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Move Analog Outputs to Handles (#112)

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This commit is contained in:
Thad House
2016-06-27 11:32:40 -07:00
committed by Peter Johnson
parent 95d40ed01f
commit e1d4845ccd
8 changed files with 85 additions and 70 deletions
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30
wpilibj/src/athena/cpp/lib/AnalogJNI.cpp
View File

@@ -60,16 +60,16 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogInputPort(
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: initializeAnalogOutputPort
* Signature: (I)J
* Signature: (I)I
*/
JNIEXPORT jlong JNICALL
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogOutputPort(
JNIEnv *env, jclass, jint id) {
ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HalPortHandle)id;
int32_t status = 0;
void *analog = initializeAnalogOutputPort((HalPortHandle)id, &status);
HalAnalogOutputHandle analog = initializeAnalogOutputPort((HalPortHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << analog;
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog;
CheckStatus(env, status);
return (jlong)analog;
}
@@ -77,13 +77,13 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogOutputPort(
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: freeAnalogOutputPort
* Signature: (J)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogOutputPort(
JNIEnv *env, jclass, jlong id) {
ANALOGJNI_LOG(logDEBUG) << "Port Ptr = " << (void *)id;
freeAnalogOutputPort((void *)id);
JNIEnv *env, jclass, jint id) {
ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << id;
freeAnalogOutputPort((HalAnalogOutputHandle)id);
}
/*
@@ -134,28 +134,28 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogOutputChannel(
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogOutput
* Signature: (JD)V
* Signature: (ID)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOutput(
JNIEnv *env, jclass, jlong id, jdouble voltage) {
JNIEnv *env, jclass, jint id, jdouble voltage) {
ANALOGJNI_LOG(logDEBUG) << "Calling setAnalogOutput";
ANALOGJNI_LOG(logDEBUG) << "Voltage = " << voltage;
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << (void *)id;
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << id;
int32_t status = 0;
setAnalogOutput((void *)id, voltage, &status);
setAnalogOutput((HalAnalogOutputHandle)id, voltage, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogOutput
* Signature: (J)D
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOutput(
JNIEnv *env, jclass, jlong id) {
JNIEnv *env, jclass, jint id) {
int32_t status = 0;
double val = getAnalogOutput((void *)id, &status);
double val = getAnalogOutput((HalAnalogOutputHandle)id, &status);
CheckStatus(env, status);
return val;
}

11
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java
View File

@@ -14,14 +14,12 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.util.AllocationException;
import edu.wpi.first.wpilibj.util.CheckedAllocationException;
/**
* Analog output class.
*/
public class AnalogOutput extends SensorBase implements LiveWindowSendable {
private static Resource channels = new Resource(kAnalogOutputChannels);
private long m_port;
private int m_port;
private int m_channel;
/**
@@ -36,14 +34,10 @@ public class AnalogOutput extends SensorBase implements LiveWindowSendable {
throw new AllocationException("Analog output channel " + m_channel
+ " cannot be allocated. Channel is not present.");
}
try {
channels.allocate(channel);
} catch (CheckedAllocationException ex) {
throw new AllocationException("Analog output channel " + m_channel + " is already allocated");
}
final int portHandle = AnalogJNI.getPort((byte) channel);
m_port = AnalogJNI.initializeAnalogOutputPort(portHandle);
AnalogJNI.freePort(portHandle);
LiveWindow.addSensor("AnalogOutput", channel, this);
UsageReporting.report(tResourceType.kResourceType_AnalogOutput, channel);
@@ -55,7 +49,6 @@ public class AnalogOutput extends SensorBase implements LiveWindowSendable {
public void free() {
AnalogJNI.freeAnalogOutputPort(m_port);
m_port = 0;
channels.free(m_channel);
m_channel = 0;
}

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java
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@@ -37,9 +37,9 @@ public class AnalogJNI extends JNIWrapper {
public static native void freeAnalogInputPort(long portPointer);
public static native long initializeAnalogOutputPort(int halPortHandle);
public static native int initializeAnalogOutputPort(int halPortHandle);
public static native void freeAnalogOutputPort(long portPointer);
public static native void freeAnalogOutputPort(int portHandle);
public static native boolean checkAnalogModule(byte module);
@@ -47,9 +47,9 @@ public class AnalogJNI extends JNIWrapper {
public static native boolean checkAnalogOutputChannel(int pin);
public static native void setAnalogOutput(long portPointer, double voltage);
public static native void setAnalogOutput(int portHandle, double voltage);
public static native double getAnalogOutput(long portPointer);
public static native double getAnalogOutput(int portHandle);
public static native void setAnalogSampleRate(double samplesPerSecond);