Implemented FRCSim artf2628, fixed bugs in non-sim Relay.java and sim PWM.cpp.

Change-Id: Ic00fcd5026ce0570c79a65be178e45eeb94b3deb

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Relay.java

@@ -0,0 +1,345 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. 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.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+import edu.wpi.first.wpilibj.simulation.SimSpeedController;
+import edu.wpi.first.wpilibj.parsing.IDeviceController;
+import edu.wpi.first.wpilibj.tables.ITable;
+import edu.wpi.first.wpilibj.tables.ITableListener;
+
+/**
+ * Class for VEX Robotics Spike style relay outputs. Relays are intended to be
+ * connected to Spikes or similar relays. The relay channels controls a pair of
+ * pins that are either both off, one on, the other on, or both on. This
+ * translates into two Spike outputs at 0v, one at 12v and one at 0v, one at 0v
+ * and the other at 12v, or two Spike outputs at 12V. This allows off, full
+ * forward, or full reverse control of motors without variable speed. It also
+ * allows the two channels (forward and reverse) to be used independently for
+ * something that does not care about voltage polarity (like a solenoid).
+ */
+public class Relay extends SensorBase implements IDeviceController,
+		LiveWindowSendable {
+	/**
+	 * This class represents errors in trying to set relay values contradictory
+	 * to the direction to which the relay is set.
+	 */
+	public class InvalidValueException extends RuntimeException {
+
+		/**
+		 * Create a new exception with the given message
+		 *
+		 * @param message
+		 *            the message to pass with the exception
+		 */
+		public InvalidValueException(String message) {
+			super(message);
+		}
+	}
+
+	/**
+	 * The state to drive a Relay to.
+	 */
+	public static class Value {
+
+		/**
+		 * The integer value representing this enumeration
+		 */
+		public final int value;
+		static final int kOff_val = 0;
+		static final int kOn_val = 1;
+		static final int kForward_val = 2;
+		static final int kReverse_val = 3;
+		/**
+		 * value: off
+		 */
+		public static final Value kOff = new Value(kOff_val);
+		/**
+		 * value: on for relays with defined direction
+		 */
+		public static final Value kOn = new Value(kOn_val);
+		/**
+		 * value: forward
+		 */
+		public static final Value kForward = new Value(kForward_val);
+		/**
+		 * value: reverse
+		 */
+		public static final Value kReverse = new Value(kReverse_val);
+
+		private Value(int value) {
+			this.value = value;
+		}
+	}
+
+	/**
+	 * The Direction(s) that a relay is configured to operate in.
+	 */
+	public static class Direction {
+
+		/**
+		 * The integer value representing this enumeration
+		 */
+		public final int value;
+		static final int kBoth_val = 0;
+		static final int kForward_val = 1;
+		static final int kReverse_val = 2;
+		/**
+		 * direction: both directions are valid
+		 */
+		public static final Direction kBoth = new Direction(kBoth_val);
+		/**
+		 * direction: Only forward is valid
+		 */
+		public static final Direction kForward = new Direction(kForward_val);
+		/**
+		 * direction: only reverse is valid
+		 */
+		public static final Direction kReverse = new Direction(kReverse_val);
+
+		private Direction(int value) {
+			this.value = value;
+		}
+	}
+
+	private int m_channel;
+	private Direction m_direction;
+	private SimSpeedController impl;
+	private boolean go_pos, go_neg;
+
+	/**
+	 * Common relay initialization method. This code is common to all Relay
+	 * constructors and initializes the relay and reserves all resources that
+	 * need to be locked. Initially the relay is set to both lines at 0v.
+	 */
+	private void initRelay() {
+		SensorBase.checkRelayChannel(m_channel);
+		impl = new SimSpeedController("simulator/relay/" + m_channel);
+		LiveWindow.addActuator("Relay", m_channel, this);
+	}
+
+	/**
+	 * Relay constructor given a channel.
+	 *
+	 * @param channel
+	 *            The channel number for this relay.
+	 * @param direction
+	 *            The direction that the Relay object will control.
+	 */
+	public Relay(final int channel, Direction direction) {
+		if (direction == null)
+			throw new NullPointerException("Null Direction was given");
+		m_channel = channel;
+		m_direction = direction;
+		initRelay();
+	}
+
+	/**
+	 * Relay constructor given a channel, allowing both directions.
+	 *
+	 * @param channel
+	 *            The channel number for this relay.
+	 */
+	public Relay(final int channel) {
+		m_channel = channel;
+		m_direction = Direction.kBoth;
+		initRelay();
+	}
+
+	public void free() {
+		impl.set(0);
+	}
+
+	/**
+	 * Set the relay state.
+	 *
+	 * Valid values depend on which directions of the relay are controlled by
+	 * the object.
+	 *
+	 * When set to kBothDirections, the relay can be set to any of the four
+	 * states: 0v-0v, 12v-0v, 0v-12v, 12v-12v
+	 *
+	 * When set to kForwardOnly or kReverseOnly, you can specify the constant
+	 * for the direction or you can simply specify kOff_val and kOn_val. Using
+	 * only kOff_val and kOn_val is recommended.
+	 *
+	 * @param value
+	 *            The state to set the relay.
+	 */
+	public void set(Value value) {
+		switch (value.value) {
+		case Value.kOff_val:
+			if (m_direction == Direction.kBoth
+					|| m_direction == Direction.kForward) {
+				go_pos = false;
+			}
+			if (m_direction == Direction.kBoth
+					|| m_direction == Direction.kReverse) {
+				go_neg = false;
+			}
+			break;
+		case Value.kOn_val:
+			if (m_direction == Direction.kBoth
+					|| m_direction == Direction.kForward) {
+				go_pos = true;
+			}
+			if (m_direction == Direction.kBoth
+					|| m_direction == Direction.kReverse) {
+				go_neg = true;
+			}
+			break;
+		case Value.kForward_val:
+			if (m_direction == Direction.kReverse)
+				throw new InvalidValueException(
+						"A relay configured for reverse cannot be set to forward");
+			if (m_direction == Direction.kBoth
+					|| m_direction == Direction.kForward) {
+				
+				go_pos = true;
+			}
+			if (m_direction == Direction.kBoth) {
+				go_neg = false;
+			}
+			break;
+		case Value.kReverse_val:
+			if (m_direction == Direction.kForward)
+				throw new InvalidValueException(
+						"A relay configured for forward cannot be set to reverse");
+			if (m_direction == Direction.kBoth) {
+				go_pos = false;
+			}
+			if (m_direction == Direction.kBoth
+					|| m_direction == Direction.kReverse) {
+				go_neg = true;
+			}
+			break;
+		default:
+			// Cannot hit this, limited by Value enum
+		}
+		impl.set((go_pos ? 1 : 0) + (go_neg ? -1 : 0));
+	}
+
+	/**
+	 * Get the Relay State
+	 *
+	 * Gets the current state of the relay.
+	 *
+	 * When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff
+	 * not kForward/kReverse (per the recommendation in Set)
+	 *
+	 * @return The current state of the relay as a Relay::Value
+	 */
+	public Value get() {
+		// TODO: Don't assume that the go_pos and go_neg fields are correct?
+		if ((go_pos || m_direction == Direction.kReverse) && (go_neg || m_direction == Direction.kForward)) {
+			return Value.kOn;
+		} else if (go_pos) {
+			return Value.kForward;
+		} else if (go_neg) {
+			return Value.kReverse;
+		} else {
+			return Value.kOff;
+		}
+	}
+
+	/**
+	 * Set the Relay Direction
+	 *
+	 * Changes which values the relay can be set to depending on which direction
+	 * is used
+	 *
+	 * Valid inputs are kBothDirections, kForwardOnly, and kReverseOnly
+	 *
+	 * @param direction
+	 *            The direction for the relay to operate in
+	 */
+	public void setDirection(Direction direction) {
+		if (direction == null)
+			throw new NullPointerException("Null Direction was given");
+		if (m_direction == direction) {
+			return;
+		}
+
+		free();
+
+		m_direction = direction;
+
+		// initRelay(); // NOTE: not needed in simulation
+	}
+
+	/*
+	 * Live Window code, only does anything if live window is activated.
+	 */
+	public String getSmartDashboardType() {
+		return "Relay";
+	}
+
+	private ITable m_table;
+	private ITableListener m_table_listener;
+
+	/**
+	 * {@inheritDoc}
+	 */
+	public void initTable(ITable subtable) {
+		m_table = subtable;
+		updateTable();
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	public ITable getTable() {
+		return m_table;
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	public void updateTable() {
+		if (m_table != null) {
+			if (get() == Value.kOn) {
+				m_table.putString("Value", "On");
+			} else if (get() == Value.kForward) {
+				m_table.putString("Value", "Forward");
+			} else if (get() == Value.kReverse) {
+				m_table.putString("Value", "Reverse");
+			} else {
+				m_table.putString("Value", "Off");
+			}
+		}
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	public void startLiveWindowMode() {
+		m_table_listener = new ITableListener() {
+			public void valueChanged(ITable itable, String key, Object value,
+					boolean bln) {
+				String val = ((String) value);
+				if (val.equals("Off")) {
+					set(Value.kOff);
+				} else if (val.equals("Forward")) {
+					set(Value.kForward);
+				} else if (val.equals("Reverse")) {
+					set(Value.kReverse);
+				}
+			}
+		};
+		m_table.addTableListener("Value", m_table_listener, true);
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	public void stopLiveWindowMode() {
+		// TODO: Broken, should only remove the listener from "Value" only.
+		m_table.removeTableListener(m_table_listener);
+	}
+}

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SensorBase.java

@@ -173,7 +173,7 @@ public abstract class SensorBase { // TODO: Refactor
      * @param channel The channel number to check.
      */
     protected static void checkDigitalChannel(final int channel) {
-        if (channel < 0 || channel >= kDigitalChannels) {
+        if (channel <= 0 || channel > kDigitalChannels) {
             System.err.println("Requested digital channel number is out of range.");
         }
     }
@@ -186,7 +186,7 @@ public abstract class SensorBase { // TODO: Refactor
      * @param channel The channel number to check.
      */
     protected static void checkRelayChannel(final int channel) {
-        if (channel < 0 || channel >= kRelayChannels) {
+        if (channel <= 0 || channel > kRelayChannels) {
             System.err.println("Requested relay channel number is out of range.");
             throw new IndexOutOfBoundsException("Requested relay channel number is out of range.");
         }
@@ -200,7 +200,7 @@ public abstract class SensorBase { // TODO: Refactor
      * @param channel The channel number to check.
      */
     protected static void checkPWMChannel(final int channel) {
-        if (channel < 0 || channel >= kPwmChannels) {
+        if (channel <= 0 || channel > kPwmChannels) {
             System.err.println("Requested PWM channel number is out of range.");
             throw new IndexOutOfBoundsException("Requested PWM channel number is out of range.");
         }