Added pneumatic and digital output channel objects

Author: camearle20

SnakeSkin-Core/src/main/kotlin/org/snakeskin/component/provider/IDigitalOutputProvider.kt

@@ -0,0 +1,11 @@
+package org.snakeskin.component.provider
+
+/**
+ * Represents a component that can output a digital signal
+ */
+interface IDigitalOutputProvider {
+    /**
+     * Sets the digital state of the component
+     */
+    fun setState(state: Boolean)
+}

SnakeSkin-FRC/src/main/kotlin/org/snakeskin/component/IDigitalOutputChannel.kt

@@ -0,0 +1,5 @@
+package org.snakeskin.component
+
+import org.snakeskin.component.provider.IDigitalOutputProvider
+
+interface IDigitalOutputChannel : IDigitalOutputProvider

SnakeSkin-FRC/src/main/kotlin/org/snakeskin/component/IPneumaticChannel.kt

@@ -0,0 +1,5 @@
+package org.snakeskin.component
+
+import org.snakeskin.component.provider.IDigitalOutputProvider
+
+interface IPneumaticChannel: IDigitalOutputProvider

SnakeSkin-FRC/src/main/kotlin/org/snakeskin/component/impl/HardwareDigitalOutputChannel.kt

@@ -0,0 +1,10 @@
+package org.snakeskin.component.impl
+
+import edu.wpi.first.wpilibj.DigitalOutput
+import org.snakeskin.component.IDigitalOutputChannel
+
+class HardwareDigitalOutputChannel(val channel: DigitalOutput): IDigitalOutputChannel {
+    override fun setState(state: Boolean) {
+        channel.set(state)
+    }
+}

SnakeSkin-FRC/src/main/kotlin/org/snakeskin/component/impl/HardwarePneumaticChannel.kt

@@ -0,0 +1,10 @@
+package org.snakeskin.component.impl
+
+import edu.wpi.first.wpilibj.Solenoid
+import org.snakeskin.component.IPneumaticChannel
+
+class HardwarePneumaticChannel(val channel: Solenoid): IPneumaticChannel {
+    override fun setState(state: Boolean) {
+        channel.set(state)
+    }
+}

SnakeSkin-FRC/src/main/kotlin/org/snakeskin/component/impl/NullDigitalOutputChannel.kt

@@ -0,0 +1,14 @@
+package org.snakeskin.component.impl
+
+import org.snakeskin.component.IDigitalOutputChannel
+
+class NullDigitalOutputChannel private constructor(): IDigitalOutputChannel {
+    companion object {
+        val INSTANCE = NullDigitalOutputChannel()
+        val producer = { INSTANCE }
+    }
+
+    override fun setState(state: Boolean) {
+        //no-op
+    }
+}

SnakeSkin-FRC/src/main/kotlin/org/snakeskin/component/impl/NullPneumaticChannel.kt

@@ -0,0 +1,14 @@
+package org.snakeskin.component.impl
+
+import org.snakeskin.component.IPneumaticChannel
+
+class NullPneumaticChannel private constructor(): IPneumaticChannel {
+    companion object {
+        val INSTANCE = NullPneumaticChannel()
+        val producer = { INSTANCE }
+    }
+
+    override fun setState(state: Boolean) {
+        //no-op
+    }
+}

SnakeSkin-FRC/src/main/kotlin/org/snakeskin/dsl/FRCHardwareExtensions.kt

@@ -1,14 +1,11 @@
 package org.snakeskin.dsl
 
-import edu.wpi.first.wpilibj.CounterBase
-import edu.wpi.first.wpilibj.DigitalInput
-import edu.wpi.first.wpilibj.Encoder
+import edu.wpi.first.wpilibj.*
 import org.snakeskin.component.IDIOEncoderDevice
 import org.snakeskin.component.IDigitalInputChannel
-import org.snakeskin.component.impl.HardwareDIOEncoderDevice
-import org.snakeskin.component.impl.HardwareDigitalInputChannel
-import org.snakeskin.component.impl.NullDIOEncoderDevice
-import org.snakeskin.component.impl.NullDigitalInputChannel
+import org.snakeskin.component.IDigitalOutputChannel
+import org.snakeskin.component.IPneumaticChannel
+import org.snakeskin.component.impl.*
 import org.snakeskin.runtime.SnakeskinPlatform
 import org.snakeskin.runtime.SnakeskinRuntime
 
@@ -52,6 +49,42 @@ inline fun Hardware.createDigitalInputChannel(
     else -> mockProducer()
 }
 
+/**
+ * Creates a new pneumatic channel object.
+ * @param channel The ID of the channel
+ * @param pcmId The ID of the PCM (defaults to 0)
+ * @param halMock If true, WPI HAL mocks will be used in WPI Sim mode.  If false, mockProducer will be called.
+ * @param mockProducer Function which returns a mock object representing the device, used for emulating hardware
+ */
+inline fun Hardware.createPneumaticChannel(
+        channel: Int,
+        pcmId: Int,
+        halMock: Boolean = false,
+        mockProducer: () -> IPneumaticChannel = { throw NotImplementedError("No mock pneumatic channel implementation provided") }
+) = when (SnakeskinRuntime.platform) {
+    SnakeskinPlatform.UNDEFINED -> NullPneumaticChannel.INSTANCE
+    SnakeskinPlatform.FRC_ROBORIO -> HardwarePneumaticChannel(Solenoid(pcmId, channel))
+    SnakeskinPlatform.FRC_WPISIM -> if (halMock) HardwarePneumaticChannel(Solenoid(pcmId, channel)) else mockProducer()
+    else -> mockProducer()
+}
+
+/**
+ * Creates a new digital output channel object.
+ * @param channel The ID of the channel
+ * @param halMock If true, WPI HAL mocks will be used in WPI Sim mode.  If false, mockProducer will be called.
+ * @param mockProducer Function which returns a mock object representing the device, used for emulating hardware
+ */
+inline fun Hardware.createDigitalOutputChannel(
+        channel: Int,
+        halMock: Boolean = false,
+        mockProducer: () -> IDigitalOutputChannel = { throw NotImplementedError("No mock digital output implementation provided") }
+) = when (SnakeskinRuntime.platform) {
+    SnakeskinPlatform.UNDEFINED -> NullDigitalOutputChannel.INSTANCE
+    SnakeskinPlatform.FRC_ROBORIO -> HardwareDigitalOutputChannel(DigitalOutput(channel))
+    SnakeskinPlatform.FRC_WPISIM -> if (halMock) HardwareDigitalOutputChannel(DigitalOutput(channel)) else mockProducer()
+    else -> mockProducer()
+}
+
 
 /**
  * Allows access to hardware device functions of a DIO Encoder device
@@ -73,4 +106,26 @@ inline fun useHardware(digitalInputChannel: IDigitalInputChannel, action: Digita
     if (digitalInputChannel is HardwareDigitalInputChannel) {
         action(digitalInputChannel.channel)
     }
+}
+
+/**
+ * Allows access to hardware device functions of a pneumatic channel
+ * @param pneumaticChannel The pneumatic channel object
+ * @param action The action to run on the hardware.  If the runtime is not hardware, the action will not be run
+ */
+inline fun useHardware(pneumaticChannel: IPneumaticChannel, action: Solenoid.() -> Unit) {
+    if (pneumaticChannel is HardwarePneumaticChannel) {
+        action(pneumaticChannel.channel)
+    }
+}
+
+/**
+ * Allows access to hardware device functions of a digital output channel
+ * @param digitalOutputChannel The digital output channel object
+ * @param action The action to run on the hardware.  If the runtime is not hardware, the action will not be run
+ */
+inline fun useHardware(digitalOutputChannel: IDigitalOutputChannel, action: DigitalOutput.() -> Unit) {
+    if (digitalOutputChannel is HardwareDigitalOutputChannel) {
+        action(digitalOutputChannel.channel)
+    }
 }

build.gradle

@@ -23,6 +23,11 @@ subprojects { subproj ->
     repositories {
         mavenCentral()
 
+        //401 maven
+        maven {
+            url "http://maven.team401.org/artifactory/frc"
+        }
+
         //SnakeSkin bintray
         maven {
             url "http://dl.bintray.com/team401/SnakeSkin"
@@ -41,7 +46,7 @@ subprojects { subproj ->
         }
         //REV Maven
         maven {
-            url "https://www.revrobotics.com/content/sw/max/sdk/maven/"
+            url "http://www.revrobotics.com/content/sw/max/sdk/maven/"
         }
     }