Merge "Update headers and .sos to v15 image + most API changes"

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -88,11 +88,6 @@ public class Counter extends SensorBase implements CounterBase,
 
 		UsageReporting.report(tResourceType.kResourceType_Counter, m_index,
 				mode.value);
-
-		status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		CounterJNI.startCounter(m_counter, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
@@ -325,7 +320,7 @@ public class Counter extends SensorBase implements CounterBase,
 		if(source == null){
 			throw new NullPointerException("The Digital Source given was null");
 		}
-		
+
 		if (m_downSource != null && m_allocatedDownSource) {
 			m_downSource.free();
 			m_allocatedDownSource = false;
@@ -358,7 +353,7 @@ public class Counter extends SensorBase implements CounterBase,
 		if (triggerType == null){
 			throw new NullPointerException("Analog Trigger Type given was null");
 		}
-		
+
 		setDownSource(analogTrigger.createOutput(triggerType));
 		m_allocatedDownSource = true;
 	}

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -107,14 +107,6 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 		UsageReporting.report(tResourceType.kResourceType_Encoder,
 				m_index, m_encodingType.value);
 		LiveWindow.addSensor("Encoder", m_aSource.getChannelForRouting(), this);
-
-		if (m_counter == null) {
-			ByteBuffer status = ByteBuffer.allocateDirect(4);
-			// set the byte order
-			status.order(ByteOrder.LITTLE_ENDIAN);
-			EncoderJNI.startEncoder(m_encoder, status.asIntBuffer());
-			HALUtil.checkStatus(status.asIntBuffer());
-		}
 	}
 
 	/**

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java

@@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
  * Base for sensors to be used with interrupts
  */
 public abstract class InterruptableSensorBase extends SensorBase {
-	/** 
+	/**
 	 * This is done to store the JVM variable in the InterruptJNI
 	 * This is done because the HAL must have access to the JVM variable
 	 * in order to attach the newly spawned thread when an interrupt is fired.
@@ -35,12 +35,12 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * The interrupt resource
 	 */
 	protected ByteBuffer m_interrupt = null;
-	
+
 	/**
 	 * Flags if the interrupt being allocated is synchronous
 	 */
 	protected boolean m_isSynchronousInterrupt = false;
-	
+
 	/**
 	 * The index of the interrupt
 	 */
@@ -56,7 +56,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	public InterruptableSensorBase() {
 		m_interrupt = null;
 	}
-	
+
 	/**
 	 * @return
 	 */
@@ -71,7 +71,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * @return
 	 */
 	abstract byte getModuleForRouting();
-	
+
 	/**
 	 * Request interrupts asynchronously on this digital input.
 	 *
@@ -80,16 +80,16 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 *            {@link InterruptHandlerFunction#interruptFired(int, Object)} that
 	 *            will be called whenever there is an interrupt on this device.
 	 *            Request interrupts in synchronus mode where the user program
-	 *            interrupt handler will be called when an interrupt occurs. The 
+	 *            interrupt handler will be called when an interrupt occurs. The
 	 *            default is interrupt on rising edges only.
 	 */
 	public void requestInterrupts(InterruptHandlerFunction<?> handler) {
 		if(m_interrupt != null){
 			throw new AllocationException("The interrupt has already been allocated");
 		}
-		
+
 		allocateInterrupts(false);
-		
+
 		assert (m_interrupt != null);
 
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -114,7 +114,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 		if(m_interrupt != null){
 			throw new AllocationException("The interrupt has already been allocated");
 		}
-		
+
 		allocateInterrupts(true);
 
 		assert (m_interrupt != null);
@@ -132,7 +132,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 
 	/**
 	 * Allocate the interrupt
-	 * 
+	 *
 	 * @param watcher true if the interrupt should be in synchronous mode where the user
 	 * program will have to explicitly wait for the interrupt to occur.
 	 */
@@ -170,20 +170,33 @@ public abstract class InterruptableSensorBase extends SensorBase {
 
 	/**
 	 * In synchronous mode, wait for the defined interrupt to occur.
-	 * 
+	 *
 	 * @param timeout
 	 *            Timeout in seconds
+	 * @param ignorePrevious
+	 *            If true, ignore interrupts that happened before
+	 *            waitForInterrupt was called.
 	 */
-	public void waitForInterrupt(double timeout) {
+	public void waitForInterrupt(double timeout, boolean ignorePrevious) {
 		if (m_interrupt == null) {
 			throw new IllegalStateException("The interrupt is not allocated.");
 		}
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.waitForInterrupt(m_interrupt, (float) timeout, status.asIntBuffer());
+		InterruptJNI.waitForInterrupt(m_interrupt, (float) timeout, ignorePrevious, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
+	/**
+	 * In synchronous mode, wait for the defined interrupt to occur.
+	 *
+	 * @param timeout
+	 *            Timeout in seconds
+	 */
+	public void waitForInterrupt(double timeout) {
+		waitForInterrupt(timeout, true);
+	}
+
 	/**
 	 * Enable interrupts to occur on this input. Interrupts are disabled when
 	 * the RequestInterrupt call is made. This gives time to do the setup of the
@@ -219,22 +232,41 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	}
 
 	/**
-	 * Return the timestamp for the interrupt that occurred most recently. This
-	 * is in the same time domain as getClock().
-	 * 
+	 * Return the timestamp for the rising interrupt that occurred most
+	 * recently. This is in the same time domain as getClock().
+	 * The rising-edge interrupt should be enabled with
+	 * {@link #setUpSourceEdge}
 	 * @return Timestamp in seconds since boot.
 	 */
-	public double readInterruptTimestamp() {
+	public double readRisingTimestamp() {
 		if (m_interrupt == null) {
 			throw new IllegalStateException("The interrupt is not allocated.");
 		}
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		double timestamp = InterruptJNI.readInterruptTimestamp(m_interrupt, status.asIntBuffer());
+		double timestamp = InterruptJNI.readRisingTimestamp(m_interrupt, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 		return timestamp;
 	}
-	
+
+	/**
+	* Return the timestamp for the falling interrupt that occurred most
+	* recently. This is in the same time domain as getClock().
+	* The falling-edge interrupt should be enabled with
+	* {@link #setUpSourceEdge}
+	* @return Timestamp in seconds since boot.
+	*/
+	public double readFallingTimestamp() {
+		if (m_interrupt == null) {
+			throw new IllegalStateException("The interrupt is not allocated.");
+		}
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double timestamp = InterruptJNI.readFallingTimestamp(m_interrupt, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return timestamp;
+	}
+
 	/**
 	 * Set which edge to trigger interrupts on
 	 *

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/CounterJNI.java

@@ -19,8 +19,6 @@ public class CounterJNI extends JNIWrapper {
 	public static native void setCounterPulseLengthMode(ByteBuffer counter_pointer, double threshold, IntBuffer status);
 	public static native int getCounterSamplesToAverage(ByteBuffer counter_pointer, IntBuffer status);
 	public static native void setCounterSamplesToAverage(ByteBuffer counter_pointer, int samplesToAverage, IntBuffer status);
-	public static native void startCounter(ByteBuffer counter_pointer, IntBuffer status);
-	public static native void stopCounter(ByteBuffer counter_pointer, IntBuffer status);
 	public static native void resetCounter(ByteBuffer counter_pointer, IntBuffer status);
 	public static native int getCounter(ByteBuffer counter_pointer, IntBuffer status);
 	public static native double getCounterPeriod(ByteBuffer counter_pointer, IntBuffer status);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java

@@ -6,8 +6,6 @@ import java.nio.ByteBuffer;
 public class EncoderJNI extends JNIWrapper {
 	public static native ByteBuffer initializeEncoder(byte port_a_module, int port_a_pin, byte port_a_analog_trigger, byte port_b_module, int port_b_pin, byte port_b_analog_trigger, byte reverseDirection, IntBuffer index, IntBuffer status);
 	public static native void freeEncoder(ByteBuffer encoder_pointer, IntBuffer status);
-	public static native void startEncoder(ByteBuffer encoder_pointer, IntBuffer status);
-	public static native void stopEncoder(ByteBuffer encoder_pointer, IntBuffer status);
 	public static native void resetEncoder(ByteBuffer encoder_pointer, IntBuffer status);
 	public static native int getEncoder(ByteBuffer encoder_pointer, IntBuffer status);
 	public static native double getEncoderPeriod(ByteBuffer encoder_pointer, IntBuffer status);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java

@@ -10,10 +10,11 @@ public class InterruptJNI extends JNIWrapper {
 	public static native void initializeInterruptJVM(IntBuffer status);
 	public static native ByteBuffer initializeInterrupts(int interruptIndex, byte watcher, IntBuffer status);
 	public static native void cleanInterrupts(ByteBuffer interrupt_pointer, IntBuffer status);
-	public static native void waitForInterrupt(ByteBuffer interrupt_pointer, double timeout, IntBuffer status);
+	public static native int waitForInterrupt(ByteBuffer interrupt_pointer, double timeout, boolean ignorePrevious, IntBuffer status);
 	public static native void enableInterrupts(ByteBuffer interrupt_pointer, IntBuffer status);
 	public static native void disableInterrupts(ByteBuffer interrupt_pointer, IntBuffer status);
-	public static native double readInterruptTimestamp(ByteBuffer interrupt_pointer, IntBuffer status);
+	public static native double readRisingTimestamp(ByteBuffer interrupt_pointer, IntBuffer status);
+	public static native double readFallingTimestamp(ByteBuffer interrupt_pointer, IntBuffer status);
 	public static native void requestInterrupts(ByteBuffer interrupt_pointer, byte routing_module, int routing_pin, byte routing_analog_trigger, IntBuffer status);
 	public static native void attachInterruptHandler(ByteBuffer interrupt_pointer, InterruptJNIHandlerFunction handler, Object param, IntBuffer status);
 	public static native void setInterruptUpSourceEdge(ByteBuffer interrupt_pointer, byte risingEdge, byte fallingEdge, IntBuffer status);