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Switches PWMs to do scaling at the HAL level. (#143)

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This commit is contained in:
Thad House
2016-07-08 21:29:29 -07:00
committed by Peter Johnson
parent be2647d44e
commit 5ad28d58ec
30 changed files with 737 additions and 364 deletions
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21
wpilibj/src/athena/cpp/lib/HALUtil.cpp
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@@ -48,6 +48,7 @@ static jclass canMessageNotFoundExCls = nullptr;
static jclass canMessageNotAllowedExCls = nullptr;
static jclass canNotInitializedExCls = nullptr;
static jclass uncleanStatusExCls = nullptr;
static jclass pwmConfigDataResultCls = nullptr;
static void GetStackTrace(JNIEnv *env, std::string &res, std::string &func) {
// create a throwable
@@ -236,6 +237,17 @@ void ThrowBoundaryException(JNIEnv *env, double value, double lower,
env->Throw(static_cast<jthrowable>(ex));
}
jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm) {
static jmethodID constructor =
env->GetMethodID(pwmConfigDataResultCls, "<init>",
"(IIIII)V");
return env->NewObject(pwmConfigDataResultCls, constructor, maxPwm,
deadbandMaxPwm, centerPwm, deadbandMinPwm,
minPwm);
}
extern "C" {
//
@@ -328,6 +340,12 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
uncleanStatusExCls = static_cast<jclass>(env->NewGlobalRef(local));
if (!uncleanStatusExCls) return JNI_ERR;
env->DeleteLocalRef(local);
local = env->FindClass("edu/wpi/first/wpilibj/PWMConfigDataResult");
if (!local) return JNI_ERR;
pwmConfigDataResultCls = static_cast<jclass>(env->NewGlobalRef(local));
if (!pwmConfigDataResultCls) return JNI_ERR;
env->DeleteLocalRef(local);
return JNI_VERSION_1_6;
}
@@ -342,12 +360,15 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
if (runtimeExCls) env->DeleteGlobalRef(runtimeExCls);
if (illegalArgExCls) env->DeleteGlobalRef(illegalArgExCls);
if (boundaryExCls) env->DeleteGlobalRef(boundaryExCls);
if (allocationExCls) env->DeleteGlobalRef(allocationExCls);
if (halHandleExCls) env->DeleteGlobalRef(halHandleExCls);
if (canInvalidBufferExCls) env->DeleteGlobalRef(canInvalidBufferExCls);
if (canMessageNotFoundExCls) env->DeleteGlobalRef(canMessageNotFoundExCls);
if (canMessageNotAllowedExCls)
env->DeleteGlobalRef(canMessageNotAllowedExCls);
if (canNotInitializedExCls) env->DeleteGlobalRef(canNotInitializedExCls);
if (uncleanStatusExCls) env->DeleteGlobalRef(uncleanStatusExCls);
if (pwmConfigDataResultCls) env->DeleteGlobalRef(pwmConfigDataResultCls);
jvm = nullptr;
}

4
wpilibj/src/athena/cpp/lib/HALUtil.h
View File

@@ -31,5 +31,9 @@ inline bool CheckCANStatus(JNIEnv *env, int32_t status, int message_id) {
void ThrowIllegalArgumentException(JNIEnv *env, const char *msg);
void ThrowBoundaryException(JNIEnv *env, double value, double lower,
double upper);
jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm);
#endif // HALUTIL_H

186
wpilibj/src/athena/cpp/lib/PWMJNI.cpp
View File

@@ -59,36 +59,198 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMPort(
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWM
* Signature: (IS)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM(
JNIEnv* env, jclass, jint id, jshort value) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: setPWMConfigRaw
* Signature: (IIIIII)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfigRaw(
JNIEnv *env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
jint centerPwm, jint deadbandMinPwm, jint minPwm) {
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfigRaw";
PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
setPWM((HalDigitalHandle)id, value, &status);
setPWMConfigRaw((HalDigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: setPWMConfig
* Signature: (IDDDDD)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfig(
JNIEnv *env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm,
jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm) {
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfig";
PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
setPWMConfig((HalDigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getPWMConfigRaw
* Signature: (I)Ledu/wpi/first/wpilibj/PWMConfigDataResult;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw(
JNIEnv *env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI getPWMConfigRaw";
PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
int32_t maxPwm = 0;
int32_t deadbandMaxPwm = 0;
int32_t centerPwm = 0;
int32_t deadbandMinPwm = 0;
int32_t minPwm = 0;
getPWMConfigRaw((HalDigitalHandle)id, &maxPwm, &deadbandMaxPwm, &centerPwm,
&deadbandMinPwm, &minPwm, &status);
CheckStatus(env, status);
return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMEliminateDeadband
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDeadband(
JNIEnv* env, jclass, jint id, jboolean value) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
setPWMEliminateDeadband((HalDigitalHandle)id, value, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: getPWM
* Method: getPWMEliminateDeadband
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM(
JNIEnv* env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
auto val = getPWMEliminateDeadband((HalDigitalHandle)id, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return (jboolean)val;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMRaw
* Signature: (IS)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw(
JNIEnv* env, jclass, jint id, jshort value) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
setPWMRaw((HalDigitalHandle)id, value, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMSpeed
* Signature: (IF)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed(
JNIEnv* env, jclass, jint id, jfloat value) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
setPWMSpeed((HalDigitalHandle)id, value, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMPosition
* Signature: (IF)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition(
JNIEnv* env, jclass, jint id, jfloat value) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
setPWMPosition((HalDigitalHandle)id, value, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: getPWMRaw
* Signature: (I)S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM(JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw(
JNIEnv* env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
jshort returnValue = getPWM((HalDigitalHandle)id, &status);
jshort returnValue = getPWMRaw((HalDigitalHandle)id, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: getPWMSpeed
* Signature: (I)F
*/
JNIEXPORT jfloat JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed(
JNIEnv* env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
jfloat returnValue = getPWMSpeed((HalDigitalHandle)id, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: getPWMPosition
* Signature: (I)F
*/
JNIEXPORT jfloat JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition(
JNIEnv* env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
jfloat returnValue = getPWMPosition((HalDigitalHandle)id, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMDisabled
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled(
JNIEnv* env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
setPWMDisabled((HalDigitalHandle)id, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: latchPWMZero