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[wpimath] Move SlewRateLimiter from wpilib to wpimath (#3399)

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Timer was replaced with wpi::Now() to avoid a dependency on other wpilib
classes.
This commit is contained in:
Tyler Veness
2021-05-31 10:35:54 -07:00
committed by GitHub
parent 93523d572e
commit 01dc0249de
16 changed files with 93 additions and 32 deletions
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34
wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
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@@ -11,6 +11,9 @@
using namespace wpi::java;
static bool mockTimeEnabled = false;
static uint64_t mockNow = 0;
extern "C" {
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
@@ -24,6 +27,31 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {}
/*
* Class: edu_wpi_first_wpiutil_WPIUtilJNI
* Method: enableMockTime
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpiutil_WPIUtilJNI_enableMockTime
(JNIEnv*, jclass)
{
mockTimeEnabled = true;
wpi::SetNowImpl([] { return mockNow; });
}
/*
* Class: edu_wpi_first_wpiutil_WPIUtilJNI
* Method: setMockTime
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpiutil_WPIUtilJNI_setMockTime
(JNIEnv*, jclass, jlong time)
{
mockNow = time;
}
/*
* Class: edu_wpi_first_wpiutil_WPIUtilJNI
* Method: now
@@ -33,7 +61,11 @@ JNIEXPORT jlong JNICALL
Java_edu_wpi_first_wpiutil_WPIUtilJNI_now
(JNIEnv*, jclass)
{
return wpi::Now();
if (mockTimeEnabled) {
return mockNow;
} else {
return wpi::Now();
}
}
/*