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refactored HAL library

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builds two libraries, Athena  and Desktop.
Simulation should use Desktop, Robots should use Athena

Also:
 - copied Driverstation and Joystick from Devices into Sim
 - Descreased dependency of pthreads in JNI.
 - removed Simulation ifdef from non simulation
 - added missing decprecated attribute for msvc
 - removed usage reporting from sim
 - removed unused pom.xml and constexpr

Change-Id: If8eb540f9434dce17c77a245fda6985713e80b2d
This commit is contained in:
peter mitrano
2015-08-19 11:12:54 -04:00
parent 43960b9bca
commit 4514e4489a
27 changed files with 1240 additions and 1041 deletions
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174
wpilibj/wpilibJavaJNI/lib/HALUtil.cpp
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@@ -10,8 +10,8 @@
TLogLevel halUtilLogLevel = logWARNING;
#define HALUTIL_LOG(level) \
if (level > halUtilLogLevel) ; \
else Log().Get(level)
if (level > halUtilLogLevel) ; \
else Log().Get(level)
//
@@ -19,9 +19,9 @@ TLogLevel halUtilLogLevel = logWARNING;
//
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved)
{
// set our logging level
Log::ReportingLevel() = logDEBUG;
return JNI_VERSION_1_6;
// set our logging level
Log::ReportingLevel() = logDEBUG;
return JNI_VERSION_1_6;
}
/*
@@ -29,14 +29,14 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved)
* Method: initializeMutex
* Signature: (I)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMutexNormal
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMutexNormal
(JNIEnv * env, jclass)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMutex";
MUTEX_ID* mutexPtr = (MUTEX_ID*)new unsigned char[sizeof(MUTEX_ID)];
*mutexPtr = initializeMutexNormal();
HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *mutexPtr;
return env->NewDirectByteBuffer(mutexPtr, sizeof(MUTEX_ID));
HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMutex";
MUTEX_ID mutexPtr = (MUTEX_ID)new unsigned char[sizeof(MUTEX_ID)];
mutexPtr = initializeMutexNormal();
HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << mutexPtr;
return env->NewDirectByteBuffer(mutexPtr, sizeof(MUTEX_ID));
}
/*
@@ -44,14 +44,14 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMutex
* Method: deleteMutex
* Signature: (Ljava/nio/ByteBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMutex
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMutex
(JNIEnv * env, jclass, jobject id )
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMutex";
MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
deleteMutex( *javaId );
delete[] javaId;
HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMutex";
MUTEX_ID javaId = (MUTEX_ID)env->GetDirectBufferAddress(id);
HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << javaId;
deleteMutex( javaId );
delete[] javaId;
}
/*
@@ -59,15 +59,15 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMutex
* Method: takeMutex
* Signature: (Ljava/nio/ByteBuffer;I)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex
(JNIEnv * env, jclass, jobject id)
{
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil takeMutex";
MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
//HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
jbyte returnValue = takeMutex(*javaId);
//HALUTIL_LOG(logDEBUG) << "Take Result = " << (void*)returnValue;
return returnValue;
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil takeMutex";
MUTEX_ID javaId = (MUTEX_ID)env->GetDirectBufferAddress(id);
//HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
takeMutex(javaId);
//HALUTIL_LOG(logDEBUG) << "Take Result = " << (void*)returnValue;
return 0;
}
/*
@@ -75,14 +75,14 @@ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex
* Method: initializeMultiWait
* Signature: ()Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMultiWait
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMultiWait
(JNIEnv * env, jclass)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMultiWait";
MULTIWAIT_ID* multiWaitPtr = (MULTIWAIT_ID*)new unsigned char[4];
*multiWaitPtr = initializeMultiWait();
HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << *multiWaitPtr;
return env->NewDirectByteBuffer( multiWaitPtr, 4);
HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMultiWait";
MULTIWAIT_ID multiWaitPtr = (MULTIWAIT_ID)new unsigned char[4];
multiWaitPtr = initializeMultiWait();
HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << multiWaitPtr;
return env->NewDirectByteBuffer( multiWaitPtr, 4);
}
/*
@@ -90,13 +90,13 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMulti
* Method: deleteMultiWait
* Signature: (Ljava/nio/ByteBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMultiWait
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMultiWait
(JNIEnv * env, jclass, jobject id)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMultiWait";
MULTIWAIT_ID* javaId = (MULTIWAIT_ID*)env->GetDirectBufferAddress(id);
HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << *javaId;
deleteMultiWait( *javaId );
HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMultiWait";
MULTIWAIT_ID javaId = (MULTIWAIT_ID)env->GetDirectBufferAddress(id);
HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << javaId;
deleteMultiWait( javaId );
}
/*
@@ -104,13 +104,13 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMultiWait
* Method: takeMultiWait
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;I)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMultiWait
(JNIEnv * env, jclass, jobject multiWaitId, jobject mutexId, jint timeout)
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMultiWait
(JNIEnv * env, jclass, jobject multiWaitId, jobject mutexId)
{
MULTIWAIT_ID* javaMultiWaitId = (MULTIWAIT_ID*)env->GetDirectBufferAddress(multiWaitId);
MUTEX_ID* javaMutexId = (MUTEX_ID*)env->GetDirectBufferAddress(mutexId);
jbyte returnValue = takeMultiWait(*javaMultiWaitId, *javaMutexId, (int32_t) timeout);
return returnValue;
MULTIWAIT_ID javaMultiWaitId = (MULTIWAIT_ID)env->GetDirectBufferAddress(multiWaitId);
MUTEX_ID javaMutexId = (MUTEX_ID)env->GetDirectBufferAddress(mutexId);
takeMultiWait(javaMultiWaitId, javaMutexId);
return 0;
}
/*
@@ -118,15 +118,15 @@ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMultiWait
* Method: getFPGAVersion
* Signature: (Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion
(JNIEnv * env, jclass, jobject status)
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion
(JNIEnv * env, jclass, jobject status)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jshort returnValue = getFPGAVersion( statusPtr );
HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
return returnValue;
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jshort returnValue = getFPGAVersion( statusPtr );
HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
return returnValue;
}
/*
@@ -134,15 +134,15 @@ JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion
* Method: getFPGARevision
* Signature: (Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision
(JNIEnv * env, jclass, jobject status)
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision
(JNIEnv * env, jclass, jobject status)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getFPGARevision( statusPtr );
HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
return returnValue;
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getFPGARevision( statusPtr );
HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
return returnValue;
}
/*
@@ -150,15 +150,15 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision
* Method: getFPGATime
* Signature: (Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime
(JNIEnv * env, jclass, jobject status)
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime
(JNIEnv * env, jclass, jobject status)
{
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jlong returnValue = getFPGATime( statusPtr );
//HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
//HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
return returnValue;
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jlong returnValue = getFPGATime( statusPtr );
//HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
//HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
return returnValue;
}
@@ -167,15 +167,15 @@ JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime
* Method: getFPGAButton
* Signature: (Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton
(JNIEnv * env, jclass, jobject status)
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton
(JNIEnv * env, jclass, jobject status)
{
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jboolean returnValue = getFPGAButton( statusPtr );
//HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
//HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
return returnValue;
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jboolean returnValue = getFPGAButton( statusPtr );
//HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
//HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
return returnValue;
}
@@ -184,12 +184,12 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton
* Method: getHALErrorMessage
* Signature: (I)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage
(JNIEnv * paramEnv, jclass, jint paramId)
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage
(JNIEnv * paramEnv, jclass, jint paramId)
{
const char * msg = getHALErrorMessage(paramId);
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALErrorMessage id=" << paramId << " msg=" << msg;
return paramEnv->NewStringUTF(msg);
const char * msg = getHALErrorMessage(paramId);
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALErrorMessage id=" << paramId << " msg=" << msg;
return paramEnv->NewStringUTF(msg);
}
/*
@@ -197,10 +197,10 @@ JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMess
* Method: getHALErrno
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno
(JNIEnv *, jclass)
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno
(JNIEnv *, jclass)
{
return errno;
return errno;
}
/*
@@ -208,15 +208,15 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno
* Method: getHALstrerror
* Signature: (I)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALstrerror
(JNIEnv * env, jclass, jint errorCode)
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALstrerror
(JNIEnv * env, jclass, jint errorCode)
{
const char * msg = strerror(errno);
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALstrerror errorCode=" << errorCode << " msg=" << msg;
return env->NewStringUTF(msg);
const char * msg = strerror(errno);
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALstrerror errorCode=" << errorCode << " msg=" << msg;
return env->NewStringUTF(msg);
}
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_pointerSize(JNIEnv*, jclass) {
Java_edu_wpi_first_wpilibj_hal_HALUtil_pointerSize(JNIEnv*, jclass) {
return sizeof(void*);
}