Switches Java to use HAL Constants (#145)

2026-06-27 02:01:42 +00:00 · 2016-07-08 00:08:07 -07:00
parent 4a3e3a6324
commit be2647d44e
22 changed files with 857 additions and 8 deletions
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GyroBase.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GyroBase.java
@@ -0,0 +1,90 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+import edu.wpi.first.wpilibj.tables.ITable;
+
+/**
+ * GyroBase is the common base class for Gyro implementations such as AnalogGyro.
+ */
+public abstract class GyroBase extends SensorBase implements Gyro, PIDSource, LiveWindowSendable {
+  private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+  /**
+   * Set which parameter of the gyro you are using as a process control variable. The Gyro class
+   * supports the rate and displacement parameters
+   *
+   * @param pidSource An enum to select the parameter.
+   */
+  @Override
+  public void setPIDSourceType(PIDSourceType pidSource) {
+    m_pidSource = pidSource;
+  }
+
+  @Override
+  public PIDSourceType getPIDSourceType() {
+    return m_pidSource;
+  }
+
+  /**
+   * Get the output of the gyro for use with PIDControllers. May be the angle or rate depending on
+   * the set PIDSourceType
+   *
+   * @return the output according to the gyro
+   */
+  @Override
+  public double pidGet() {
+    switch (m_pidSource) {
+      case kRate:
+        return getRate();
+      case kDisplacement:
+        return getAngle();
+      default:
+        return 0.0;
+    }
+  }
+
+  /*
+   * Live Window code, only does anything if live window is activated.
+   */
+  @Override
+  public String getSmartDashboardType() {
+    return "Gyro";
+  }
+
+  private ITable m_table;
+
+
+  @Override
+  public void initTable(ITable subtable) {
+    m_table = subtable;
+    updateTable();
+  }
+
+  @Override
+  public ITable getTable() {
+    return m_table;
+  }
+
+  @Override
+  public void updateTable() {
+    if (m_table != null) {
+      m_table.putNumber("Value", getAngle());
+    }
+  }
+
+  @Override
+  public void startLiveWindowMode() {
+  }
+
+  @Override
+  public void stopLiveWindowMode() {
+  }
+}
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SensorBase.java
@@ -0,0 +1,195 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.hal.ConstantsJNI;
+import edu.wpi.first.wpilibj.hal.PortsJNI;
+
+/**
+ * Base class for all sensors. Stores most recent status information as well as containing utility
+ * functions for checking channels and error processing.
+ */
+public abstract class SensorBase { // TODO: Refactor
+  /**
+   * Ticks per microsecond.
+   */
+  public static final int kSystemClockTicksPerMicrosecond = 
+      ConstantsJNI.getSystemClockTicksPerMicrosecond();
+  /**
+   * Number of digital channels per roboRIO.
+   */
+  public static final int kDigitalChannels = PortsJNI.getNumDigitalPins();
+  /**
+   * Number of analog input channels.
+   */
+  public static final int kAnalogInputChannels = PortsJNI.getNumAnalogInputs();
+  /**
+   * Number of analog output channels.
+   */
+  public static final int kAnalogOutputChannels = PortsJNI.getNumAnalogOutputs();
+  /**
+   * Number of solenoid channels per module.
+   */
+  public static final int kSolenoidChannels = PortsJNI.getNumSolenoidPins();
+  /**
+   * Number of PWM channels per roboRIO.
+   */
+  public static final int kPwmChannels = PortsJNI.getNumPWMPins();
+  /**
+   * Number of relay channels per roboRIO.
+   */
+  public static final int kRelayChannels = PortsJNI.getNumRelayPins();
+  /**
+   * Number of power distribution channels.
+   */
+  public static final int kPDPChannels = PortsJNI.getNumPDPChannels();
+  /**
+   * Number of power distribution modules.
+   */
+  public static final int kPDPModules = PortsJNI.getNumPDPModules();
+  /**
+   * Number of PCM Modules.
+   */
+  public static final int kPCMModules = PortsJNI.getNumPCMModules();
+
+  private static int m_defaultSolenoidModule = 0;
+
+  /**
+   * Creates an instance of the sensor base and gets an FPGA handle.
+   */
+  public SensorBase() {
+  }
+
+  /**
+   * Set the default location for the Solenoid module.
+   *
+   * @param moduleNumber The number of the solenoid module to use.
+   */
+  public static void setDefaultSolenoidModule(final int moduleNumber) {
+    checkSolenoidModule(moduleNumber);
+    SensorBase.m_defaultSolenoidModule = moduleNumber;
+  }
+
+  /**
+   * Verify that the solenoid module is correct.
+   *
+   * @param moduleNumber The solenoid module module number to check.
+   */
+  protected static void checkSolenoidModule(final int moduleNumber) {
+  }
+
+  /**
+   * Check that the digital channel number is valid. Verify that the channel number is one of the
+   * legal channel numbers. Channel numbers are 1-based.
+   *
+   * @param channel The channel number to check.
+   */
+  protected static void checkDigitalChannel(final int channel) {
+    if (channel < 0 || channel >= kDigitalChannels) {
+      throw new IndexOutOfBoundsException("Requested digital channel number is out of range.");
+    }
+  }
+
+  /**
+   * Check that the digital channel number is valid. Verify that the channel number is one of the
+   * legal channel numbers. Channel numbers are 1-based.
+   *
+   * @param channel The channel number to check.
+   */
+  protected static void checkRelayChannel(final int channel) {
+    if (channel < 0 || channel >= kRelayChannels) {
+      throw new IndexOutOfBoundsException("Requested relay channel number is out of range.");
+    }
+  }
+
+  /**
+   * Check that the digital channel number is valid. Verify that the channel number is one of the
+   * legal channel numbers. Channel numbers are 1-based.
+   *
+   * @param channel The channel number to check.
+   */
+  protected static void checkPWMChannel(final int channel) {
+    if (channel < 0 || channel >= kPwmChannels) {
+      throw new IndexOutOfBoundsException("Requested PWM channel number is out of range.");
+    }
+  }
+
+  /**
+   * Check that the analog input number is value. Verify that the analog input number is one of the
+   * legal channel numbers. Channel numbers are 0-based.
+   *
+   * @param channel The channel number to check.
+   */
+  protected static void checkAnalogInputChannel(final int channel) {
+    if (channel < 0 || channel >= kAnalogInputChannels) {
+      throw new IndexOutOfBoundsException("Requested analog input channel number is out of range.");
+    }
+  }
+
+  /**
+   * Check that the analog input number is value. Verify that the analog input number is one of the
+   * legal channel numbers. Channel numbers are 0-based.
+   *
+   * @param channel The channel number to check.
+   */
+  protected static void checkAnalogOutputChannel(final int channel) {
+    if (channel < 0 || channel >= kAnalogOutputChannels) {
+      throw new IndexOutOfBoundsException(
+          "Requested analog output channel number is out of range.");
+    }
+  }
+
+  /**
+   * Verify that the solenoid channel number is within limits. Channel numbers are 1-based.
+   *
+   * @param channel The channel number to check.
+   */
+  protected static void checkSolenoidChannel(final int channel) {
+    if (channel < 0 || channel >= kSolenoidChannels) {
+      throw new IndexOutOfBoundsException("Requested solenoid channel number is out of range.");
+    }
+  }
+
+  /**
+   * Verify that the power distribution channel number is within limits. Channel numbers are
+   * 1-based.
+   *
+   * @param channel The channel number to check.
+   */
+  protected static void checkPDPChannel(final int channel) {
+    if (channel < 0 || channel >= kPDPChannels) {
+      throw new IndexOutOfBoundsException("Requested PDP channel number is out of range.");
+    }
+  }
+
+  /**
+   * Verify that the PDP module number is within limits. module numbers are 0-based.
+   *
+   * @param module The module number to check.
+   */
+  protected static void checkPDPModule(final int module) {
+    if (module < 0 || module > kPDPModules) {
+      throw new IndexOutOfBoundsException("Requested PDP module number is out of range.");
+    }
+  }
+
+  /**
+   * Get the number of the default solenoid module.
+   *
+   * @return The number of the default solenoid module.
+   */
+  public static int getDefaultSolenoidModule() {
+    return SensorBase.m_defaultSolenoidModule;
+  }
+
+  /**
+   * Free the resources used by this object.
+   */
+  public void free() {
+  }
+}
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ConstantsJNI.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ConstantsJNI.java
@@ -0,0 +1,12 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.hal;
+
+public class ConstantsJNI extends JNIWrapper {
+  public static native int getSystemClockTicksPerMicrosecond();
+}
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PortsJNI.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PortsJNI.java
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.hal;
+
+public class PortsJNI extends JNIWrapper {
+  public static native int getNumAccumulators();
+  
+  public static native int getNumAnalogTriggers();
+  
+  public static native int getNumAnalogInputs();
+  
+  public static native int getNumAnalogOutputs();
+  
+  public static native int getNumCounters();
+  
+  public static native int getNumDigitalHeaders();
+  
+  public static native int getNumPWMHeaders();
+  
+  public static native int getNumDigitalPins();
+  
+  public static native int getNumPWMPins();
+  
+  public static native int getNumDigitalPWMOutputs();
+  
+  public static native int getNumEncoders();
+  
+  public static native int getNumInterrupts();
+  
+  public static native int getNumRelayPins();
+  
+  public static native int getNumRelayHeaders();
+  
+  public static native int getNumPCMModules();
+  
+  public static native int getNumSolenoidPins();
+  
+  public static native int getNumPDPModules();
+  
+  public static native int getNumPDPChannels();
+  
+  public static native int getNumCanTalons();
+}