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Add simulation generic device/value support

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This allows high-level library classes to implement enhanced simulation
support even if no low-level corresponding simulation library exists, and
avoids the need for bit-banging complex interfaces like SPI or CAN.
This commit is contained in:
Peter Johnson
2019-09-28 11:34:46 -07:00
parent e8d6f8a2c1
commit 81c2c8a7de
29 changed files with 3037 additions and 103 deletions
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37
hal/src/main/native/cpp/jni/HALUtil.cpp
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@@ -49,13 +49,15 @@ static JClass canStatusCls;
static JClass matchInfoDataCls;
static JClass accumulatorResultCls;
static JClass canDataCls;
static JClass halValueCls;
static const JClassInit classes[] = {
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
{"edu/wpi/first/hal/can/CANStatus", &canStatusCls},
{"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
{"edu/wpi/first/hal/AccumulatorResult", &accumulatorResultCls},
{"edu/wpi/first/hal/CANData", &canDataCls}};
{"edu/wpi/first/hal/CANData", &canDataCls},
{"edu/wpi/first/hal/HALValue", &halValueCls}};
static const JExceptionInit exceptions[] = {
{"java/lang/IllegalArgumentException", &illegalArgExCls},
@@ -224,8 +226,9 @@ jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
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);
return env->NewObject(pwmConfigDataResultCls, constructor, (jint)maxPwm,
(jint)deadbandMaxPwm, (jint)centerPwm,
(jint)deadbandMinPwm, (jint)minPwm);
}
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
@@ -271,6 +274,34 @@ jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
return retVal;
}
jobject CreateHALValue(JNIEnv* env, const HAL_Value& value) {
static jmethodID fromNative = env->GetStaticMethodID(
halValueCls, "fromNative", "(IJD)Ledu/wpi/first/hal/HALValue;");
jlong value1 = 0;
jdouble value2 = 0.0;
switch (value.type) {
case HAL_BOOLEAN:
value1 = value.data.v_boolean;
break;
case HAL_DOUBLE:
value2 = value.data.v_double;
break;
case HAL_ENUM:
value1 = value.data.v_enum;
break;
case HAL_INT:
value1 = value.data.v_int;
break;
case HAL_LONG:
value1 = value.data.v_long;
break;
default:
break;
}
return env->CallStaticObjectMethod(halValueCls, fromNative, (jint)value.type,
value1, value2);
}
JavaVM* GetJVM() { return jvm; }
} // namespace frc