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[hal, wpilib] Remove analog output (#7696)
This commit is contained in:
Thad House
@@ -1,76 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.hal.AnalogJNI;
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import edu.wpi.first.hal.FRCNetComm.tResourceType;
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import edu.wpi.first.hal.HAL;
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import edu.wpi.first.util.sendable.Sendable;
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import edu.wpi.first.util.sendable.SendableBuilder;
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import edu.wpi.first.util.sendable.SendableRegistry;
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/** Analog output class. */
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public class AnalogOutput implements Sendable, AutoCloseable {
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private int m_port;
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private int m_channel;
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/**
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* Construct an analog output on a specified MXP channel.
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*
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* @param channel The channel number to represent.
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*/
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@SuppressWarnings("this-escape")
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public AnalogOutput(final int channel) {
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SensorUtil.checkAnalogOutputChannel(channel);
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m_channel = channel;
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final int portHandle = HAL.getPort((byte) channel);
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m_port = AnalogJNI.initializeAnalogOutputPort(portHandle);
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HAL.report(tResourceType.kResourceType_AnalogOutput, channel + 1);
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SendableRegistry.addLW(this, "AnalogOutput", channel);
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}
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@Override
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public void close() {
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SendableRegistry.remove(this);
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AnalogJNI.freeAnalogOutputPort(m_port);
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m_port = 0;
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m_channel = 0;
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}
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/**
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* Get the channel of this AnalogOutput.
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*
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* @return The channel of this AnalogOutput.
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*/
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public int getChannel() {
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return m_channel;
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}
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/**
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* Set the value of the analog output.
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*
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* @param voltage The output value in Volts, from 0.0 to +5.0.
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*/
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public void setVoltage(double voltage) {
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AnalogJNI.setAnalogOutput(m_port, voltage);
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}
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/**
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* Get the voltage of the analog output.
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*
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* @return The value in Volts, from 0.0 to +5.0.
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*/
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public double getVoltage() {
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return AnalogJNI.getAnalogOutput(m_port);
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}
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@Override
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public void initSendable(SendableBuilder builder) {
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builder.setSmartDashboardType("Analog Output");
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builder.addDoubleProperty("Value", this::getVoltage, this::setVoltage);
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}
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}
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@@ -25,9 +25,6 @@ public final class SensorUtil {
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/** Number of analog input channels per roboRIO. */
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public static final int kAnalogInputChannels = PortsJNI.getNumAnalogInputs();
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/** Number of analog output channels per roboRIO. */
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public static final int kAnalogOutputChannels = PortsJNI.getNumAnalogOutputs();
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/** Number of solenoid channels per module. */
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public static final int kCTRESolenoidChannels = PortsJNI.getNumCTRESolenoidChannels();
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@@ -100,23 +97,6 @@ public final class SensorUtil {
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}
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}
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/**
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* Check that the analog input number is value. Verify that the analog input number is one of the
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* legal channel numbers. Channel numbers are 0-based.
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*
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* @param channel The channel number to check.
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*/
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public static void checkAnalogOutputChannel(final int channel) {
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if (!AnalogJNI.checkAnalogOutputChannel(channel)) {
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String buf =
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"Requested analog output channel is out of range. Minimum: 0, Maximum: "
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+ kAnalogOutputChannels
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+ ", Requested: "
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+ channel;
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throw new IllegalArgumentException(buf);
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}
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}
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/**
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* Get the number of the default solenoid module.
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*
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@@ -1,97 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj.simulation;
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import edu.wpi.first.hal.simulation.AnalogOutDataJNI;
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import edu.wpi.first.hal.simulation.NotifyCallback;
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import edu.wpi.first.wpilibj.AnalogOutput;
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/** Class to control a simulated analog output. */
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public class AnalogOutputSim {
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private final int m_index;
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/**
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* Constructs from an AnalogOutput object.
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*
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* @param analogOutput AnalogOutput to simulate
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*/
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public AnalogOutputSim(AnalogOutput analogOutput) {
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m_index = analogOutput.getChannel();
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}
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/**
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* Constructs from an analog output channel number.
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*
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* @param channel Channel number
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*/
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public AnalogOutputSim(int channel) {
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m_index = channel;
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}
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/**
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* Register a callback to be run whenever the voltage changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerVoltageCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = AnalogOutDataJNI.registerVoltageCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, AnalogOutDataJNI::cancelVoltageCallback);
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}
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/**
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* Read the analog output voltage.
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*
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* @return the voltage on this analog output
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*/
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public double getVoltage() {
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return AnalogOutDataJNI.getVoltage(m_index);
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}
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/**
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* Set the analog output voltage.
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*
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* @param voltage the new voltage on this analog output
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*/
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public void setVoltage(double voltage) {
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AnalogOutDataJNI.setVoltage(m_index, voltage);
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}
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/**
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* Register a callback to be run when this analog output is initialized.
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*
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* @param callback the callback
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* @param initialNotify whether to run the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = AnalogOutDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, AnalogOutDataJNI::cancelInitializedCallback);
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}
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/**
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* Check whether this analog output has been initialized.
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*
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* @return true if initialized
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*/
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public boolean getInitialized() {
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return AnalogOutDataJNI.getInitialized(m_index);
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}
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/**
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* Define whether this analog output has been initialized.
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*
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* @param initialized whether this object is initialized
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*/
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public void setInitialized(boolean initialized) {
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AnalogOutDataJNI.setInitialized(m_index, initialized);
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}
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/** Reset all simulation data on this object. */
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public void resetData() {
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AnalogOutDataJNI.resetData(m_index);
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}
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}
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