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[wpilib, hal] High Level REV PH changes (#3792)

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More functionality was implemented at the HAL level, so expose that to the wpilib level.

This also does units changes for all the PH related functionality.
This commit is contained in:
Thad House
2021-12-19 13:41:35 -08:00
committed by GitHub
parent 59a7528fd6
commit 34b2d0dae1
23 changed files with 770 additions and 143 deletions
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17
hal/src/main/native/cpp/jni/HALUtil.cpp
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@@ -53,6 +53,7 @@ static JClass accumulatorResultCls;
static JClass canDataCls;
static JClass halValueCls;
static JClass baseStoreCls;
static JClass revPHVersionCls;
static const JClassInit classes[] = {
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
@@ -61,7 +62,8 @@ static const JClassInit classes[] = {
{"edu/wpi/first/hal/AccumulatorResult", &accumulatorResultCls},
{"edu/wpi/first/hal/CANData", &canDataCls},
{"edu/wpi/first/hal/HALValue", &halValueCls},
{"edu/wpi/first/hal/DMAJNISample$BaseStore", &baseStoreCls}};
{"edu/wpi/first/hal/DMAJNISample$BaseStore", &baseStoreCls},
{"edu/wpi/first/hal/REVPHVersion", &revPHVersionCls}};
static const JExceptionInit exceptions[] = {
{"java/lang/IllegalArgumentException", &illegalArgExCls},
@@ -238,6 +240,19 @@ jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
static_cast<jint>(deadbandMinPwm), static_cast<jint>(minPwm));
}
jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
uint32_t firmwareMinor, uint32_t firmwareFix,
uint32_t hardwareMinor, uint32_t hardwareMajor,
uint32_t uniqueId) {
static jmethodID constructor =
env->GetMethodID(revPHVersionCls, "<init>", "(IIIIII)V");
return env->NewObject(
revPHVersionCls, constructor, static_cast<jint>(firmwareMajor),
static_cast<jint>(firmwareMinor), static_cast<jint>(firmwareFix),
static_cast<jint>(hardwareMinor), static_cast<jint>(hardwareMajor),
static_cast<jint>(uniqueId));
}
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
float percentBusUtilization, uint32_t busOffCount,
uint32_t txFullCount, uint32_t receiveErrorCount,

5
hal/src/main/native/cpp/jni/HALUtil.h
View File

@@ -59,6 +59,11 @@ jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm);
jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
uint32_t firmwareMinor, uint32_t firmwareFix,
uint32_t hardwareMinor, uint32_t hardwareMajor,
uint32_t uniqueId);
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
float percentBusUtilization, uint32_t busOffCount,
uint32_t txFullCount, uint32_t receiveErrorCount,

139
hal/src/main/native/cpp/jni/REVPHJNI.cpp
View File

@@ -196,15 +196,15 @@ Java_edu_wpi_first_hal_REVPHJNI_getPressureSwitch
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getAnalogPressure
* Method: getAnalogVoltage
* Signature: (II)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getAnalogPressure
Java_edu_wpi_first_hal_REVPHJNI_getAnalogVoltage
(JNIEnv* env, jclass, jint handle, jint channel)
{
int32_t status = 0;
auto result = HAL_GetREVPHAnalogPressure(handle, channel, &status);
auto result = HAL_GetREVPHAnalogVoltage(handle, channel, &status);
CheckStatus(env, status, false);
return result;
}
@@ -267,4 +267,137 @@ Java_edu_wpi_first_hal_REVPHJNI_fireOneShot
CheckStatus(env, status, false);
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: clearStickyFaults
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_REVPHJNI_clearStickyFaults
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_ClearREVPHStickyFaults(handle, &status);
CheckStatus(env, status, false);
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getInputVoltage
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getInputVoltage
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto voltage = HAL_GetREVPHVoltage(handle, &status);
CheckStatus(env, status, false);
return voltage;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: get5VVoltage
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_get5VVoltage
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto voltage = HAL_GetREVPH5VVoltage(handle, &status);
CheckStatus(env, status, false);
return voltage;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getSolenoidCurrent
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getSolenoidCurrent
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto voltage = HAL_GetREVPHSolenoidCurrent(handle, &status);
CheckStatus(env, status, false);
return voltage;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getSolenoidVoltage
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getSolenoidVoltage
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto voltage = HAL_GetREVPHSolenoidVoltage(handle, &status);
CheckStatus(env, status, false);
return voltage;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getStickyFaultsNative
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getStickyFaultsNative
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_REVPHStickyFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetREVPHStickyFaults(handle, &halFaults, &status);
CheckStatus(env, status, false);
jint faults;
static_assert(sizeof(faults) == sizeof(halFaults));
std::memcpy(&faults, &halFaults, sizeof(faults));
return faults;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getFaultsNative
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getFaultsNative
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_REVPHFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetREVPHFaults(handle, &halFaults, &status);
CheckStatus(env, status, false);
jint faults;
static_assert(sizeof(faults) == sizeof(halFaults));
std::memcpy(&faults, &halFaults, sizeof(faults));
return faults;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getVersion
* Signature: (I)Ljava/lang/Object;
*/
JNIEXPORT jobject JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getVersion
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_REVPHVersion version;
std::memset(&version, 0, sizeof(version));
HAL_GetREVPHVersion(handle, &version, &status);
CheckStatus(env, status, false);
return CreateREVPHVersion(env, version.firmwareMajor, version.firmwareMinor,
version.firmwareFix, version.hardwareMinor,
version.hardwareMajor, version.uniqueId);
}
} // extern "C"