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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;
}