ff562d65a564c5adabfa73f85f23ad466215b
This commit is contained in:
Thomas Clark
2014-08-29 12:50:44 -04:00
parent f439adc2a3
commit 9b896eab70
4 changed files with 84 additions and 85 deletions
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48
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
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@@ -50,28 +50,28 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
* Common function to implement constructor behavior.
*/
private synchronized void initSolenoid() {
// checkSolenoidModule(m_moduleNumber);
// checkSolenoidChannel(m_forwardChannel);
// checkSolenoidChannel(m_reverseChannel);
//
// try {
// m_allocated.allocate((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
// } catch (CheckedAllocationException e) {
// throw new AllocationException(
// "Solenoid channel " + m_forwardChannel + " on module " + m_moduleNumber + " is already allocated");
// }
// try {
// m_allocated.allocate((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
// } catch (CheckedAllocationException e) {
// throw new AllocationException(
// "Solenoid channel " + m_reverseChannel + " on module " + m_moduleNumber + " is already allocated");
// }
// m_forwardMask = (byte) (1 << (m_forwardChannel - 1));
// m_reverseMask = (byte) (1 << (m_reverseChannel - 1));
//
// UsageReporting.report(tResourceType.kResourceType_Solenoid, m_forwardChannel, m_moduleNumber-1);
// UsageReporting.report(tResourceType.kResourceType_Solenoid, m_reverseChannel, m_moduleNumber-1);
// LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
checkSolenoidModule(m_moduleNumber);
checkSolenoidChannel(m_forwardChannel);
checkSolenoidChannel(m_reverseChannel);
try {
m_allocated.allocate(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
} catch (CheckedAllocationException e) {
throw new AllocationException(
"Solenoid channel " + m_forwardChannel + " on module " + m_moduleNumber + " is already allocated");
}
try {
m_allocated.allocate(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
} catch (CheckedAllocationException e) {
throw new AllocationException(
"Solenoid channel " + m_reverseChannel + " on module " + m_moduleNumber + " is already allocated");
}
m_forwardMask = (byte) (1 << m_forwardChannel);
m_reverseMask = (byte) (1 << m_reverseChannel);
UsageReporting.report(tResourceType.kResourceType_Solenoid, m_forwardChannel, m_moduleNumber);
UsageReporting.report(tResourceType.kResourceType_Solenoid, m_reverseChannel, m_moduleNumber);
LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
}
/**
@@ -105,8 +105,8 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
* Destructor.
*/
public synchronized void free() {
// m_allocated.free((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
// m_allocated.free((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
m_allocated.free(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
m_allocated.free(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
}
/**

15
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
View File

@@ -86,10 +86,10 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
* @param on Turn the solenoid output off or on.
*/
public void set(boolean on) {
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());
byte value = (byte) (on ? 0xFF : 0x00);
byte mask = (byte) (1 << m_channel);
set(value, mask);
}
/**
@@ -98,11 +98,8 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
* @return The current value of the solenoid.
*/
public boolean get() {
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;
int value = getAll() & ( 1 << m_channel);
return (value != 0);
}
/*

63
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java
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@@ -11,6 +11,7 @@ import java.nio.IntBuffer;
import java.nio.ByteBuffer;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.hal.SolenoidJNI;
/**
* SolenoidBase class is the common base class for the Solenoid and
@@ -20,8 +21,7 @@ public abstract class SolenoidBase extends SensorBase {
private ByteBuffer[] m_ports;
protected int m_moduleNumber; ///< The number of the solenoid module being used.
// XXX: Move this to be both HAL calls
//protected Resource m_allocated = new Resource(SolenoidJNI.getModuleCount() * SensorBase.kSolenoidChannels);
protected Resource m_allocated = new Resource(63* SensorBase.kSolenoidChannels);
/**
* Constructor.
@@ -30,13 +30,13 @@ public abstract class SolenoidBase extends SensorBase {
*/
public SolenoidBase(final int moduleNumber) {
m_moduleNumber = moduleNumber;
// m_ports = new ByteBuffer[SensorBase.kSolenoidChannels];
// for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
// ByteBuffer port = SolenoidJNI.getPortWithModule((byte) moduleNumber, (byte) (i+1));
// IntBuffer status = IntBuffer.allocate(1);
// m_ports[i] = SolenoidJNI.initializeSolenoidPort(port, status);
// HALUtil.checkStatus(status);
// }
m_ports = new ByteBuffer[SensorBase.kSolenoidChannels];
for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
ByteBuffer port = SolenoidJNI.getPortWithModule((byte) moduleNumber, (byte) i);
IntBuffer status = IntBuffer.allocate(1);
m_ports[i] = SolenoidJNI.initializeSolenoidPort(port, status);
HALUtil.checkStatus(status);
}
}
/**
@@ -46,13 +46,13 @@ public abstract class SolenoidBase extends SensorBase {
* @param mask The channels you want to be affected.
*/
protected synchronized void set(int value, int mask) {
// IntBuffer status = IntBuffer.allocate(1);
// for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
// int local_mask = 1 << i;
// if ((mask & local_mask) != 0)
// SolenoidJNI.setSolenoid(m_ports[i], (byte) (value & local_mask), status);
// }
// HALUtil.checkStatus(status);
IntBuffer status = IntBuffer.allocate(1);
for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
int local_mask = 1 << i;
if ((mask & local_mask) != 0)
SolenoidJNI.setSolenoid(m_ports[i], (byte) (value & local_mask), status);
}
HALUtil.checkStatus(status);
}
/**
@@ -62,32 +62,11 @@ public abstract class SolenoidBase extends SensorBase {
*/
public byte getAll() {
byte value = 0;
// IntBuffer status = IntBuffer.allocate(1);
// for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
// value |= SolenoidJNI.getSolenoid(m_ports[i], status) << i;
// }
// HALUtil.checkStatus(status);
IntBuffer status = IntBuffer.allocate(1);
for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
value |= SolenoidJNI.getSolenoid(m_ports[i], status) << i;
}
HALUtil.checkStatus(status);
return value;
}
/**
* Read all 8 solenoids in the default solenoid module as a single byte
*
* @return The current value of all 8 solenoids on the default module.
*/
public static byte getAllFromDefaultModule() {
return getAllFromModule(getDefaultSolenoidModule());
}
/**
* Read all 8 solenoids in the specified solenoid module as a single byte
*
* @return The current value of all 8 solenoids on the specified module.
*/
public static byte getAllFromModule(int moduleNumber) {
byte value = 0;
// checkSolenoidModule(moduleNumber);
// throw new RuntimeException("Not supported right now.");
return value;
}
}

43
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
View File

@@ -32,7 +32,7 @@ public class PCMTest extends AbstractComsSetup {
protected static final double kCompressorDelayTime = 2.0;
/* Solenoids should change much more quickly */
protected static final double kSolenoidDelayTime = 0.1;
protected static final double kSolenoidDelayTime = 1.0;
/* The voltage divider on the test bench should bring the compressor output
to around these values. */
@@ -44,7 +44,6 @@ public class PCMTest extends AbstractComsSetup {
private static DigitalOutput fakePressureSwitch;
private static AnalogInput fakeCompressor;
private static Solenoid solenoid1, solenoid2;
private static DigitalInput fakeSolenoid1, fakeSolenoid2;
@BeforeClass
@@ -54,9 +53,6 @@ public class PCMTest extends AbstractComsSetup {
fakePressureSwitch = new DigitalOutput(11);
fakeCompressor = new AnalogInput(1);
solenoid1 = new Solenoid(7);
solenoid2 = new Solenoid(6);
fakeSolenoid1 = new DigitalInput(12);
fakeSolenoid2 = new DigitalInput(13);
}
@@ -68,9 +64,6 @@ public class PCMTest extends AbstractComsSetup {
fakePressureSwitch.free();
fakeCompressor.free();
solenoid1.free();
solenoid2.free();
fakeSolenoid1.free();
fakeSolenoid2.free();
}
@@ -83,8 +76,6 @@ public class PCMTest extends AbstractComsSetup {
public void reset() throws Exception {
compressor.stop();
fakePressureSwitch.set(false);
solenoid1.set(false);
solenoid2.set(false);
}
@After
@@ -120,6 +111,9 @@ public class PCMTest extends AbstractComsSetup {
public void testSolenoid() throws Exception {
reset();
Solenoid solenoid1 = new Solenoid(0);
Solenoid solenoid2 = new Solenoid(1);
solenoid1.set(false);
solenoid2.set(false);
Timer.delay(kSolenoidDelayTime);
@@ -146,6 +140,35 @@ public class PCMTest extends AbstractComsSetup {
Timer.delay(kSolenoidDelayTime);
assertFalse("Solenoid #1 did not turn on",fakeSolenoid1.get());
assertFalse("Solenoid #2 did not turn on",fakeSolenoid2.get());
solenoid1.free();
solenoid2.free();
}
/**
* Test if the correct solenoids turn on and off when they should when used
* with the DoubleSolenoid class.
*/
@Test
public void doubleSolenoid() {
DoubleSolenoid solenoid = new DoubleSolenoid(0, 1);
solenoid.set(DoubleSolenoid.Value.kOff);
Timer.delay(kSolenoidDelayTime);
assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
solenoid.set(DoubleSolenoid.Value.kForward);
Timer.delay(kSolenoidDelayTime);
assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get());
assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
solenoid.set(DoubleSolenoid.Value.kReverse);
Timer.delay(kSolenoidDelayTime);
assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get());
solenoid.free();
}
protected Logger getClassLogger(){