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

@@ -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);