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JNI implementation for Java

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charris
2014-01-06 09:27:51 -05:00
parent 4297b2bc9d
commit b62b606110
185 changed files with 6316 additions and 1106 deletions
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205
wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
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/*
* To change this template, choose Tools | Templates
* and open the template in the editor.
*/
package edu.wpi.first.wpilibj.livewindow;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.tables.ITable;
import java.util.Enumeration;
import java.util.Hashtable;
import java.util.Vector;
/**
* A LiveWindow component is a device (sensor or actuator) that should be added to the
* SmartDashboard in test mode. The components are cached until the first time the robot
* enters Test mode. This allows the components to be inserted, then renamed.
* @author brad
*/
class LiveWindowComponent {
String m_subsystem;
String m_name;
boolean m_isSensor;
public LiveWindowComponent(String subsystem, String name, boolean isSensor) {
m_subsystem = subsystem;
m_name = name;
m_isSensor = isSensor;
}
public String getName() {
return m_name;
}
public String getSubsystem() {
return m_subsystem;
}
public boolean isSensor() {
return m_isSensor;
}
}
/**
* The LiveWindow class is the public interface for putting sensors and
* actuators on the LiveWindow.
*
* @author Alex Henning
*/
public class LiveWindow {
private static Vector sensors = new Vector();
// private static Vector actuators = new Vector();
private static Hashtable components = new Hashtable();
private static ITable livewindowTable = NetworkTable.getTable("LiveWindow");
private static ITable statusTable = livewindowTable.getSubTable("~STATUS~");
private static boolean liveWindowEnabled = false;
private static boolean firstTime = true;
/**
* Initialize all the LiveWindow elements the first time we enter LiveWindow
* mode. By holding off creating the NetworkTable entries, it allows them to
* be redefined before the first time in LiveWindow mode. This allows
* default sensor and actuator values to be created that are replaced with
* the custom names from users calling addActuator and addSensor.
*/
private static void initializeLiveWindowComponents() {
System.out.println("Initializing the components first time");
for (Enumeration e = components.keys(); e.hasMoreElements();) {
LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
LiveWindowComponent c = (LiveWindowComponent) components.get(component);
String subsystem = c.getSubsystem();
String name = c.getName();
System.out.println("Initializing table for '" + subsystem + "' '" + name + "'");
livewindowTable.getSubTable(subsystem).putString("~TYPE~", "LW Subsystem");
ITable table = livewindowTable.getSubTable(subsystem).getSubTable(name);
table.putString("~TYPE~", component.getSmartDashboardType());
table.putString("Name", name);
table.putString("Subsystem", subsystem);
component.initTable(table);
if (c.isSensor()) {
sensors.addElement(component);
}
}
}
/**
* Set the enabled state of LiveWindow. If it's being enabled, turn off the
* scheduler and remove all the commands from the queue and enable all the
* components registered for LiveWindow. If it's being disabled, stop all
* the registered components and reenable the scheduler. TODO: add code to
* disable PID loops when enabling LiveWindow. The commands should reenable
* the PID loops themselves when they get rescheduled. This prevents arms
* from starting to move around, etc. after a period of adjusting them in
* LiveWindow mode.
*/
public static void setEnabled(boolean enabled) {
if (liveWindowEnabled != enabled) {
if (enabled) {
System.out.println("Starting live window mode.");
if (firstTime) {
initializeLiveWindowComponents();
firstTime = false;
}
Scheduler.getInstance().disable();
Scheduler.getInstance().removeAll();
for (Enumeration e = components.keys(); e.hasMoreElements();) {
LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
component.startLiveWindowMode();
}
} else {
System.out.println("stopping live window mode.");
for (Enumeration e = components.keys(); e.hasMoreElements();) {
LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
component.stopLiveWindowMode();
}
Scheduler.getInstance().enable();
}
liveWindowEnabled = enabled;
statusTable.putBoolean("LW Enabled", enabled);
}
}
/**
* The run method is called repeatedly to keep the values refreshed on the screen in
* test mode.
*/
public static void run() {
updateValues();
}
/**
* Add a Sensor associated with the subsystem and with call it by the given
* name.
*
* @param subsystem The subsystem this component is part of.
* @param name The name of this component.
* @param component A LiveWindowSendable component that represents a sensor.
*/
public static void addSensor(String subsystem, String name, LiveWindowSendable component) {
components.put(component, new LiveWindowComponent(subsystem, name, true));
}
/**
* Add an Actuator associated with the subsystem and with call it by the
* given name.
*
* @param subsystem The subsystem this component is part of.
* @param name The name of this component.
* @param component A LiveWindowSendable component that represents a
* actuator.
*/
public static void addActuator(String subsystem, String name, LiveWindowSendable component) {
components.put(component, new LiveWindowComponent(subsystem, name, false));
}
/**
* Puts all sensor values on the live window.
*/
private static void updateValues() {
//TODO: gross - needs to be sped up
for (int i = 0; i < sensors.size(); i++) {
LiveWindowSendable lws = (LiveWindowSendable) sensors.elementAt(i);
lws.updateTable();
}
// TODO: Add actuators?
// TODO: Add better rate limiting.
}
/**
* Add Sensor to LiveWindow. The components are shown with the module type,
* slot and channel like this: Gyro[1, 2] for a gyro object connected to the
* first analog module in channel 2
*
* @param moduleType A string indicating the type of the module used in the
* naming (above)
* @param moduleNumber The number of the particular module type
* @param channel The channel number the device is connected to
* @param component A reference to the object being added
*/
public static void addSensor(String moduleType, int moduleNumber, int channel, LiveWindowSendable component) {
addSensor("Ungrouped", moduleType + "[" + moduleNumber + "," + channel + "]", component);
if (sensors.contains(component)) {
sensors.removeElement(component);
}
sensors.addElement(component);
}
/**
* Add Actuator to LiveWindow. The components are shown with the module
* type, slot and channel like this: Servo[1,2] for a servo object connected
* to the first digital module and PWM port 2.
*
* @param moduleType A string that defines the module name in the label for
* the value
* @param moduleNumber The number of the particular module type
* @param channel The channel number the device is plugged into (usually
* PWM)
* @param component The reference to the object being added
*/
public static void addActuator(String moduleType, int moduleNumber, int channel, LiveWindowSendable component) {
addActuator("Ungrouped", moduleType + "[" + moduleNumber + "," + channel + "]", component);
}
}

32
wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.java
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/*
* To change this template, choose Tools | Templates
* and open the template in the editor.
*/
package edu.wpi.first.wpilibj.livewindow;
import edu.wpi.first.wpilibj.Sendable;
/**
* Live Window Sendable is a special type of object sendable to the live window.
*
* @author Alex Henning
*/
public interface LiveWindowSendable extends Sendable {
/**
* Update the table for this sendable object with the latest
* values.
*/
public void updateTable();
/**
* Start having this sendable object automatically respond to
* value changes reflect the value on the table.
*/
public void startLiveWindowMode();
/**
* Stop having this sendable object automatically respond to value
* changes.
*/
public void stopLiveWindowMode();
}