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https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
[hal, wpilib] Remove digital source from encoder (#7740)
This commit is contained in:
Thad House
@@ -10,7 +10,6 @@ import edu.wpi.first.hal.EncoderJNI;
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import edu.wpi.first.hal.FRCNetComm.tResourceType;
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import edu.wpi.first.hal.HAL;
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import edu.wpi.first.hal.SimDevice;
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import edu.wpi.first.hal.util.AllocationException;
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import edu.wpi.first.util.sendable.Sendable;
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import edu.wpi.first.util.sendable.SendableBuilder;
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import edu.wpi.first.util.sendable.SendableRegistry;
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@@ -29,37 +28,6 @@ import edu.wpi.first.util.sendable.SendableRegistry;
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* before use.
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*/
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public class Encoder implements CounterBase, Sendable, AutoCloseable {
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/** Encoder indexing types. */
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public enum IndexingType {
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/** Reset while the signal is high. */
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kResetWhileHigh(0),
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/** Reset while the signal is low. */
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kResetWhileLow(1),
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/** Reset on falling edge of the signal. */
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kResetOnFallingEdge(2),
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/** Reset on rising edge of the signal. */
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kResetOnRisingEdge(3);
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/** IndexingType value. */
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public final int value;
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IndexingType(int value) {
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this.value = value;
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}
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}
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/** The 'a' source. */
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protected DigitalSource m_aSource; // the A phase of the quad encoder
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/** The 'b' source. */
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protected DigitalSource m_bSource; // the B phase of the quad encoder
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/** The index source. */
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protected DigitalSource m_indexSource; // Index on some encoders
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private boolean m_allocatedA;
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private boolean m_allocatedB;
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private boolean m_allocatedI;
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private final EncodingType m_encodingType;
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int m_encoder; // the HAL encoder object
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@@ -70,17 +38,13 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
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*
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* <p>The encoder will start counting immediately.
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*
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* @param aChannel The a channel.
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* @param bChannel The b channel.
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* @param reverseDirection If true, counts down instead of up (this is all relative)
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*/
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private void initEncoder(boolean reverseDirection, final EncodingType type) {
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m_encoder =
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EncoderJNI.initializeEncoder(
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m_aSource.getPortHandleForRouting(),
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m_aSource.getAnalogTriggerTypeForRouting(),
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m_bSource.getPortHandleForRouting(),
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m_bSource.getAnalogTriggerTypeForRouting(),
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reverseDirection,
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type.value);
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private void initEncoder(
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int aChannel, int bChannel, boolean reverseDirection, final EncodingType type) {
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m_encoder = EncoderJNI.initializeEncoder(aChannel, bChannel, reverseDirection, type.value);
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int fpgaIndex = getFPGAIndex();
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HAL.report(tResourceType.kResourceType_Encoder, fpgaIndex + 1, type.value + 1);
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@@ -136,156 +100,10 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
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final EncodingType encodingType) {
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requireNonNullParam(encodingType, "encodingType", "Encoder");
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m_allocatedA = true;
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m_allocatedB = true;
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m_allocatedI = false;
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m_aSource = new DigitalInput(channelA);
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m_bSource = new DigitalInput(channelB);
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m_encodingType = encodingType;
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SendableRegistry.addChild(this, m_aSource);
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SendableRegistry.addChild(this, m_bSource);
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initEncoder(reverseDirection, encodingType);
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}
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/**
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* Encoder constructor. Construct an Encoder given a and b channels. Using an index pulse forces
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* 4x encoding
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*
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* <p>The encoder will start counting immediately.
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*
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* @param channelA The a channel digital input channel.
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* @param channelB The b channel digital input channel.
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* @param indexChannel The index channel digital input channel.
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* @param reverseDirection represents the orientation of the encoder and inverts the output values
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* if necessary so forward represents positive values.
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*/
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@SuppressWarnings("this-escape")
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public Encoder(
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final int channelA, final int channelB, final int indexChannel, boolean reverseDirection) {
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this(channelA, channelB, reverseDirection);
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m_allocatedI = true;
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m_indexSource = new DigitalInput(indexChannel);
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SendableRegistry.addChild(this, m_indexSource);
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setIndexSource(m_indexSource);
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}
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/**
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* Encoder constructor. Construct an Encoder given a and b channels. Using an index pulse forces
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* 4x encoding
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*
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* <p>The encoder will start counting immediately.
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*
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* @param channelA The a channel digital input channel.
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* @param channelB The b channel digital input channel.
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* @param indexChannel The index channel digital input channel.
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*/
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public Encoder(final int channelA, final int channelB, final int indexChannel) {
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this(channelA, channelB, indexChannel, false);
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}
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/**
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* Encoder constructor. Construct an Encoder given a and b channels as digital inputs. This is
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* used in the case where the digital inputs are shared. The Encoder class will not allocate the
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* digital inputs and assume that they already are counted.
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*
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* <p>The encoder will start counting immediately.
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*
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* @param sourceA The source that should be used for the 'a' channel.
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* @param sourceB the source that should be used for the 'b' channel.
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* @param reverseDirection represents the orientation of the encoder and inverts the output values
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* if necessary so forward represents positive values.
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*/
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public Encoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection) {
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this(sourceA, sourceB, reverseDirection, EncodingType.k4X);
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}
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/**
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* Encoder constructor. Construct an Encoder given a and b channels as digital inputs. This is
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* used in the case where the digital inputs are shared. The Encoder class will not allocate the
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* digital inputs and assume that they already are counted.
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*
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* <p>The encoder will start counting immediately.
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*
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* @param sourceA The source that should be used for the 'a' channel.
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* @param sourceB the source that should be used for the 'b' channel.
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*/
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public Encoder(DigitalSource sourceA, DigitalSource sourceB) {
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this(sourceA, sourceB, false);
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}
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/**
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* Encoder constructor. Construct an Encoder given a and b channels as digital inputs. This is
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* used in the case where the digital inputs are shared. The Encoder class will not allocate the
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* digital inputs and assume that they already are counted.
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*
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* <p>The encoder will start counting immediately.
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*
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* @param sourceA The source that should be used for the 'a' channel.
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* @param sourceB the source that should be used for the 'b' channel.
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* @param reverseDirection represents the orientation of the encoder and inverts the output values
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* if necessary so forward represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
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* selected, then an encoder FPGA object is used and the returned counts will be 4x the
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* encoder spec'd value since all rising and falling edges are counted. If 1X or 2X are
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* selected then a counter object will be used and the returned value will either exactly
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* match the spec'd count or be double (2x) the spec'd count.
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*/
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@SuppressWarnings("this-escape")
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public Encoder(
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DigitalSource sourceA,
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DigitalSource sourceB,
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boolean reverseDirection,
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final EncodingType encodingType) {
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requireNonNullParam(sourceA, "sourceA", "Encoder");
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requireNonNullParam(sourceB, "sourceB", "Encoder");
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requireNonNullParam(encodingType, "encodingType", "Encoder");
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m_allocatedA = false;
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m_allocatedB = false;
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m_allocatedI = false;
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m_encodingType = encodingType;
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m_aSource = sourceA;
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m_bSource = sourceB;
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initEncoder(reverseDirection, encodingType);
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}
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/**
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* Encoder constructor. Construct an Encoder given a, b and index channels as digital inputs. This
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* is used in the case where the digital inputs are shared. The Encoder class will not allocate
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* the digital inputs and assume that they already are counted.
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*
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* <p>The encoder will start counting immediately.
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*
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* @param sourceA The source that should be used for the 'a' channel.
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* @param sourceB the source that should be used for the 'b' channel.
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* @param indexSource the source that should be used for the index channel.
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* @param reverseDirection represents the orientation of the encoder and inverts the output values
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* if necessary so forward represents positive values.
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*/
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public Encoder(
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DigitalSource sourceA,
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DigitalSource sourceB,
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DigitalSource indexSource,
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boolean reverseDirection) {
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this(sourceA, sourceB, reverseDirection);
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m_allocatedI = false;
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m_indexSource = indexSource;
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setIndexSource(indexSource);
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}
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/**
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* Encoder constructor. Construct an Encoder given a, b and index channels as digital inputs. This
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* is used in the case where the digital inputs are shared. The Encoder class will not allocate
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* the digital inputs and assume that they already are counted.
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*
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* <p>The encoder will start counting immediately.
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*
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* @param sourceA The source that should be used for the 'a' channel.
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* @param sourceB the source that should be used for the 'b' channel.
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* @param indexSource the source that should be used for the index channel.
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*/
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public Encoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource) {
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this(sourceA, sourceB, indexSource, false);
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// SendableRegistry.addChild(this, m_aSource);
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// SendableRegistry.addChild(this, m_bSource);
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initEncoder(channelA, channelB, reverseDirection, encodingType);
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}
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/**
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@@ -309,22 +127,22 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
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@Override
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public void close() {
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SendableRegistry.remove(this);
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if (m_aSource != null && m_allocatedA) {
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m_aSource.close();
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m_allocatedA = false;
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}
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if (m_bSource != null && m_allocatedB) {
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m_bSource.close();
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m_allocatedB = false;
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}
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if (m_indexSource != null && m_allocatedI) {
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m_indexSource.close();
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m_allocatedI = false;
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}
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// if (m_aSource != null && m_allocatedA) {
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// m_aSource.close();
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// m_allocatedA = false;
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// }
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// if (m_bSource != null && m_allocatedB) {
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// m_bSource.close();
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// m_allocatedB = false;
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// }
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// if (m_indexSource != null && m_allocatedI) {
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// m_indexSource.close();
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// m_allocatedI = false;
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// }
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m_aSource = null;
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m_bSource = null;
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m_indexSource = null;
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// m_aSource = null;
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// m_bSource = null;
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// m_indexSource = null;
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EncoderJNI.freeEncoder(m_encoder);
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m_encoder = 0;
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}
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@@ -495,58 +313,6 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
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return EncoderJNI.getEncoderSamplesToAverage(m_encoder);
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}
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/**
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* Set the index source for the encoder. When this source is activated, the encoder count
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* automatically resets.
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*
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* @param channel A DIO channel to set as the encoder index
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*/
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public final void setIndexSource(int channel) {
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setIndexSource(channel, IndexingType.kResetOnRisingEdge);
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}
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/**
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* Set the index source for the encoder. When this source is activated, the encoder count
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* automatically resets.
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*
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* @param source A digital source to set as the encoder index
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*/
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public final void setIndexSource(DigitalSource source) {
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setIndexSource(source, IndexingType.kResetOnRisingEdge);
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}
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/**
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* Set the index source for the encoder. When this source rises, the encoder count automatically
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* resets.
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*
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* @param channel A DIO channel to set as the encoder index
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* @param type The state that will cause the encoder to reset
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*/
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public final void setIndexSource(int channel, IndexingType type) {
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if (m_allocatedI) {
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throw new AllocationException("Digital Input for Indexing already allocated");
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}
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m_indexSource = new DigitalInput(channel);
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m_allocatedI = true;
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SendableRegistry.addChild(this, m_indexSource);
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setIndexSource(m_indexSource, type);
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}
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/**
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* Set the index source for the encoder. When this source rises, the encoder count automatically
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* resets.
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*
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* @param source A digital source to set as the encoder index
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* @param type The state that will cause the encoder to reset
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*/
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public final void setIndexSource(DigitalSource source, IndexingType type) {
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EncoderJNI.setEncoderIndexSource(
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m_encoder,
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source.getPortHandleForRouting(),
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source.getAnalogTriggerTypeForRouting(),
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type.value);
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}
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/**
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* Indicates this input is used by a simulated device.
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*
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