From ea1a1e6bc39f04a0cecf7625e5d02cefc4f13d9f Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Tue, 12 Jul 2016 21:53:51 -0700
Subject: [PATCH] Makes the CANJaguar error status messages more useful (#165)

The previous version would just return the class name for the
DigitalOutput port. Now it actually gets the dio port value for better
readability.
---
 wpilibc/athena/include/DigitalOutput.h             |  1 +
 wpilibc/athena/src/DigitalOutput.cpp               | 14 ++++++++++++++
 .../java/edu/wpi/first/wpilibj/DigitalOutput.java  |  9 +++++++++
 .../wpilibj/fixtures/CANMotorEncoderFixture.java   |  4 ++--
 4 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/wpilibc/athena/include/DigitalOutput.h b/wpilibc/athena/include/DigitalOutput.h
index 2d9ddf8f39..2b88539e66 100644
--- a/wpilibc/athena/include/DigitalOutput.h
+++ b/wpilibc/athena/include/DigitalOutput.h
@@ -27,6 +27,7 @@ class DigitalOutput : public DigitalSource,
   explicit DigitalOutput(uint32_t channel);
   virtual ~DigitalOutput();
   void Set(bool value);
+  bool Get();
   uint32_t GetChannel() const override;
   void Pulse(float length);
   bool IsPulsing() const;
diff --git a/wpilibc/athena/src/DigitalOutput.cpp b/wpilibc/athena/src/DigitalOutput.cpp
index 3e358ddf91..86b744e7e0 100644
--- a/wpilibc/athena/src/DigitalOutput.cpp
+++ b/wpilibc/athena/src/DigitalOutput.cpp
@@ -72,6 +72,20 @@ void DigitalOutput::Set(bool value) {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
+/**
+   * Gets the value being output from the Digital Output.
+   *
+   * @return the state of the digital output.
+   */
+bool DigitalOutput::Get() {
+  if (StatusIsFatal()) return false;
+
+  int32_t status = 0;
+  bool val = HAL_GetDIO(m_handle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return val;
+}
+
 /**
  * @return The GPIO channel number that this object represents.
  */
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
index 5c5cdaed90..18c2c3435a 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -64,6 +64,15 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
     DIOJNI.setDIO(m_handle, (short) (value ? 1 : 0));
   }
 
+  /**
+   * Gets the value being output from the Digital Output.
+   *
+   * @return the state of the digital output.
+   */
+  public boolean get() {
+    return DIOJNI.getDIO(m_handle);
+  }
+
   /**
    * @return The GPIO channel number that this object represents.
    */
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/CANMotorEncoderFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/CANMotorEncoderFixture.java
index 878c91fefc..2257e50fb1 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/CANMotorEncoderFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/CANMotorEncoderFixture.java
@@ -161,12 +161,12 @@ public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJagu
       status.append("\t" + "CANJaguar Motor = null" + "\n");
     }
     if (m_forwardLimit != null) {
-      status.append("\tForward Limit Output = " + m_forwardLimit + "\n");
+      status.append("\tForward Limit Output = " + m_forwardLimit.get() + "\n");
     } else {
       status.append("\tForward Limit Output = null" + "\n");
     }
     if (m_reverseLimit != null) {
-      status.append("\tReverse Limit Output = " + m_reverseLimit + "\n");
+      status.append("\tReverse Limit Output = " + m_reverseLimit.get() + "\n");
     } else {
       status.append("\tReverse Limit Output = null" + "\n");
     }