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Makes the Counter.Mode an enum and adds Null Checking

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Adds null checking to the AnalogTrigger, AnalogTriggerOutput, and Counter classes

Change-Id: I09e962db36dbde0479a73a47c9998de03cd6bbb5
This commit is contained in:
Jonathan Leitschuh
2014-08-01 13:41:34 -04:00
parent a40cdf5197
commit fd4379a946
3 changed files with 69 additions and 33 deletions
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11
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
View File

@@ -7,18 +7,16 @@
package edu.wpi.first.wpilibj;
import java.nio.IntBuffer;
import java.nio.ByteBuffer;
import java.nio.IntBuffer;
//import com.sun.jna.Pointer;
import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.hal.AnalogJNI;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.util.BoundaryException;
//import com.sun.jna.Pointer;
import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
/**
* Class for creating and configuring Analog Triggers
@@ -87,6 +85,9 @@ public class AnalogTrigger {
* the AnalogInput to use for the analog trigger
*/
public AnalogTrigger(AnalogInput channel) {
if(channel == null){
throw new NullPointerException("The Analog Input given was null");
}
initTrigger(channel.getChannel());
}

11
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
View File

@@ -8,7 +8,6 @@
package edu.wpi.first.wpilibj;
import java.nio.IntBuffer;
import java.nio.ByteBuffer;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
@@ -64,8 +63,8 @@ public class AnalogTriggerOutput extends DigitalSource {
}
private AnalogTrigger m_trigger;
private AnalogTriggerType m_outputType;
private final AnalogTrigger m_trigger;
private final AnalogTriggerType m_outputType;
/**
* Create an object that represents one of the four outputs from an analog
@@ -82,6 +81,8 @@ public class AnalogTriggerOutput extends DigitalSource {
public AnalogTriggerOutput(AnalogTrigger trigger, final AnalogTriggerType outputType) {
if (trigger == null)
throw new NullPointerException("Analog Trigger given was null");
if (outputType == null)
throw new NullPointerException("Analog Trigger Type given was null");
m_trigger = trigger;
m_outputType = outputType;
@@ -89,6 +90,7 @@ public class AnalogTriggerOutput extends DigitalSource {
trigger.getIndex(), outputType.value);
}
@Override
public void free() {
}
@@ -105,14 +107,17 @@ public class AnalogTriggerOutput extends DigitalSource {
return value != 0;
}
@Override
public int getChannelForRouting() {
return (m_trigger.m_index << 2) + m_outputType.value;
}
@Override
public int getModuleForRouting() {
return m_trigger.m_index >> 2;
}
@Override
public boolean getAnalogTriggerForRouting() {
return true;
}

80
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java
View File

@@ -13,7 +13,6 @@ import java.nio.ByteOrder;
import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.hal.AnalogJNI;
import edu.wpi.first.wpilibj.hal.CounterJNI;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -35,34 +34,28 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Mode determines how and what the counter counts
*/
public static class Mode {
public static enum Mode {
/**
* mode: two pulse
*/
kTwoPulse(0),
/**
* mode: semi period
*/
kSemiperiod(1),
/**
* mode: pulse length
*/
kPulseLength(2),
/**
* mode: external direction
*/
kExternalDirection(3);
/**
* The integer value representing this enumeration
*/
public final int value;
static final int kTwoPulse_val = 0;
static final int kSemiperiod_val = 1;
static final int kPulseLength_val = 2;
static final int kExternalDirection_val = 3;
/**
* mode: two pulse
*/
public static final Mode kTwoPulse = new Mode(kTwoPulse_val);
/**
* mode: semi period
*/
public static final Mode kSemiperiod = new Mode(kSemiperiod_val);
/**
* mode: pulse length
*/
public static final Mode kPulseLength = new Mode(kPulseLength_val);
/**
* mode: external direction
*/
public static final Mode kExternalDirection = new Mode(
kExternalDirection_val);
private Mode(int value) {
this.value = value;
}
@@ -125,7 +118,7 @@ public class Counter extends SensorBase implements CounterBase,
*/
public Counter(DigitalSource source) {
if (source == null)
throw new NullPointerException("Source given was null");
throw new NullPointerException("Digital Source given was null");
initCounter(Mode.kTwoPulse);
setUpSource(source);
}
@@ -198,10 +191,14 @@ public class Counter extends SensorBase implements CounterBase,
* the analog trigger to count
*/
public Counter(AnalogTrigger trigger) {
if( trigger == null){
throw new NullPointerException("The Analog Trigger given was null");
}
initCounter(Mode.kTwoPulse);
setUpSource(trigger.createOutput(AnalogTriggerType.STATE));
}
@Override
public void free() {
setUpdateWhenEmpty(true);
@@ -260,6 +257,12 @@ public class Counter extends SensorBase implements CounterBase,
* The analog trigger output that will trigger the counter.
*/
public void setUpSource(AnalogTrigger analogTrigger, AnalogTriggerType triggerType) {
if (analogTrigger == null){
throw new NullPointerException("Analog Trigger given was null");
}
if (triggerType == null){
throw new NullPointerException("Analog Trigger Type given was null");
}
analogTrigger.createOutput(triggerType);
m_allocatedUpSource = true;
}
@@ -320,6 +323,10 @@ public class Counter extends SensorBase implements CounterBase,
* the digital source to count
*/
public void setDownSource(DigitalSource source) {
if(source == null){
throw new NullPointerException("The Digital Source given was null");
}
if (m_downSource != null && m_allocatedDownSource) {
m_downSource.free();
m_allocatedDownSource = false;
@@ -347,6 +354,13 @@ public class Counter extends SensorBase implements CounterBase,
* The analog trigger output that will trigger the counter.
*/
public void setDownSource(AnalogTrigger analogTrigger, AnalogTriggerType triggerType) {
if (analogTrigger == null){
throw new NullPointerException("Analog Trigger given was null");
}
if (triggerType == null){
throw new NullPointerException("Analog Trigger Type given was null");
}
setDownSource(analogTrigger.createOutput(triggerType));
m_allocatedDownSource = true;
}
@@ -446,6 +460,7 @@ public class Counter extends SensorBase implements CounterBase,
* still be running, so it reflects the current value. Next time it is read,
* it might have a different value.
*/
@Override
public int get() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -469,6 +484,7 @@ public class Counter extends SensorBase implements CounterBase,
* effect the running state of the counter, just sets the current value to
* zero.
*/
@Override
public void reset() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -486,6 +502,7 @@ public class Counter extends SensorBase implements CounterBase,
* The maximum period where the counted device is considered
* moving in seconds.
*/
@Override
public void setMaxPeriod(double maxPeriod) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -527,6 +544,7 @@ public class Counter extends SensorBase implements CounterBase,
* @return Returns true if the most recent counter period exceeds the
* MaxPeriod value set by SetMaxPeriod.
*/
@Override
public boolean getStopped() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -540,6 +558,7 @@ public class Counter extends SensorBase implements CounterBase,
*
* @return The last direction the counter value changed.
*/
@Override
public boolean getDirection() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -571,6 +590,7 @@ public class Counter extends SensorBase implements CounterBase,
*
* @returns The period of the last two pulses in units of seconds.
*/
@Override
public double getPeriod() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -651,10 +671,14 @@ public class Counter extends SensorBase implements CounterBase,
* An enum to select the parameter.
*/
public void setPIDSourceParameter(PIDSourceParameter pidSource) {
if(pidSource == null){
throw new NullPointerException("PID Source Parameter given was null");
}
BoundaryException.assertWithinBounds(pidSource.value, 0, 1);
m_pidSource = pidSource;
}
@Override
public double pidGet() {
switch (m_pidSource.value) {
case PIDSourceParameter.kDistance_val:
@@ -669,6 +693,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Live Window code, only does anything if live window is activated.
*/
@Override
public String getSmartDashboardType() {
return "Counter";
}
@@ -678,6 +703,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* {@inheritDoc}
*/
@Override
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
@@ -686,6 +712,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* {@inheritDoc}
*/
@Override
public ITable getTable() {
return m_table;
}
@@ -693,6 +720,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* {@inheritDoc}
*/
@Override
public void updateTable() {
if (m_table != null) {
m_table.putNumber("Value", get());
@@ -702,12 +730,14 @@ public class Counter extends SensorBase implements CounterBase,
/**
* {@inheritDoc}
*/
@Override
public void startLiveWindowMode() {
}
/**
* {@inheritDoc}
*/
@Override
public void stopLiveWindowMode() {
}
}