mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
[hal] Implement stub mockdata on RoboRIO (#2575)
This makes it much more user-friendly to use simulation classes without needing to ifdef for C++ to avoid linker errors or be very careful about construction to avoid runtime errors in Java.
This commit is contained in:
Peter Johnson
329
hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
Normal file
329
hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
Normal file
@@ -0,0 +1,329 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include <jni.h>
|
||||
|
||||
#include "CallbackStore.h"
|
||||
#include "edu_wpi_first_hal_simulation_PWMDataJNI.h"
|
||||
#include "hal/simulation/PWMData.h"
|
||||
|
||||
using namespace hal;
|
||||
|
||||
extern "C" {
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: registerInitializedCallback
|
||||
* Signature: (ILjava/lang/Object;Z)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerInitializedCallback
|
||||
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
|
||||
{
|
||||
return sim::AllocateCallback(env, index, callback, initialNotify,
|
||||
&HALSIM_RegisterPWMInitializedCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: cancelInitializedCallback
|
||||
* Signature: (II)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelInitializedCallback
|
||||
(JNIEnv* env, jclass, jint index, jint handle)
|
||||
{
|
||||
return sim::FreeCallback(env, handle, index,
|
||||
&HALSIM_CancelPWMInitializedCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: getInitialized
|
||||
* Signature: (I)Z
|
||||
*/
|
||||
JNIEXPORT jboolean JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getInitialized
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
return HALSIM_GetPWMInitialized(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: setInitialized
|
||||
* Signature: (IZ)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setInitialized
|
||||
(JNIEnv*, jclass, jint index, jboolean value)
|
||||
{
|
||||
HALSIM_SetPWMInitialized(index, value);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: registerRawValueCallback
|
||||
* Signature: (ILjava/lang/Object;Z)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerRawValueCallback
|
||||
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
|
||||
{
|
||||
return sim::AllocateCallback(env, index, callback, initialNotify,
|
||||
&HALSIM_RegisterPWMRawValueCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: cancelRawValueCallback
|
||||
* Signature: (II)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelRawValueCallback
|
||||
(JNIEnv* env, jclass, jint index, jint handle)
|
||||
{
|
||||
return sim::FreeCallback(env, handle, index,
|
||||
&HALSIM_CancelPWMRawValueCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: getRawValue
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getRawValue
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
return HALSIM_GetPWMRawValue(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: setRawValue
|
||||
* Signature: (II)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setRawValue
|
||||
(JNIEnv*, jclass, jint index, jint value)
|
||||
{
|
||||
HALSIM_SetPWMRawValue(index, value);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: registerSpeedCallback
|
||||
* Signature: (ILjava/lang/Object;Z)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerSpeedCallback
|
||||
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
|
||||
{
|
||||
return sim::AllocateCallback(env, index, callback, initialNotify,
|
||||
&HALSIM_RegisterPWMSpeedCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: cancelSpeedCallback
|
||||
* Signature: (II)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelSpeedCallback
|
||||
(JNIEnv* env, jclass, jint index, jint handle)
|
||||
{
|
||||
return sim::FreeCallback(env, handle, index, &HALSIM_CancelPWMSpeedCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: getSpeed
|
||||
* Signature: (I)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getSpeed
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
return HALSIM_GetPWMSpeed(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: setSpeed
|
||||
* Signature: (ID)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setSpeed
|
||||
(JNIEnv*, jclass, jint index, jdouble value)
|
||||
{
|
||||
HALSIM_SetPWMSpeed(index, value);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: registerPositionCallback
|
||||
* Signature: (ILjava/lang/Object;Z)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerPositionCallback
|
||||
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
|
||||
{
|
||||
return sim::AllocateCallback(env, index, callback, initialNotify,
|
||||
&HALSIM_RegisterPWMPositionCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: cancelPositionCallback
|
||||
* Signature: (II)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelPositionCallback
|
||||
(JNIEnv* env, jclass, jint index, jint handle)
|
||||
{
|
||||
return sim::FreeCallback(env, handle, index,
|
||||
&HALSIM_CancelPWMPositionCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: getPosition
|
||||
* Signature: (I)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getPosition
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
return HALSIM_GetPWMPosition(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: setPosition
|
||||
* Signature: (ID)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPosition
|
||||
(JNIEnv*, jclass, jint index, jdouble value)
|
||||
{
|
||||
HALSIM_SetPWMPosition(index, value);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: registerPeriodScaleCallback
|
||||
* Signature: (ILjava/lang/Object;Z)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerPeriodScaleCallback
|
||||
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
|
||||
{
|
||||
return sim::AllocateCallback(env, index, callback, initialNotify,
|
||||
&HALSIM_RegisterPWMPeriodScaleCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: cancelPeriodScaleCallback
|
||||
* Signature: (II)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelPeriodScaleCallback
|
||||
(JNIEnv* env, jclass, jint index, jint handle)
|
||||
{
|
||||
return sim::FreeCallback(env, handle, index,
|
||||
&HALSIM_CancelPWMPeriodScaleCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: getPeriodScale
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getPeriodScale
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
return HALSIM_GetPWMPeriodScale(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: setPeriodScale
|
||||
* Signature: (II)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPeriodScale
|
||||
(JNIEnv*, jclass, jint index, jint value)
|
||||
{
|
||||
HALSIM_SetPWMPeriodScale(index, value);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: registerZeroLatchCallback
|
||||
* Signature: (ILjava/lang/Object;Z)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerZeroLatchCallback
|
||||
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
|
||||
{
|
||||
return sim::AllocateCallback(env, index, callback, initialNotify,
|
||||
&HALSIM_RegisterPWMZeroLatchCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: cancelZeroLatchCallback
|
||||
* Signature: (II)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelZeroLatchCallback
|
||||
(JNIEnv* env, jclass, jint index, jint handle)
|
||||
{
|
||||
return sim::FreeCallback(env, handle, index,
|
||||
&HALSIM_CancelPWMZeroLatchCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: getZeroLatch
|
||||
* Signature: (I)Z
|
||||
*/
|
||||
JNIEXPORT jboolean JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getZeroLatch
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
return HALSIM_GetPWMZeroLatch(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: setZeroLatch
|
||||
* Signature: (IZ)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setZeroLatch
|
||||
(JNIEnv*, jclass, jint index, jboolean value)
|
||||
{
|
||||
HALSIM_SetPWMZeroLatch(index, value);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
|
||||
* Method: resetData
|
||||
* Signature: (I)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_PWMDataJNI_resetData
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
HALSIM_ResetPWMData(index);
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
Reference in New Issue
Block a user