Uses the fixed SensorBase functionality in the WPILib (#185)

wpilibc/athena/include/SensorBase.h

@@ -31,8 +31,8 @@ class SensorBase : public ErrorBase {
   static bool CheckDigitalChannel(int channel);
   static bool CheckRelayChannel(int channel);
   static bool CheckPWMChannel(int channel);
-  static bool CheckAnalogInput(int channel);
-  static bool CheckAnalogOutput(int channel);
+  static bool CheckAnalogInputChannel(int channel);
+  static bool CheckAnalogOutputChannel(int channel);
   static bool CheckSolenoidChannel(int channel);
   static bool CheckPDPChannel(int channel);
 

wpilibc/athena/src/AnalogInput.cpp

@@ -27,7 +27,7 @@ AnalogInput::AnalogInput(uint32_t channel) {
   std::stringstream buf;
   buf << "Analog Input " << channel;
 
-  if (!HAL_CheckAnalogInputChannel(channel)) {
+  if (!SensorBase::CheckAnalogInputChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
     return;
   }

wpilibc/athena/src/AnalogOutput.cpp

@@ -24,7 +24,7 @@ AnalogOutput::AnalogOutput(uint32_t channel) {
   std::stringstream buf;
   buf << "analog input " << channel;
 
-  if (!HAL_CheckAnalogOutputChannel(channel)) {
+  if (!SensorBase::CheckAnalogOutputChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
     m_channel = std::numeric_limits<uint32_t>::max();
     m_port = HAL_kInvalidHandle;

wpilibc/athena/src/SensorBase.cpp

@@ -72,7 +72,7 @@ bool SensorBase::CheckPWMChannel(int channel) {
  *
  * @return Analog channel is valid
  */
-bool SensorBase::CheckAnalogInput(int channel) {
+bool SensorBase::CheckAnalogInputChannel(int channel) {
   return HAL_CheckAnalogInputChannel(channel);
 }
 
@@ -84,7 +84,7 @@ bool SensorBase::CheckAnalogInput(int channel) {
  *
  * @return Analog channel is valid
  */
-bool SensorBase::CheckAnalogOutput(int channel) {
+bool SensorBase::CheckAnalogOutputChannel(int channel) {
   return HAL_CheckAnalogOutputChannel(channel);
 }
 

wpilibc/sim/include/SensorBase.h

@@ -31,8 +31,8 @@ class SensorBase : public ErrorBase {
   static bool CheckDigitalChannel(int channel);
   static bool CheckRelayChannel(int channel);
   static bool CheckPWMChannel(int channel);
-  static bool CheckAnalogInput(int channel);
-  static bool CheckAnalogOutput(int channel);
+  static bool CheckAnalogInputChannel(int channel);
+  static bool CheckAnalogOutputChannel(int channel);
   static bool CheckSolenoidChannel(int channel);
   static bool CheckPDPChannel(int channel);
 

wpilibc/sim/src/SensorBase.cpp

@@ -73,7 +73,7 @@ bool SensorBase::CheckPWMChannel(int channel) {
  *
  * @return Analog channel is valid
  */
-bool SensorBase::CheckAnalogInput(int channel) {
+bool SensorBase::CheckAnalogInputChannel(int channel) {
   if (channel >= 0 && channel < kAnalogInputs) return true;
   return false;
 }
@@ -86,7 +86,7 @@ bool SensorBase::CheckAnalogInput(int channel) {
  *
  * @return Analog channel is valid
  */
-bool SensorBase::CheckAnalogOutput(int channel) {
+bool SensorBase::CheckAnalogOutputChannel(int channel) {
   if (channel >= 0 && channel < kAnalogOutputs) return true;
   return false;
 }

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

@@ -47,10 +47,7 @@ public class AnalogInput extends SensorBase implements PIDSource, LiveWindowSend
   public AnalogInput(final int channel) {
     m_channel = channel;
 
-    if (!AnalogJNI.checkAnalogInputChannel(channel)) {
-      throw new AllocationException("Analog input channel " + m_channel
-          + " cannot be allocated. Channel is not present.");
-    }
+    SensorBase.checkAnalogInputChannel(channel);
 
     final int portHandle = AnalogJNI.getPort((byte) channel);
     m_port = AnalogJNI.initializeAnalogInputPort(portHandle);

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

@@ -30,10 +30,7 @@ public class AnalogOutput extends SensorBase implements LiveWindowSendable {
   public AnalogOutput(final int channel) {
     m_channel = channel;
 
-    if (!AnalogJNI.checkAnalogOutputChannel(channel)) {
-      throw new AllocationException("Analog output channel " + m_channel
-          + " cannot be allocated. Channel is not present.");
-    }
+    SensorBase.checkAnalogOutputChannel(channel);
 
     final int portHandle = AnalogJNI.getPort((byte) channel);
     m_port = AnalogJNI.initializeAnalogOutputPort(portHandle);

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

@@ -87,9 +87,8 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
    * set to both lines at 0v.
    */
   private void initRelay() {
-    if (!RelayJNI.checkRelayChannel(m_channel)) {
-      throw new IndexOutOfBoundsException("Requested relay channel number is out of range.");
-    }
+    SensorBase.checkRelayChannel(m_channel);
+
     int portHandle = RelayJNI.getPort((byte)m_channel);
     if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
       m_forwardHandle = RelayJNI.initializeRelayPort(portHandle, true);

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

@@ -88,7 +88,12 @@ public abstract class SensorBase { // TODO: Refactor
    */
   protected static void checkSolenoidModule(final int moduleNumber) {
     if (!SolenoidJNI.checkSolenoidModule(moduleNumber)) {
-      throw new IndexOutOfBoundsException("Requested solenoid module number is out of range");
+      StringBuilder buf = new StringBuilder();
+      buf.append("Requested solenoid module is out of range. Minimumm: 0, Maximum: ");
+      buf.append(kPCMModules);
+      buf.append(", Requested: ");
+      buf.append(moduleNumber);
+      throw new IndexOutOfBoundsException(buf.toString());
     }
   }
 
@@ -100,7 +105,12 @@ public abstract class SensorBase { // TODO: Refactor
    */
   protected static void checkDigitalChannel(final int channel) {
     if (!DIOJNI.checkDIOChannel(channel)) {
-      throw new IndexOutOfBoundsException("Requested digital channel number is out of range.");
+      StringBuilder buf = new StringBuilder();
+      buf.append("Requested DIO channel is out of range. Minimumm: 0, Maximum: ");
+      buf.append(kDigitalChannels);
+      buf.append(", Requested: ");
+      buf.append(channel);
+      throw new IndexOutOfBoundsException(buf.toString());
     }
   }
 
@@ -112,7 +122,12 @@ public abstract class SensorBase { // TODO: Refactor
    */
   protected static void checkRelayChannel(final int channel) {
     if (!RelayJNI.checkRelayChannel(channel)) {
-      throw new IndexOutOfBoundsException("Requested relay channel number is out of range.");
+      StringBuilder buf = new StringBuilder();
+      buf.append("Requested relay channel is out of range. Minimumm: 0, Maximum: ");
+      buf.append(kRelayChannels);
+      buf.append(", Requested: ");
+      buf.append(channel);
+      throw new IndexOutOfBoundsException(buf.toString());
     }
   }
 
@@ -124,7 +139,12 @@ public abstract class SensorBase { // TODO: Refactor
    */
   protected static void checkPWMChannel(final int channel) {
     if (!PWMJNI.checkPWMChannel(channel)) {
-      throw new IndexOutOfBoundsException("Requested PWM channel number is out of range.");
+      StringBuilder buf = new StringBuilder();
+      buf.append("Requested PWM channel is out of range. Minimumm: 0, Maximum: ");
+      buf.append(kPwmChannels);
+      buf.append(", Requested: ");
+      buf.append(channel);
+      throw new IndexOutOfBoundsException(buf.toString());
     }
   }
 
@@ -136,7 +156,12 @@ public abstract class SensorBase { // TODO: Refactor
    */
   protected static void checkAnalogInputChannel(final int channel) {
     if (!AnalogJNI.checkAnalogInputChannel(channel)) {
-      throw new IndexOutOfBoundsException("Requested analog input channel number is out of range.");
+      StringBuilder buf = new StringBuilder();
+      buf.append("Requested analog input channel is out of range. Minimumm: 0, Maximum: ");
+      buf.append(kAnalogInputChannels);
+      buf.append(", Requested: ");
+      buf.append(channel);
+      throw new IndexOutOfBoundsException(buf.toString());
     }
   }
 
@@ -148,8 +173,12 @@ public abstract class SensorBase { // TODO: Refactor
    */
   protected static void checkAnalogOutputChannel(final int channel) {
     if (!AnalogJNI.checkAnalogOutputChannel(channel)) {
-      throw new IndexOutOfBoundsException(
-          "Requested analog output channel number is out of range.");
+      StringBuilder buf = new StringBuilder();
+      buf.append("Requested analog output channel is out of range. Minimumm: 0, Maximum: ");
+      buf.append(kAnalogOutputChannels);
+      buf.append(", Requested: ");
+      buf.append(channel);
+      throw new IndexOutOfBoundsException(buf.toString());
     }
   }
 
@@ -160,7 +189,12 @@ public abstract class SensorBase { // TODO: Refactor
    */
   protected static void checkSolenoidChannel(final int channel) {
     if (!SolenoidJNI.checkSolenoidChannel(channel)) {
-      throw new IndexOutOfBoundsException("Requested solenoid channel number is out of range.");
+      StringBuilder buf = new StringBuilder();
+      buf.append("Requested solenoid channel is out of range. Minimumm: 0, Maximum: ");
+      buf.append(kSolenoidChannels);
+      buf.append(", Requested: ");
+      buf.append(channel);
+      throw new IndexOutOfBoundsException(buf.toString());
     }
   }
 
@@ -172,7 +206,12 @@ public abstract class SensorBase { // TODO: Refactor
    */
   protected static void checkPDPChannel(final int channel) {
     if (!PDPJNI.checkPDPChannel(channel)) {
-      throw new IndexOutOfBoundsException("Requested PDP channel number is out of range.");
+      StringBuilder buf = new StringBuilder();
+      buf.append("Requested PDP channel is out of range. Minimumm: 0, Maximum: ");
+      buf.append(kPDPChannels);
+      buf.append(", Requested: ");
+      buf.append(channel);
+      throw new IndexOutOfBoundsException(buf.toString());
     }
   }
 
@@ -183,7 +222,12 @@ public abstract class SensorBase { // TODO: Refactor
    */
   protected static void checkPDPModule(final int module) {
     if (!PDPJNI.checkPDPModule(module)) {
-      throw new IndexOutOfBoundsException("Requested PDP module number is out of range.");
+      StringBuilder buf = new StringBuilder();
+      buf.append("Requested PDP module is out of range. Minimumm: 0, Maximum: ");
+      buf.append(kPDPModules);
+      buf.append(", Requested: ");
+      buf.append(module);
+      throw new IndexOutOfBoundsException(buf.toString());
     }
   }