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[hal] Update runtime enum to allow selecting roborio 2 (#3565)

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In some cases, knowing roborio 2 might be useful. This also creates a higher level enum that might be usable later for the discussion on more complex runtime types.
This commit is contained in:
Thad House
2021-09-13 22:05:38 -07:00
committed by GitHub
parent 95a12e0ee8
commit 66abb39880
11 changed files with 96 additions and 5 deletions
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6
hal/src/main/native/athena/HAL.cpp
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@@ -232,7 +232,11 @@ const char* HAL_GetErrorMessage(int32_t code) {
}
HAL_RuntimeType HAL_GetRuntimeType(void) {
return HAL_Athena;
nLoadOut::tTargetClass targetClass = nLoadOut::getTargetClass();
if (targetClass == nLoadOut::kTargetClass_RoboRIO2) {
return HAL_Runtime_RoboRIO2;
}
return HAL_Runtime_RoboRIO;
}
int32_t HAL_GetFPGAVersion(int32_t* status) {

6
hal/src/main/native/cpp/jni/HALUtil.cpp
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@@ -30,6 +30,12 @@ using namespace wpi::java;
#define kRIOStatusFeatureNotSupported (kRioStatusOffset - 193)
#define kRIOStatusResourceNotInitialized -52010
static_assert(edu_wpi_first_hal_HALUtil_RUNTIME_ROBORIO == HAL_Runtime_RoboRIO);
static_assert(edu_wpi_first_hal_HALUtil_RUNTIME_ROBORIO2 ==
HAL_Runtime_RoboRIO2);
static_assert(edu_wpi_first_hal_HALUtil_RUNTIME_SIMULATION ==
HAL_Runtime_Simulation);
static JavaVM* jvm = nullptr;
static JException illegalArgExCls;
static JException boundaryExCls;

7
hal/src/main/native/include/hal/HALBase.h
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@@ -15,7 +15,7 @@
*/
// clang-format off
HAL_ENUM(HAL_RuntimeType) { HAL_Athena, HAL_Mock };
HAL_ENUM(HAL_RuntimeType) { HAL_Runtime_RoboRIO, HAL_Runtime_RoboRIO2, HAL_Runtime_Simulation };
// clang-format on
#ifdef __cplusplus
@@ -64,6 +64,11 @@ int32_t HAL_GetFPGAVersion(int32_t* status);
*/
int64_t HAL_GetFPGARevision(int32_t* status);
/**
* Returns the runtime type of the HAL.
*
* @return HAL Runtime Type
*/
HAL_RuntimeType HAL_GetRuntimeType(void);
/**

2
hal/src/main/native/sim/HAL.cpp
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@@ -51,7 +51,7 @@ class SimPeriodicCallbackRegistry : public impl::SimCallbackRegistryBase {
};
} // namespace
static HAL_RuntimeType runtimeType{HAL_Mock};
static HAL_RuntimeType runtimeType{HAL_Runtime_Simulation};
static wpi::spinlock gOnShutdownMutex;
static std::vector<std::pair<void*, void (*)(void*)>> gOnShutdown;
static SimPeriodicCallbackRegistry gSimPeriodicBefore;