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Switches AnalogInputs and AnalogTriggers to Handles (#117)

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Results in a breaking change to AnalogTrigger int constructor. If a user wants
multiple AnalogTriggers, they must use the AnalogInput constructor.
This commit is contained in:
Thad House
2016-06-27 21:32:30 -07:00
committed by Peter Johnson
parent 77a1af44c4
commit e8e052712e
18 changed files with 516 additions and 341 deletions
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10
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java
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@@ -17,7 +17,6 @@ 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 channel class.
@@ -34,8 +33,7 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
public class AnalogInput extends SensorBase implements PIDSource, LiveWindowSendable {
private static final int kAccumulatorSlot = 1;
private static Resource channels = new Resource(kAnalogInputChannels);
private long m_port;
int m_port; // explicit no modifier, private and package accessable.
private int m_channel;
private static final int[] kAccumulatorChannels = {0, 1};
private long m_accumulatorOffset;
@@ -53,11 +51,6 @@ public class AnalogInput extends SensorBase implements PIDSource, LiveWindowSend
throw new AllocationException("Analog input channel " + m_channel
+ " cannot be allocated. Channel is not present.");
}
try {
channels.allocate(channel);
} catch (CheckedAllocationException ex) {
throw new AllocationException("Analog input channel " + m_channel + " is already allocated");
}
final int portHandle = AnalogJNI.getPort((byte) channel);
m_port = AnalogJNI.initializeAnalogInputPort(portHandle);
@@ -72,7 +65,6 @@ public class AnalogInput extends SensorBase implements PIDSource, LiveWindowSend
public void free() {
AnalogJNI.freeAnalogInputPort(m_port);
m_port = 0;
channels.free(m_channel);
m_channel = 0;
m_accumulatorOffset = 0;
}

28
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java
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@@ -42,8 +42,10 @@ public class AnalogTrigger {
/**
* Where the analog trigger is attached.
*/
protected long m_port;
protected int m_port;
protected int m_index;
protected AnalogInput m_analogInput = null;
protected boolean m_ownsAnalog = false;
/**
* Constructor for an analog trigger given a channel number.
@@ -51,15 +53,8 @@ public class AnalogTrigger {
* @param channel the port to use for the analog trigger
*/
public AnalogTrigger(final int channel) {
final int portHandle = AnalogJNI.getPort((byte) channel);
ByteBuffer index = ByteBuffer.allocateDirect(4);
index.order(ByteOrder.LITTLE_ENDIAN);
m_port =
AnalogJNI.initializeAnalogTrigger(portHandle, index.asIntBuffer());
m_index = index.asIntBuffer().get(0);
UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel);
this(new AnalogInput(channel));
m_ownsAnalog = true;
}
/**
@@ -69,7 +64,15 @@ public class AnalogTrigger {
* @param channel the AnalogInput to use for the analog trigger
*/
public AnalogTrigger(AnalogInput channel) {
this(requireNonNull(channel, "The Analog Input given was null").getChannel());
m_analogInput = channel;
ByteBuffer index = ByteBuffer.allocateDirect(4);
index.order(ByteOrder.LITTLE_ENDIAN);
m_port =
AnalogJNI.initializeAnalogTrigger(channel.m_port, index.asIntBuffer());
m_index = index.asIntBuffer().get(0);
UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel.getChannel());
}
/**
@@ -78,6 +81,9 @@ public class AnalogTrigger {
public void free() {
AnalogJNI.cleanAnalogTrigger(m_port);
m_port = 0;
if (m_ownsAnalog && m_analogInput != null) {
m_analogInput.free();
}
}
/**

60
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java
View File

@@ -33,9 +33,9 @@ public class AnalogJNI extends JNIWrapper {
int kFallingPulse = 3;
}
public static native long initializeAnalogInputPort(int halPortHandle);
public static native int initializeAnalogInputPort(int halPortHandle);
public static native void freeAnalogInputPort(long portPointer);
public static native void freeAnalogInputPort(int portHandle);
public static native int initializeAnalogOutputPort(int halPortHandle);
@@ -55,64 +55,64 @@ public class AnalogJNI extends JNIWrapper {
public static native double getAnalogSampleRate();
public static native void setAnalogAverageBits(long analogPortPointer, int bits);
public static native void setAnalogAverageBits(int analogPortHandle, int bits);
public static native int getAnalogAverageBits(long analogPortPointer);
public static native int getAnalogAverageBits(int analogPortHandle);
public static native void setAnalogOversampleBits(long analogPortPointer, int bits);
public static native void setAnalogOversampleBits(int analogPortHandle, int bits);
public static native int getAnalogOversampleBits(long analogPortPointer);
public static native int getAnalogOversampleBits(int analogPortHandle);
public static native short getAnalogValue(long analogPortPointer);
public static native short getAnalogValue(int analogPortHandle);
public static native int getAnalogAverageValue(long analogPortPointer);
public static native int getAnalogAverageValue(int analogPortHandle);
public static native int getAnalogVoltsToValue(long analogPortPointer, double voltage);
public static native int getAnalogVoltsToValue(int analogPortHandle, double voltage);
public static native double getAnalogVoltage(long analogPortPointer);
public static native double getAnalogVoltage(int analogPortHandle);
public static native double getAnalogAverageVoltage(long analogPortPointer);
public static native double getAnalogAverageVoltage(int analogPortHandle);
public static native int getAnalogLSBWeight(long analogPortPointer);
public static native int getAnalogLSBWeight(int analogPortHandle);
public static native int getAnalogOffset(long analogPortPointer);
public static native int getAnalogOffset(int analogPortHandle);
public static native boolean isAccumulatorChannel(long analogPortPointer);
public static native boolean isAccumulatorChannel(int analogPortHandle);
public static native void initAccumulator(long analogPortPointer);
public static native void initAccumulator(int analogPortHandle);
public static native void resetAccumulator(long analogPortPointer);
public static native void resetAccumulator(int analogPortHandle);
public static native void setAccumulatorCenter(long analogPortPointer, int center);
public static native void setAccumulatorCenter(int analogPortHandle, int center);
public static native void setAccumulatorDeadband(long analogPortPointer, int deadband);
public static native void setAccumulatorDeadband(int analogPortHandle, int deadband);
public static native long getAccumulatorValue(long analogPortPointer);
public static native long getAccumulatorValue(int analogPortHandle);
public static native int getAccumulatorCount(long analogPortPointer);
public static native int getAccumulatorCount(int analogPortHandle);
public static native void getAccumulatorOutput(long analogPortPointer, LongBuffer value,
public static native void getAccumulatorOutput(int analogPortHandle, LongBuffer value,
IntBuffer count);
public static native long initializeAnalogTrigger(int halPortHandle, IntBuffer index);
public static native int initializeAnalogTrigger(int analogInputHandle, IntBuffer index);
public static native void cleanAnalogTrigger(long analogTriggerPointer);
public static native void cleanAnalogTrigger(int analogTriggerHandle);
public static native void setAnalogTriggerLimitsRaw(long analogTriggerPointer, int lower,
public static native void setAnalogTriggerLimitsRaw(int analogTriggerHandle, int lower,
int upper);
public static native void setAnalogTriggerLimitsVoltage(long analogTriggerPointer,
public static native void setAnalogTriggerLimitsVoltage(int analogTriggerHandle,
double lower, double upper);
public static native void setAnalogTriggerAveraged(long analogTriggerPointer,
public static native void setAnalogTriggerAveraged(int analogTriggerHandle,
boolean useAveragedValue);
public static native void setAnalogTriggerFiltered(long analogTriggerPointer,
public static native void setAnalogTriggerFiltered(int analogTriggerHandle,
boolean useFilteredValue);
public static native boolean getAnalogTriggerInWindow(long analogTriggerPointer);
public static native boolean getAnalogTriggerInWindow(int analogTriggerHandle);
public static native boolean getAnalogTriggerTriggerState(long analogTriggerPointer);
public static native boolean getAnalogTriggerTriggerState(int analogTriggerHandle);
public static native boolean getAnalogTriggerOutput(long analogTriggerPointer, int type);
public static native boolean getAnalogTriggerOutput(int analogTriggerHandle, int type);
}