Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add simulation generic device/value support

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

10
hal/src/main/native/sim/jni/SimulatorJNI.cpp
View File

@@ -7,9 +7,12 @@
#include "SimulatorJNI.h"
#include <wpi/jni_util.h>
#include "BufferCallbackStore.h"
#include "CallbackStore.h"
#include "ConstBufferCallbackStore.h"
#include "SimDeviceDataJNI.h"
#include "SpiReadAutoReceiveBufferCallbackStore.h"
#include "edu_wpi_first_hal_sim_mockdata_SimulatorJNI.h"
#include "hal/HAL.h"
@@ -19,7 +22,6 @@
using namespace wpi::java;
static JavaVM* jvm = nullptr;
static JClass simValueCls;
static JClass notifyCallbackCls;
static JClass bufferCallbackCls;
static JClass constBufferCallbackCls;
@@ -37,9 +39,6 @@ jint SimOnLoad(JavaVM* vm, void* reserved) {
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
return JNI_ERR;
simValueCls = JClass(env, "edu/wpi/first/hal/sim/SimValue");
if (!simValueCls) return JNI_ERR;
notifyCallbackCls = JClass(env, "edu/wpi/first/hal/sim/NotifyCallback");
if (!notifyCallbackCls) return JNI_ERR;
@@ -75,6 +74,7 @@ jint SimOnLoad(JavaVM* vm, void* reserved) {
InitializeBufferStore();
InitializeConstBufferStore();
InitializeSpiBufferStore();
if (!InitializeSimDeviceDataJNI(env)) return JNI_ERR;
return JNI_VERSION_1_6;
}
@@ -84,11 +84,11 @@ void SimOnUnload(JavaVM* vm, void* reserved) {
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
return;
simValueCls.free(env);
notifyCallbackCls.free(env);
bufferCallbackCls.free(env);
constBufferCallbackCls.free(env);
spiReadAutoReceiveBufferCallbackCls.free(env);
FreeSimDeviceDataJNI(env);
jvm = nullptr;
}