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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,