[hal] Add support for DMA to Java (#3158)

wpilibc/src/main/native/include/frc/DMA.h

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <hal/Types.h>
+#include <units/time.h>
 
 namespace frc {
 class Encoder;
@@ -13,6 +14,8 @@ class DigitalSource;
 class DutyCycle;
 class AnalogInput;
 class DMASample;
+class PWM;
+class PWMMotorController;
 
 class DMA {
   friend class DMASample;
@@ -25,7 +28,8 @@ class DMA {
   DMA(DMA&& other) = default;
 
   void SetPause(bool pause);
-  void SetRate(int cycles);
+  void SetTimedTrigger(units::second_t seconds);
+  void SetTimedTriggerCycles(int cycles);
 
   void AddEncoder(const Encoder* encoder);
   void AddEncoderPeriod(const Encoder* encoder);
@@ -41,10 +45,15 @@ class DMA {
   void AddAveragedAnalogInput(const AnalogInput* analogInput);
   void AddAnalogAccumulator(const AnalogInput* analogInput);
 
-  void SetExternalTrigger(DigitalSource* source, bool rising, bool falling);
+  int SetExternalTrigger(DigitalSource* source, bool rising, bool falling);
+  int SetPwmEdgeTrigger(PWM* pwm, bool rising, bool falling);
+  int SetPwmEdgeTrigger(PWMMotorController* pwm, bool rising, bool falling);
 
-  void StartDMA(int queueDepth);
-  void StopDMA();
+  void ClearSensors();
+  void ClearExternalTriggers();
+
+  void Start(int queueDepth);
+  void Stop();
 
  private:
   hal::Handle<HAL_DMAHandle> dmaHandle;

wpilibc/src/main/native/include/frc/DMASample.h

@@ -19,11 +19,16 @@
 namespace frc {
 class DMASample : public HAL_DMASample {
  public:
-  HAL_DMAReadStatus Update(const DMA* dma, units::second_t timeout,
-                           int32_t* remaining, int32_t* status) {
-    units::millisecond_t ms = timeout;
-    auto timeoutMs = ms.to<int32_t>();
-    return HAL_ReadDMA(dma->dmaHandle, this, timeoutMs, remaining, status);
+  enum class DMAReadStatus {
+    kOk = HAL_DMA_OK,
+    kTimeout = HAL_DMA_TIMEOUT,
+    kError = HAL_DMA_ERROR
+  };
+
+  DMAReadStatus Update(const DMA* dma, units::second_t timeout,
+                       int32_t* remaining, int32_t* status) {
+    return static_cast<DMAReadStatus>(HAL_ReadDMA(
+        dma->dmaHandle, this, timeout.to<double>(), remaining, status));
   }
 
   uint64_t GetTime() const { return timeStamp; }

wpilibc/src/main/native/include/frc/PWM.h

@@ -12,6 +12,7 @@
 
 namespace frc {
 class AddressableLED;
+class DMA;
 
 /**
  * Class implements the PWM generation in the FPGA.
@@ -33,6 +34,7 @@ class AddressableLED;
 class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
  public:
   friend class AddressableLED;
+  friend class DMA;
   /**
    * Represents the amount to multiply the minimum servo-pulse pwm period by.
    */

wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h

@@ -15,6 +15,7 @@
 #include "frc/motorcontrol/MotorController.h"
 
 namespace frc {
+class DMA;
 
 /**
  * Common base class for all PWM Motor Controllers.
@@ -24,6 +25,8 @@ class PWMMotorController : public MotorController,
                            public wpi::Sendable,
                            public wpi::SendableHelper<PWMMotorController> {
  public:
+  friend class DMA;
+
   PWMMotorController(PWMMotorController&&) = default;
   PWMMotorController& operator=(PWMMotorController&&) = default;
 
@@ -74,6 +77,8 @@ class PWMMotorController : public MotorController,
 
  private:
   bool m_isInverted = false;
+
+  PWM* GetPwm() { return &m_pwm; }
 };
 
 }  // namespace frc