From dba033eaee9d9c88c2a5c3ad76692cc26196672b Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Fri, 20 Mar 2026 19:50:02 -0400 Subject: [PATCH] [hal] Clean up references to removed HAL features (#8695) #7695, #7696, #7697, #7701, #7724, #7753, #7861 removed various features from the HAL, but forgot to clean up the handles, the WS API, or both. Additionally, since AnalogInput is the only remaining analog I/O, AnalogJNI was renamed to the more specific AnalogInputJNI. --- .../{AnalogJNI.java => AnalogInputJNI.java} | 4 +- .../jni/{AnalogJNI.cpp => AnalogInputJNI.cpp} | 78 +++++++++---------- hal/src/main/native/include/wpi/hal/Types.h | 10 --- .../wpi/hal/handles/HandlesInternal.hpp | 48 +++++------- hal/src/main/native/sim/Power.cpp | 1 - .../halsim_ws_core/doc/hardware_ws_api.md | 22 ------ simulation/halsim_ws_core/doc/wpilib-ws.yaml | 55 ------------- .../wpi/hardware/rotation/DutyCycle.hpp | 1 - .../wpilib/hardware/discrete/AnalogInput.java | 34 ++++---- .../wpilib/hardware/rotation/DutyCycle.java | 5 +- .../java/org/wpilib/system/SensorUtil.java | 4 +- 11 files changed, 82 insertions(+), 180 deletions(-) rename hal/src/main/java/org/wpilib/hardware/hal/{AnalogJNI.java => AnalogInputJNI.java} (99%) rename hal/src/main/native/cpp/jni/{AnalogJNI.cpp => AnalogInputJNI.cpp} (71%) diff --git a/hal/src/main/java/org/wpilib/hardware/hal/AnalogJNI.java b/hal/src/main/java/org/wpilib/hardware/hal/AnalogInputJNI.java similarity index 99% rename from hal/src/main/java/org/wpilib/hardware/hal/AnalogJNI.java rename to hal/src/main/java/org/wpilib/hardware/hal/AnalogInputJNI.java index 4cb7702186..1336e4b7e7 100644 --- a/hal/src/main/java/org/wpilib/hardware/hal/AnalogJNI.java +++ b/hal/src/main/java/org/wpilib/hardware/hal/AnalogInputJNI.java @@ -9,7 +9,7 @@ package org.wpilib.hardware.hal; * * @see "wpi/hal/AnalogInput.h" */ -public class AnalogJNI extends JNIWrapper { +public class AnalogInputJNI extends JNIWrapper { /** * Initializes the analog input port using the given port object. * @@ -230,5 +230,5 @@ public class AnalogJNI extends JNIWrapper { public static native int getAnalogOffset(int analogPortHandle); /** Utility class. */ - private AnalogJNI() {} + private AnalogInputJNI() {} } diff --git a/hal/src/main/native/cpp/jni/AnalogJNI.cpp b/hal/src/main/native/cpp/jni/AnalogInputJNI.cpp similarity index 71% rename from hal/src/main/native/cpp/jni/AnalogJNI.cpp rename to hal/src/main/native/cpp/jni/AnalogInputJNI.cpp index e4a49fb127..28d9fbe062 100644 --- a/hal/src/main/native/cpp/jni/AnalogJNI.cpp +++ b/hal/src/main/native/cpp/jni/AnalogInputJNI.cpp @@ -7,7 +7,7 @@ #include #include "HALUtil.hpp" -#include "org_wpilib_hardware_hal_AnalogJNI.h" +#include "org_wpilib_hardware_hal_AnalogInputJNI.h" #include "wpi/hal/AnalogInput.h" #include "wpi/hal/Ports.h" #include "wpi/hal/handles/HandlesInternal.hpp" @@ -18,12 +18,12 @@ using namespace wpi::hal; extern "C" { /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: initializeAnalogInputPort * Signature: (I)I */ JNIEXPORT jint JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_initializeAnalogInputPort +Java_org_wpilib_hardware_hal_AnalogInputJNI_initializeAnalogInputPort (JNIEnv* env, jclass, jint channel) { int32_t status = 0; @@ -34,12 +34,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_initializeAnalogInputPort } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: freeAnalogInputPort * Signature: (I)V */ JNIEXPORT void JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_freeAnalogInputPort +Java_org_wpilib_hardware_hal_AnalogInputJNI_freeAnalogInputPort (JNIEnv* env, jclass, jint id) { if (id != HAL_kInvalidHandle) { @@ -48,12 +48,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_freeAnalogInputPort } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: checkAnalogModule * Signature: (B)Z */ JNIEXPORT jboolean JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_checkAnalogModule +Java_org_wpilib_hardware_hal_AnalogInputJNI_checkAnalogModule (JNIEnv*, jclass, jbyte value) { jboolean returnValue = HAL_CheckAnalogModule(value); @@ -61,12 +61,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_checkAnalogModule } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: checkAnalogInputChannel * Signature: (I)Z */ JNIEXPORT jboolean JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_checkAnalogInputChannel +Java_org_wpilib_hardware_hal_AnalogInputJNI_checkAnalogInputChannel (JNIEnv*, jclass, jint value) { jboolean returnValue = HAL_CheckAnalogInputChannel(value); @@ -74,12 +74,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_checkAnalogInputChannel } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: setAnalogInputSimDevice * Signature: (II)V */ JNIEXPORT void JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogInputSimDevice +Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogInputSimDevice (JNIEnv* env, jclass, jint handle, jint device) { HAL_SetAnalogInputSimDevice((HAL_AnalogInputHandle)handle, @@ -87,12 +87,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogInputSimDevice } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: setAnalogSampleRate * Signature: (D)V */ JNIEXPORT void JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogSampleRate +Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogSampleRate (JNIEnv* env, jclass, jdouble value) { int32_t status = 0; @@ -101,12 +101,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogSampleRate } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogSampleRate * Signature: ()D */ JNIEXPORT jdouble JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogSampleRate +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogSampleRate (JNIEnv* env, jclass) { int32_t status = 0; @@ -116,12 +116,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogSampleRate } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: setAnalogAverageBits * Signature: (II)V */ JNIEXPORT void JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogAverageBits +Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogAverageBits (JNIEnv* env, jclass, jint id, jint value) { int32_t status = 0; @@ -130,12 +130,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogAverageBits } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogAverageBits * Signature: (I)I */ JNIEXPORT jint JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageBits +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageBits (JNIEnv* env, jclass, jint id) { int32_t status = 0; @@ -146,12 +146,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageBits } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: setAnalogOversampleBits * Signature: (II)V */ JNIEXPORT void JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogOversampleBits +Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogOversampleBits (JNIEnv* env, jclass, jint id, jint value) { int32_t status = 0; @@ -160,12 +160,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_setAnalogOversampleBits } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogOversampleBits * Signature: (I)I */ JNIEXPORT jint JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogOversampleBits +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogOversampleBits (JNIEnv* env, jclass, jint id) { int32_t status = 0; @@ -176,12 +176,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogOversampleBits } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogValue * Signature: (I)S */ JNIEXPORT jshort JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogValue +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogValue (JNIEnv* env, jclass, jint id) { int32_t status = 0; @@ -191,12 +191,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogValue } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogAverageValue * Signature: (I)I */ JNIEXPORT jint JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageValue +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageValue (JNIEnv* env, jclass, jint id) { int32_t status = 0; @@ -207,12 +207,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageValue } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogVoltsToValue * Signature: (ID)I */ JNIEXPORT jint JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogVoltsToValue +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogVoltsToValue (JNIEnv* env, jclass, jint id, jdouble voltageValue) { int32_t status = 0; @@ -223,12 +223,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogVoltsToValue } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogValueToVolts * Signature: (II)D */ JNIEXPORT jdouble JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogValueToVolts +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogValueToVolts (JNIEnv* env, jclass, jint id, jint rawValue) { int32_t status = 0; @@ -239,12 +239,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogValueToVolts } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogVoltage * Signature: (I)D */ JNIEXPORT jdouble JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogVoltage +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogVoltage (JNIEnv* env, jclass, jint id) { int32_t status = 0; @@ -255,12 +255,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogVoltage } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogAverageVoltage * Signature: (I)D */ JNIEXPORT jdouble JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageVoltage +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageVoltage (JNIEnv* env, jclass, jint id) { int32_t status = 0; @@ -271,12 +271,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogAverageVoltage } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogLSBWeight * Signature: (I)I */ JNIEXPORT jint JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogLSBWeight +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogLSBWeight (JNIEnv* env, jclass, jint id) { int32_t status = 0; @@ -287,12 +287,12 @@ Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogLSBWeight } /* - * Class: org_wpilib_hardware_hal_AnalogJNI + * Class: org_wpilib_hardware_hal_AnalogInputJNI * Method: getAnalogOffset * Signature: (I)I */ JNIEXPORT jint JNICALL -Java_org_wpilib_hardware_hal_AnalogJNI_getAnalogOffset +Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogOffset (JNIEnv* env, jclass, jint id) { int32_t status = 0; diff --git a/hal/src/main/native/include/wpi/hal/Types.h b/hal/src/main/native/include/wpi/hal/Types.h index afdf7a13bb..554aacdf47 100644 --- a/hal/src/main/native/include/wpi/hal/Types.h +++ b/hal/src/main/native/include/wpi/hal/Types.h @@ -20,10 +20,6 @@ typedef HAL_Handle HAL_AlertHandle; typedef HAL_Handle HAL_AnalogInputHandle; -typedef HAL_Handle HAL_AnalogOutputHandle; - -typedef HAL_Handle HAL_AnalogTriggerHandle; - typedef HAL_Handle HAL_CompressorHandle; typedef HAL_Handle HAL_CounterHandle; @@ -38,12 +34,8 @@ typedef HAL_Handle HAL_FPGAEncoderHandle; typedef HAL_Handle HAL_GyroHandle; -typedef HAL_Handle HAL_InterruptHandle; - typedef HAL_Handle HAL_NotifierHandle; -typedef HAL_Handle HAL_RelayHandle; - typedef HAL_Handle HAL_SolenoidHandle; typedef HAL_Handle HAL_SerialPortHandle; @@ -54,8 +46,6 @@ typedef HAL_Handle HAL_SimDeviceHandle; typedef HAL_Handle HAL_SimValueHandle; -typedef HAL_Handle HAL_DMAHandle; - typedef HAL_Handle HAL_DutyCycleHandle; typedef HAL_Handle HAL_AddressableLEDHandle; diff --git a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp index 45a9709156..dc2408fa9b 100644 --- a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp +++ b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp @@ -40,39 +40,33 @@ class HandleBase { constexpr int16_t INVALID_HANDLE_INDEX = -1; /** - * Enum of HAL handle types. Vendors/Teams should use Vendor (17). + * Enum of HAL handle types. Vendors/Teams should use Vendor (12). */ enum class HAL_HandleEnum { UNDEFINED = 0, DIO = wpi::util::HANDLE_TYPE_HAL_BASE, PORT = 2, NOTIFIER = 3, - INTERRUPT = 4, - ANALOG_OUTPUT = 5, - ANALOG_INPUT = 6, - ANALOG_TRIGGER = 7, - RELAY = 8, - PWM = 9, - DIGITAL_PWM = 10, - COUNTER = 11, - FPGA_ENCODER = 12, - ENCODER = 13, - COMPRESSOR = 14, - SOLENOID = 15, - ANALOG_GYRO = 16, - VENDOR = 17, - SIMULATION_JNI = 18, - CAN = 19, - SERIAL_PORT = 20, - DUTY_CYCLE = 21, - DMA = 22, - ADDRESSABLE_LED = 23, - CTRE_PCM = 24, - CTRE_PDP = 25, - REV_PDH = 26, - REV_PH = 27, - CAN_STREAM = 28, - ALERT = 29, + ANALOG_INPUT = 4, + PWM = 5, + DIGITAL_PWM = 6, + COUNTER = 7, + FPGA_ENCODER = 8, + ENCODER = 9, + COMPRESSOR = 10, + SOLENOID = 11, + VENDOR = 12, + SIMULATION_JNI = 13, + CAN = 14, + SERIAL_PORT = 15, + DUTY_CYCLE = 16, + ADDRESSABLE_LED = 17, + CTRE_PCM = 18, + CTRE_PDP = 19, + REV_PDH = 20, + REV_PH = 21, + CAN_STREAM = 22, + ALERT = 23, }; /** diff --git a/hal/src/main/native/sim/Power.cpp b/hal/src/main/native/sim/Power.cpp index 80fbf42c7d..087fc7425c 100644 --- a/hal/src/main/native/sim/Power.cpp +++ b/hal/src/main/native/sim/Power.cpp @@ -17,7 +17,6 @@ extern "C" { double HAL_GetVinVoltage(int32_t* status) { return SimRoboRioData->vInVoltage; } -void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status) {} double HAL_GetUserVoltage3V3(int32_t* status) { return SimRoboRioData->userVoltage3V3; } diff --git a/simulation/halsim_ws_core/doc/hardware_ws_api.md b/simulation/halsim_ws_core/doc/hardware_ws_api.md index fb06584381..7d35157726 100644 --- a/simulation/halsim_ws_core/doc/hardware_ws_api.md +++ b/simulation/halsim_ws_core/doc/hardware_ws_api.md @@ -78,7 +78,6 @@ The “hardware“ (which might be a full-fledged 3D simulation engine, a physic | ----------------------- | -------------------------- | ------------------------- | | [``"AddressableLED"``][]| Addressable LED Strip | Arbitrary device number | | [``"AI"``][] | Analog input | Port index, e.g. "1", "2" | -| [``"AO"``][] | Analog output | Port index, e.g. "1", "2" | | [``"CTREPCM"``][] | PCM | Module number, e.g. "1", "2" | | [``"DIO"``][] | Digital input/output | Port index, e.g. "1", "2" | | [``"dPWM"``][] | Duty cycle output | Arbitrary device number | @@ -116,17 +115,6 @@ The basic analog input just reads a voltage. An analog input can also be configu | ``"voltage"`` | Float | Input voltage, in volts | -#### Analog Output ("AO") - -[``"AO"``]:#analog-output-ao - -The basic analog output just sends a voltage. - -| Data Key | Type | Description | -| --------------------- | ------- | ---------------------------------------------------- | -| ``"fpga_button"`` | Boolean | FPGA button state | | ``">vin_voltage"`` | Float | Vin rail voltage | -| ``">vin_current"`` | Float | Vin rail current | -| ``">6v_voltage"`` | Float | 6V rail voltage | -| ``">6v_current"`` | Float | 6V rail current | -| ``">6v_active"`` | Boolean | True if 6V rail active, false if inactive | -| ``">6v_faults"`` | Integer | Number of faults on 6V rail | -| ``">5v_voltage"`` | Float | 5V rail voltage | -| ``">5v_current"`` | Float | 5V rail current | -| ``">5v_active"`` | Boolean | True if 5V rail active, false if inactive | -| ``">5v_faults"`` | Integer | Number of faults on 5V rail | | ``">3v3_voltage"`` | Float | 3.3V rail voltage | | ``">3v3_current"`` | Float | 3.3V rail current | | ``">3v3_active"`` | Boolean | True if 3.3V rail active, false if inactive | diff --git a/simulation/halsim_ws_core/doc/wpilib-ws.yaml b/simulation/halsim_ws_core/doc/wpilib-ws.yaml index b622ca8fa9..b39469d894 100644 --- a/simulation/halsim_ws_core/doc/wpilib-ws.yaml +++ b/simulation/halsim_ws_core/doc/wpilib-ws.yaml @@ -42,7 +42,6 @@ components: - $ref: "#/components/schemas/accelData" - $ref: "#/components/schemas/addressableLEDData" - $ref: "#/components/schemas/aiData" - - $ref: "#/components/schemas/aoData" - $ref: "#/components/schemas/dioData" - $ref: "#/components/schemas/dpwmData" - $ref: "#/components/schemas/driverstationData" @@ -138,30 +137,6 @@ components: type: number description: "Input voltage, in volts" - aoData: - type: object - required: - - type - - device - properties: - type: - type: string - description: Device Type (e.g. DIO/AI/PWM/Encoder etc) - const: AO - device: - type: string - description: Device Identifier (usually channel) - data: - type: object - description: "Analog Output Data (type: AO, device: channel number)" - properties: - fpga_button": - type: boolean - description: "FPGA button state" ">vin_voltage": type: number description: "Vin rail voltage" - ">vin_current": - type: number - description: "Vin rail current" - ">6v_voltage": - type: number - description: "6V rail voltage" - ">6v_current": - type: number - description: "6V rail current" - ">6v_active": - type: boolean - description: "True if 6V rail active, false if inactive" - ">6v_faults": - type: integer - description: "Number of faults on 6V rail" - ">5v_voltage": - type: number - description: "5V rail voltage" - ">5v_current": - type: number - description: "5V rail current" - ">5v_active": - type: boolean - description: "True if 5V rail active, false if inactive" - ">5v_faults": - type: integer - description: "Number of faults on 5V rail" ">3v3_voltage": type: number description: "3.3V rail voltage" diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp index 57841a7b98..acae3e0449 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp @@ -17,7 +17,6 @@ namespace wpi { * *

PWM input signals are specified with a frequency and a ratio of high to * low in that frequency. These can be attached to any SmartIO. - * */ class DutyCycle : public wpi::util::Sendable, public wpi::util::SendableHelper { diff --git a/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java b/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java index 672aade96a..7c08e5bc6b 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java @@ -4,7 +4,7 @@ package org.wpilib.hardware.discrete; -import org.wpilib.hardware.hal.AnalogJNI; +import org.wpilib.hardware.hal.AnalogInputJNI; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.SimDevice; import org.wpilib.util.sendable.Sendable; @@ -27,10 +27,10 @@ public class AnalogInput implements Sendable, AutoCloseable { */ @SuppressWarnings("this-escape") public AnalogInput(final int channel) { - AnalogJNI.checkAnalogInputChannel(channel); + AnalogInputJNI.checkAnalogInputChannel(channel); m_channel = channel; - m_port = AnalogJNI.initializeAnalogInputPort(channel); + m_port = AnalogInputJNI.initializeAnalogInputPort(channel); HAL.reportUsage("IO", channel, "AnalogInput"); SendableRegistry.add(this, "AnalogInput", channel); @@ -39,7 +39,7 @@ public class AnalogInput implements Sendable, AutoCloseable { @Override public void close() { SendableRegistry.remove(this); - AnalogJNI.freeAnalogInputPort(m_port); + AnalogInputJNI.freeAnalogInputPort(m_port); m_port = 0; m_channel = 0; } @@ -52,7 +52,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @return A sample straight from this channel. */ public int getValue() { - return AnalogJNI.getAnalogValue(m_port); + return AnalogInputJNI.getAnalogValue(m_port); } /** @@ -66,7 +66,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @return A sample from the oversample and average engine for this channel. */ public int getAverageValue() { - return AnalogJNI.getAnalogAverageValue(m_port); + return AnalogInputJNI.getAnalogAverageValue(m_port); } /** @@ -76,7 +76,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @return A scaled sample straight from this channel. */ public double getVoltage() { - return AnalogJNI.getAnalogVoltage(m_port); + return AnalogInputJNI.getAnalogVoltage(m_port); } /** @@ -89,7 +89,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @return A scaled sample from the output of the oversample and average engine for this channel. */ public double getAverageVoltage() { - return AnalogJNI.getAnalogAverageVoltage(m_port); + return AnalogInputJNI.getAnalogAverageVoltage(m_port); } /** @@ -101,7 +101,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @return Least significant bit weight. */ public long getLSBWeight() { - return AnalogJNI.getAnalogLSBWeight(m_port); + return AnalogInputJNI.getAnalogLSBWeight(m_port); } /** @@ -113,7 +113,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @return Offset constant. */ public int getOffset() { - return AnalogJNI.getAnalogOffset(m_port); + return AnalogInputJNI.getAnalogOffset(m_port); } /** @@ -132,7 +132,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @param bits The number of averaging bits. */ public void setAverageBits(final int bits) { - AnalogJNI.setAnalogAverageBits(m_port, bits); + AnalogInputJNI.setAnalogAverageBits(m_port, bits); } /** @@ -142,7 +142,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @return The number of averaging bits. */ public int getAverageBits() { - return AnalogJNI.getAnalogAverageBits(m_port); + return AnalogInputJNI.getAnalogAverageBits(m_port); } /** @@ -152,7 +152,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @param bits The number of oversample bits. */ public void setOversampleBits(final int bits) { - AnalogJNI.setAnalogOversampleBits(m_port, bits); + AnalogInputJNI.setAnalogOversampleBits(m_port, bits); } /** @@ -163,7 +163,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @return The number of oversample bits. */ public int getOversampleBits() { - return AnalogJNI.getAnalogOversampleBits(m_port); + return AnalogInputJNI.getAnalogOversampleBits(m_port); } /** @@ -175,7 +175,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @param samplesPerSecond The number of samples per second. */ public static void setGlobalSampleRate(final double samplesPerSecond) { - AnalogJNI.setAnalogSampleRate(samplesPerSecond); + AnalogInputJNI.setAnalogSampleRate(samplesPerSecond); } /** @@ -186,7 +186,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @return Sample rate. */ public static double getGlobalSampleRate() { - return AnalogJNI.getAnalogSampleRate(); + return AnalogInputJNI.getAnalogSampleRate(); } /** @@ -195,7 +195,7 @@ public class AnalogInput implements Sendable, AutoCloseable { * @param device simulated device handle */ public void setSimDevice(SimDevice device) { - AnalogJNI.setAnalogInputSimDevice(m_port, device.getNativeHandle()); + AnalogInputJNI.setAnalogInputSimDevice(m_port, device.getNativeHandle()); } @Override diff --git a/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycle.java b/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycle.java index e485a1d910..69815d09a7 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycle.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycle.java @@ -14,10 +14,7 @@ import org.wpilib.util.sendable.SendableRegistry; * Class to read a duty cycle PWM input. * *

PWM input signals are specified with a frequency and a ratio of high to low in that frequency. - * There are 8 of these in the roboRIO, and they can be attached to any SmartIO Channel. - * - *

These can be combined as the input of an AnalogTrigger to a Counter in order to implement - * rollover checking. + * These can be attached to any SmartIO. */ public class DutyCycle implements Sendable, AutoCloseable { // Explicitly package private diff --git a/wpilibj/src/main/java/org/wpilib/system/SensorUtil.java b/wpilibj/src/main/java/org/wpilib/system/SensorUtil.java index 48ac140149..dfa28ab685 100644 --- a/wpilibj/src/main/java/org/wpilib/system/SensorUtil.java +++ b/wpilibj/src/main/java/org/wpilib/system/SensorUtil.java @@ -4,7 +4,7 @@ package org.wpilib.system; -import org.wpilib.hardware.hal.AnalogJNI; +import org.wpilib.hardware.hal.AnalogInputJNI; import org.wpilib.hardware.hal.ConstantsJNI; import org.wpilib.hardware.hal.DIOJNI; import org.wpilib.hardware.hal.PWMJNI; @@ -87,7 +87,7 @@ public final class SensorUtil { * @param channel The channel number to check. */ public static void checkAnalogInputChannel(final int channel) { - if (!AnalogJNI.checkAnalogInputChannel(channel)) { + if (!AnalogInputJNI.checkAnalogInputChannel(channel)) { String buf = "Requested analog input channel is out of range. Minimum: 0, Maximum: " + kAnalogInputChannels