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AnalogTrigger support in Java

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Analog triggers now work in Java.

Integration tests for analog triggers are included.

A message in the C++ analog trigger IT was fixed.

Change-Id: I50007c6901b8391d32c0e81becdbe18e48a7840f
This commit is contained in:
Thomas Clark
2014-08-01 12:39:19 -04:00
parent 38583789be
commit ba4e74d299
4 changed files with 179 additions and 51 deletions
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2
wpilibc/wpilibC++IntegrationTests/src/AnalogLoopTest.cpp
View File

@@ -91,5 +91,5 @@ TEST_F(AnalogLoopTest, AnalogTriggerCounterWorks) {
}
// The counter should be 50
EXPECT_EQ(50, counter.Get()) << "Analog trigger counter did not count 100 ticks";
EXPECT_EQ(50, counter.Get()) << "Analog trigger counter did not count 50 ticks";
}

31
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
View File

@@ -50,19 +50,18 @@ public class AnalogTrigger {
/**
* Initialize an analog trigger from a channel.
*
*
* @param channel
* the port to use for the analog trigger
*/
protected void initTrigger(final int channel) {
ByteBuffer port_pointer = AnalogJNI.getPort((byte) channel);
IntBuffer status = IntBuffer.allocate(1);
IntBuffer index = IntBuffer.allocate(1);
// XXX: Uncomment when analog has been fixed
// m_port = HALLibrary
// .initializeAnalogTrigger(port_pointer, index, status);
//HALUtil.checkStatus(status);
//m_index = index.get(0);
IntBuffer index = ByteBuffer.allocateDirect(4).asIntBuffer();
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
m_port = AnalogJNI.initializeAnalogTrigger(port_pointer, index, status);
HALUtil.checkStatus(status);
m_index = index.get(0);
UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel);
}
@@ -93,7 +92,7 @@ public class AnalogTrigger {
* Release the resources used by this object
*/
public void free() {
IntBuffer status = IntBuffer.allocate(1);
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
AnalogJNI.cleanAnalogTrigger(m_port, status);
HALUtil.checkStatus(status);
m_port = null;
@@ -113,7 +112,7 @@ public class AnalogTrigger {
if (lower > upper) {
throw new BoundaryException("Lower bound is greater than upper");
}
IntBuffer status = IntBuffer.allocate(1);
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
AnalogJNI.setAnalogTriggerLimitsRaw(m_port, lower, upper, status);
HALUtil.checkStatus(status);
}
@@ -132,9 +131,7 @@ public class AnalogTrigger {
throw new BoundaryException(
"Lower bound is greater than upper bound");
}
// TODO: This depends on the averaged setting. Only raw values will work
// as is.
IntBuffer status = IntBuffer.allocate(1);
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
AnalogJNI.setAnalogTriggerLimitsVoltage(m_port, (float) lower,
(float) upper, status);
HALUtil.checkStatus(status);
@@ -149,7 +146,7 @@ public class AnalogTrigger {
* true to use an averaged value, false otherwise
*/
public void setAveraged(boolean useAveragedValue) {
IntBuffer status = IntBuffer.allocate(1);
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
AnalogJNI.setAnalogTriggerAveraged(m_port,
(byte) (useAveragedValue ? 1 : 0), status);
HALUtil.checkStatus(status);
@@ -165,7 +162,7 @@ public class AnalogTrigger {
* true to use a filterd value, false otherwise
*/
public void setFiltered(boolean useFilteredValue) {
IntBuffer status = IntBuffer.allocate(1);
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
AnalogJNI.setAnalogTriggerFiltered(m_port,
(byte) (useFilteredValue ? 1 : 0), status);
HALUtil.checkStatus(status);
@@ -188,7 +185,7 @@ public class AnalogTrigger {
* @return The InWindow output of the analog trigger.
*/
public boolean getInWindow() {
IntBuffer status = IntBuffer.allocate(1);
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
byte value = AnalogJNI.getAnalogTriggerInWindow(m_port, status);
HALUtil.checkStatus(status);
return value != 0;
@@ -202,7 +199,7 @@ public class AnalogTrigger {
* @return The TriggerState output of the analog trigger.
*/
public boolean getTriggerState() {
IntBuffer status = IntBuffer.allocate(1);
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
byte value = AnalogJNI.getAnalogTriggerTriggerState(m_port, status);
HALUtil.checkStatus(status);
return value != 0;

85
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java
View File

@@ -26,11 +26,11 @@ import edu.wpi.first.wpilibj.test.TestBench;
*/
public class AnalogCrossConnectTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(AnalogCrossConnectTest.class.getName());
private static AnalogCrossConnectFixture analogIO;
static final double kDelayTime = 0.05;
static final double kDelayTime = 0.01;
@Override
protected Logger getClassLogger() {
return logger;
@@ -72,11 +72,82 @@ public class AnalogCrossConnectTest extends AbstractComsSetup {
public void testAnalogOuput() {
for(int i = 0; i < 50; i++) {
analogIO.getOutput().setVoltage(i / 10.0f);
Timer.delay(kDelayTime);
assertEquals(analogIO.getOutput().getVoltage(), analogIO.getInput().getVoltage(), 0.01);
Timer.delay(kDelayTime);
assertEquals(analogIO.getOutput().getVoltage(), analogIO.getInput().getVoltage(), 0.01);
}
}
@Test
public void testAnalogTriggerBelowWindow() {
// Given
AnalogTrigger trigger = new AnalogTrigger(analogIO.getInput());
trigger.setLimitsVoltage(2.0f, 3.0f);
// When the output voltage is than less the lower limit
analogIO.getOutput().setVoltage(1.0f);
Timer.delay(kDelayTime);
// Then the analog trigger is not in the window and the trigger state is off
assertFalse("Analog trigger is in the window (2V, 3V)", trigger.getInWindow());
assertFalse("Analog trigger is on", trigger.getTriggerState());
trigger.free();
}
@Test
public void testAnalogTriggerInWindow() {
// Given
AnalogTrigger trigger = new AnalogTrigger(analogIO.getInput());
trigger.setLimitsVoltage(2.0f, 3.0f);
// When the output voltage is within the lower and upper limits
analogIO.getOutput().setVoltage(2.5f);
Timer.delay(kDelayTime);
// Then the analog trigger is in the window and the trigger state is off
assertTrue("Analog trigger is not in the window (2V, 3V)", trigger.getInWindow());
assertFalse("Analog trigger is on", trigger.getTriggerState());
trigger.free();
}
@Test
public void testAnalogTriggerAboveWindow() {
// Given
AnalogTrigger trigger = new AnalogTrigger(analogIO.getInput());
trigger.setLimitsVoltage(2.0f, 3.0f);
// When the output voltage is greater than the upper limit
analogIO.getOutput().setVoltage(4.0f);
Timer.delay(kDelayTime);
// Then the analog trigger is not in the window and the trigger state is on
assertFalse("Analog trigger is in the window (2V, 3V)", trigger.getInWindow());
assertTrue("Analog trigger is not on", trigger.getTriggerState());
trigger.free();
}
@Test
public void testAnalogTriggerCounter() {
// Given
AnalogTrigger trigger = new AnalogTrigger(analogIO.getInput());
trigger.setLimitsVoltage(2.0f, 3.0f);
Counter counter = new Counter(trigger);
// When the analog output is turned low and high 50 times
for(int i = 0; i < 50; i++) {
analogIO.getOutput().setVoltage(1.0);
Timer.delay(kDelayTime);
analogIO.getOutput().setVoltage(4.0);
Timer.delay(kDelayTime);
}
// Then the counter should be at 50
assertEquals("Analog trigger counter did not count 50 ticks", 50, counter.get());
}
@Test(expected=RuntimeException.class)
public void testRuntimeExceptionOnInvalidAccumulatorPort(){
analogIO.getInput().getAccumulatorCount();

112
wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp
View File

@@ -10,8 +10,8 @@
TLogLevel analogJNILogLevel = logWARNING;
#define ANALOGJNI_LOG(level) \
if (level > analogJNILogLevel) ; \
else Log().Get(level)
if (level > analogJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
@@ -430,7 +430,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter
(JNIEnv *env, jclass, jobject id, jint center, jobject status)
(JNIEnv * env, jclass, jobject id, jint center, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
@@ -447,7 +447,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCe
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband
(JNIEnv *env, jclass, jobject id, jint deadband, jobject status)
(JNIEnv * env, jclass, jobject id, jint deadband, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
@@ -463,7 +463,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDe
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)J
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue
(JNIEnv *env, jclass, jobject id, jobject status)
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
@@ -482,7 +482,7 @@ JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorV
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount
(JNIEnv *env, jclass, jobject id, jobject status)
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
@@ -522,9 +522,23 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOu
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger
(JNIEnv *, jclass, jobject, jobject , jobject)
(JNIEnv * env, jclass, jobject id, jobject index, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
ANALOGJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void ** analogTriggerPtr = new void *;
*analogTriggerPtr = initializeAnalogTrigger(*javaId, (uint32_t *)indexPtr, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AnalogTrigger Ptr = " << *analogTriggerPtr;
return env->NewDirectByteBuffer(analogTriggerPtr, 4);
}
/*
@@ -533,9 +547,17 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAna
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigger
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject id, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
cleanAnalogTrigger( *javaId, statusPtr );
delete javaId;
}
/*
@@ -544,9 +566,15 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigg
* Signature: (Ljava/nio/ByteBuffer;IILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsRaw
(JNIEnv *, jclass, jobject, jint, jint, jobject)
(JNIEnv * env, jclass, jobject id, jint lower, jint upper, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setAnalogTriggerLimitsRaw( *javaId, lower, upper, statusPtr );
}
/*
@@ -555,9 +583,15 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTrigger
* Signature: (Ljava/nio/ByteBuffer;DDLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsVoltage
(JNIEnv *, jclass, jobject, jdouble, jdouble, jobject)
(JNIEnv * env, jclass, jobject id, jdouble lower, jdouble upper, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setAnalogTriggerLimitsVoltage( *javaId, lower, upper, statusPtr );
}
/*
@@ -566,9 +600,14 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTrigger
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerAveraged
(JNIEnv *, jclass, jobject, jbyte, jobject)
{
assert(false);
(JNIEnv * env, jclass, jobject id, jbyte averaged, jobject status){
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setAnalogTriggerAveraged( *javaId, averaged, statusPtr );
}
/*
@@ -577,9 +616,14 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTrigger
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerFiltered
(JNIEnv *, jclass, jobject, jbyte, jobject)
{
assert(false);
(JNIEnv * env, jclass, jobject id, jbyte filtered, jobject status){
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setAnalogTriggerFiltered( *javaId, filtered, statusPtr );
}
/*
@@ -588,9 +632,15 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTrigger
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerInWindow
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject id, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
return getAnalogTriggerInWindow( *javaId, statusPtr );
}
/*
@@ -599,10 +649,15 @@ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTrigge
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerTriggerState
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject id, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
return getAnalogTriggerTriggerState( *javaId, statusPtr );
}
/*
@@ -611,8 +666,13 @@ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTrigge
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerOutput
(JNIEnv *, jclass, jobject, jint, jobject)
(JNIEnv * env, jclass, jobject id, jint type, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
return getAnalogTriggerOutput( *javaId, (AnalogTriggerType)type, statusPtr )? 1 : 0;
}