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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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31
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
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@@ -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;