Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

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"