mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
[hal, wpilib] Remove DigitalGlitchFilter (#7725)
This commit is contained in:
Thad House
@@ -1,192 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package edu.wpi.first.wpilibj;
|
||||
|
||||
import edu.wpi.first.hal.DigitalGlitchFilterJNI;
|
||||
import edu.wpi.first.hal.FRCNetComm.tResourceType;
|
||||
import edu.wpi.first.hal.HAL;
|
||||
import edu.wpi.first.hal.util.AllocationException;
|
||||
import edu.wpi.first.util.sendable.Sendable;
|
||||
import edu.wpi.first.util.sendable.SendableBuilder;
|
||||
import edu.wpi.first.util.sendable.SendableRegistry;
|
||||
import java.util.concurrent.locks.Lock;
|
||||
import java.util.concurrent.locks.ReentrantLock;
|
||||
|
||||
/**
|
||||
* Class to enable glitch filtering on a set of digital inputs. This class will manage adding and
|
||||
* removing digital inputs from an FPGA glitch filter. The filter lets the user configure the time
|
||||
* that an input must remain high or low before it is classified as high or low.
|
||||
*/
|
||||
public class DigitalGlitchFilter implements Sendable, AutoCloseable {
|
||||
/** Configures the Digital Glitch Filter to its default settings. */
|
||||
@SuppressWarnings("this-escape")
|
||||
public DigitalGlitchFilter() {
|
||||
m_channelIndex = allocateFilterIndex();
|
||||
if (m_channelIndex < 0) {
|
||||
throw new AllocationException("No filters available to allocate.");
|
||||
}
|
||||
HAL.report(tResourceType.kResourceType_DigitalGlitchFilter, m_channelIndex + 1, 0);
|
||||
SendableRegistry.addLW(this, "DigitalGlitchFilter", m_channelIndex);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void close() {
|
||||
SendableRegistry.remove(this);
|
||||
if (m_channelIndex >= 0) {
|
||||
m_mutex.lock();
|
||||
try {
|
||||
m_filterAllocated[m_channelIndex] = false;
|
||||
} finally {
|
||||
m_mutex.unlock();
|
||||
}
|
||||
|
||||
m_channelIndex = -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Allocates the next available filter index, or -1 if there are no filters available.
|
||||
*
|
||||
* @return the filter index
|
||||
*/
|
||||
private static int allocateFilterIndex() {
|
||||
m_mutex.lock();
|
||||
try {
|
||||
for (int index = 0; index < m_filterAllocated.length; index++) {
|
||||
if (!m_filterAllocated[index]) {
|
||||
m_filterAllocated[index] = true;
|
||||
return index;
|
||||
}
|
||||
}
|
||||
} finally {
|
||||
m_mutex.unlock();
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
private static void setFilter(DigitalSource input, int channelIndex) {
|
||||
if (input != null) { // Counter might have just one input
|
||||
// analog triggers are not supported for DigitalGlitchFilters
|
||||
if (input.isAnalogTrigger()) {
|
||||
throw new IllegalStateException("Analog Triggers not supported for DigitalGlitchFilters");
|
||||
}
|
||||
DigitalGlitchFilterJNI.setFilterSelect(input.getPortHandleForRouting(), channelIndex);
|
||||
|
||||
int selected = DigitalGlitchFilterJNI.getFilterSelect(input.getPortHandleForRouting());
|
||||
if (selected != channelIndex) {
|
||||
throw new IllegalStateException(
|
||||
"DigitalGlitchFilterJNI.setFilterSelect(" + channelIndex + ") failed -> " + selected);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Assigns the DigitalSource to this glitch filter.
|
||||
*
|
||||
* @param input The DigitalSource to add.
|
||||
*/
|
||||
public void add(DigitalSource input) {
|
||||
setFilter(input, m_channelIndex + 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* Assigns the Encoder to this glitch filter.
|
||||
*
|
||||
* @param input The Encoder to add.
|
||||
*/
|
||||
public void add(Encoder input) {
|
||||
add(input.m_aSource);
|
||||
add(input.m_bSource);
|
||||
}
|
||||
|
||||
/**
|
||||
* Assigns the Counter to this glitch filter.
|
||||
*
|
||||
* @param input The Counter to add.
|
||||
*/
|
||||
public void add(Counter input) {
|
||||
add(input.m_upSource);
|
||||
add(input.m_downSource);
|
||||
}
|
||||
|
||||
/**
|
||||
* Removes this filter from the given digital input.
|
||||
*
|
||||
* @param input The DigitalSource to stop filtering.
|
||||
*/
|
||||
public void remove(DigitalSource input) {
|
||||
setFilter(input, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Removes this filter from the given Encoder.
|
||||
*
|
||||
* @param input the Encoder to stop filtering.
|
||||
*/
|
||||
public void remove(Encoder input) {
|
||||
remove(input.m_aSource);
|
||||
remove(input.m_bSource);
|
||||
}
|
||||
|
||||
/**
|
||||
* Removes this filter from the given Counter.
|
||||
*
|
||||
* @param input The Counter to stop filtering.
|
||||
*/
|
||||
public void remove(Counter input) {
|
||||
remove(input.m_upSource);
|
||||
remove(input.m_downSource);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the number of FPGA cycles that the input must hold steady to pass through this glitch
|
||||
* filter.
|
||||
*
|
||||
* @param fpgaCycles The number of FPGA cycles.
|
||||
*/
|
||||
public void setPeriodCycles(int fpgaCycles) {
|
||||
DigitalGlitchFilterJNI.setFilterPeriod(m_channelIndex, fpgaCycles);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the number of nanoseconds that the input must hold steady to pass through this glitch
|
||||
* filter.
|
||||
*
|
||||
* @param nanoseconds The number of nanoseconds.
|
||||
*/
|
||||
public void setPeriodNanoSeconds(long nanoseconds) {
|
||||
int fpgaCycles = (int) (nanoseconds * SensorUtil.kSystemClockTicksPerMicrosecond / 4 / 1000);
|
||||
setPeriodCycles(fpgaCycles);
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the number of FPGA cycles that the input must hold steady to pass through this glitch
|
||||
* filter.
|
||||
*
|
||||
* @return The number of cycles.
|
||||
*/
|
||||
public int getPeriodCycles() {
|
||||
return DigitalGlitchFilterJNI.getFilterPeriod(m_channelIndex);
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the number of nanoseconds that the input must hold steady to pass through this glitch
|
||||
* filter.
|
||||
*
|
||||
* @return The number of nanoseconds.
|
||||
*/
|
||||
public long getPeriodNanoSeconds() {
|
||||
int fpgaCycles = getPeriodCycles();
|
||||
|
||||
return fpgaCycles * 1000L / (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initSendable(SendableBuilder builder) {}
|
||||
|
||||
private int m_channelIndex;
|
||||
private static final Lock m_mutex = new ReentrantLock(true);
|
||||
private static final boolean[] m_filterAllocated = new boolean[3];
|
||||
}
|
||||
Reference in New Issue
Block a user