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Update to the v13 headers and libraries

Browse Source 
Add all of the most recent headers and .SOs

Also make DriverStation work with the new FRC comm protocol, using the new
functions for getting status data

Change-Id: I1c7fc5f90e72c5fbebf87d9923ce0967ed0ef3bc

Initial HAL support for v13 ds

Change-Id: I9a7f37ef8e24241598fa3981cb3df30c07c52e0f

New ds stuff in the HAL

Change-Id: I025910625453baf63f79f49bbc70ba8b2f093f50

New ds stuff in C++

Joysticks are still todo

Driver station IO is pulled out

Change-Id: I1bb59037c097713bd943e7bef00e12f67f13c3ac

New ds works in C++ and Java.  Joysticks still todo

Change-Id: Ic93f8686856761badc592eceaf05964f52355578

Make joysticks work again with the v13 image protocol

Change-Id: Ief7ee95d3398c2262ca07ab7d60499af3c8f60f7
This commit is contained in:
Thomas Clark
2014-08-06 11:29:15 -04:00
parent b8eeeabbb5
commit 8abbcf53f4
106 changed files with 2928 additions and 3479 deletions
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287
wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
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@@ -38,17 +38,6 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getModulePresence
* Signature: (IB)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getModulePresence
(JNIEnv *, jclass, jint, jbyte)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getTargetClass
@@ -145,192 +134,6 @@ jfieldID FPGAChecksum1FieldID;
jfieldID FPGAChecksum2FieldID;
jfieldID FPGAChecksum3FieldID;
jfieldID versionDataFieldID;
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getCommonControlData
* Signature: (Ledu/wpi/first/wpilibj/communication/FRCCommonControlData;I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getCommonControlData
(JNIEnv * env, jclass, jobject controlData)
{
HALCommonControlData controlDataNative;
controlDataNative.packetIndex = 0xFF;
controlDataNative.control = 0xFF;
int returnValue = HALGetCommonControlData(&controlDataNative, HAL_WAIT_FOREVER);
//NETCOMM_LOG(logDEBUG) << "PacketIndex: " << (void*)controlDataNative.packetIndex << " Control: " << (void*)controlDataNative.control << " ReturnValue: " << (void*)returnValue;
if(!initializeComplete)
{
// control data class
dataClass = (jclass)env->NewGlobalRef(env->GetObjectClass(controlData));
//dataClass = env->GetObjectClass(controlData);
// public short packetIndex;
packetIndexFieldID = env->GetFieldID(dataClass, "packetIndex", "S" );
// public byte control;
controlFieldID = env->GetFieldID(dataClass, "control", "B" );
// public byte dsDigitalIn;
dsDigitalInFieldID = env->GetFieldID(dataClass, "dsDigitalIn", "B" );
// public short teamID;
teamIDFieldID = env->GetFieldID(dataClass, "teamID", "S" );
// public byte dsID_Alliance;
dsID_AllianceFieldID = env->GetFieldID(dataClass, "dsID_Alliance", "B" );
// public byte dsID_Position;
dsID_PositionFieldID = env->GetFieldID(dataClass, "dsID_Position", "B" );
// public byte[] stick0Axes;
stick0AxesFieldID = env->GetFieldID(dataClass, "stick0Axes", "[B" );
// public short stick0Buttons;
stick0ButtonsFieldID = env->GetFieldID(dataClass, "stick0Buttons", "S" );
// public byte[] stick1Axes;
stick1AxesFieldID = env->GetFieldID(dataClass, "stick1Axes", "[B" );
// public short stick1Buttons;
stick1ButtonsFieldID = env->GetFieldID(dataClass, "stick1Buttons", "S" );
// public byte[] stick2Axes;
stick2AxesFieldID = env->GetFieldID(dataClass, "stick2Axes", "[B" );
// public short stick2Buttons;
stick2ButtonsFieldID = env->GetFieldID(dataClass, "stick2Buttons", "S" );
// public byte[] stick3Axes;
stick3AxesFieldID = env->GetFieldID(dataClass, "stick3Axes", "[B" );
// public short stick3Buttons;
stick3ButtonsFieldID = env->GetFieldID(dataClass, "stick3Buttons", "S" );
// public short analog1;
analog1FieldID = env->GetFieldID(dataClass, "analog1", "S" );
// public short analog2;
analog2FieldID = env->GetFieldID(dataClass, "analog2", "S" );
// public short analog3;
analog3FieldID = env->GetFieldID(dataClass, "analog3", "S" );
// public short analog4;
analog4FieldID = env->GetFieldID(dataClass, "analog4", "S" );
// public long cRIOChecksum;
cRIOChecksumFieldID = env->GetFieldID(dataClass, "cRIOChecksum", "J" );
// public int FPGAChecksum0;
FPGAChecksum0FieldID = env->GetFieldID(dataClass, "FPGAChecksum0", "I" );
// public int FPGAChecksum1;
FPGAChecksum1FieldID = env->GetFieldID(dataClass, "FPGAChecksum1", "I" );
// public int FPGAChecksum2;
FPGAChecksum2FieldID = env->GetFieldID(dataClass, "FPGAChecksum2", "I" );
// public int FPGAChecksum3;
FPGAChecksum3FieldID = env->GetFieldID(dataClass, "FPGAChecksum3", "I" );
// public byte[] versionData;
versionDataFieldID = env->GetFieldID(dataClass, "versionData", "[B" );
initializeComplete = true;
}
//NETCOMM_LOG(logDEBUG) << "PacketIndex : " << (short)controlDataNative.packetIndex;
env->SetShortField(controlData,packetIndexFieldID, controlDataNative.packetIndex);
//NETCOMM_LOG(logDEBUG) << "Control : " << (short)controlDataNative.control;
env->SetByteField(controlData,controlFieldID, controlDataNative.control);
env->SetByteField(controlData,dsDigitalInFieldID, controlDataNative.dsDigitalIn);
env->SetShortField(controlData,teamIDFieldID, controlDataNative.teamID);
env->SetByteField(controlData,dsID_AllianceFieldID, controlDataNative.dsID_Alliance);
env->SetByteField(controlData,dsID_PositionFieldID, controlDataNative.dsID_Position);
// process the axes for joystick 0
jobject stick0Axes = env->GetObjectField(controlData, stick0AxesFieldID);
jbyteArray * stick0AxesPtr = reinterpret_cast<jbyteArray*>(&stick0Axes);
jbyte * stick0AxesBytePtr = env->GetByteArrayElements(*stick0AxesPtr,NULL);
for( short axisCount = 0; axisCount < 6; axisCount++)
{
stick0AxesBytePtr[axisCount]=controlDataNative.stick0Axes[axisCount];
}
env->ReleaseByteArrayElements(*stick0AxesPtr,stick0AxesBytePtr,0);
// /** C type : field2_union */
// public field2_union field2;
// /** Left-most 4 bits are unused */
env->SetShortField(controlData,stick0ButtonsFieldID, controlDataNative.stick0Buttons);
// process the axes for joystick 1
jobject stick1Axes = env->GetObjectField(controlData, stick1AxesFieldID);
jbyteArray * stick1AxesPtr = reinterpret_cast<jbyteArray*>(&stick1Axes);
jbyte * stick1AxesBytePtr = env->GetByteArrayElements(*stick1AxesPtr,NULL);
for( short axisCount = 0; axisCount < 6; axisCount++)
{
stick1AxesBytePtr[axisCount]=controlDataNative.stick1Axes[axisCount];
}
env->ReleaseByteArrayElements(*stick1AxesPtr,stick1AxesBytePtr,0);
// /** C type : field3_union */
// public field3_union field3;
// /** Left-most 4 bits are unused */
env->SetShortField(controlData,stick1ButtonsFieldID, controlDataNative.stick1Buttons);
// process the axes for joystick 2
jobject stick2Axes = env->GetObjectField(controlData, stick2AxesFieldID);
jbyteArray * stick2AxesPtr = reinterpret_cast<jbyteArray*>(&stick2Axes);
jbyte * stick2AxesBytePtr = env->GetByteArrayElements(*stick2AxesPtr,NULL);
for( short axisCount = 0; axisCount < 6; axisCount++)
{
stick2AxesBytePtr[axisCount]=controlDataNative.stick2Axes[axisCount];
}
env->ReleaseByteArrayElements(*stick2AxesPtr,stick2AxesBytePtr,0);
// /** C type : field4_union */
// public field4_union field4;
// /** Left-most 4 bits are unused */
env->SetShortField(controlData,stick2ButtonsFieldID, controlDataNative.stick2Buttons);
// process the axes for joystick 3
jobject stick3Axes = env->GetObjectField(controlData, stick3AxesFieldID);
jbyteArray * stick3AxesPtr = reinterpret_cast<jbyteArray*>(&stick3Axes);
jbyte * stick3AxesBytePtr = env->GetByteArrayElements(*stick3AxesPtr,NULL);
for( short axisCount = 0; axisCount < 6; axisCount++)
{
stick3AxesBytePtr[axisCount]=controlDataNative.stick3Axes[axisCount];
}
env->ReleaseByteArrayElements(*stick3AxesPtr,stick3AxesBytePtr,0);
// /** C type : field5_union */
// public field5_union field5;
// /** Left-most 4 bits are unused */
env->SetShortField(controlData,stick3ButtonsFieldID, controlDataNative.stick3Buttons);
// /** Analog inputs are 10 bit right-justified */
env->SetShortField(controlData,analog1FieldID, controlDataNative.analog1);
env->SetShortField(controlData,analog2FieldID, controlDataNative.analog2);
env->SetShortField(controlData,analog3FieldID, controlDataNative.analog3);
env->SetShortField(controlData,analog4FieldID, controlDataNative.analog4);
env->SetLongField(controlData,cRIOChecksumFieldID, controlDataNative.cRIOChecksum);
env->SetIntField(controlData,FPGAChecksum0FieldID, controlDataNative.FPGAChecksum0);
env->SetIntField(controlData,FPGAChecksum1FieldID, controlDataNative.FPGAChecksum1);
env->SetIntField(controlData,FPGAChecksum2FieldID, controlDataNative.FPGAChecksum2);
env->SetIntField(controlData,FPGAChecksum3FieldID, controlDataNative.FPGAChecksum3);
// /** C type : char[8] */
// public byte[] versionData;
jobject versionData = env->GetObjectField(controlData, versionDataFieldID);
jbyteArray * versionDataPtr = reinterpret_cast<jbyteArray*>(&versionData);
jbyte * versionDataBytePtr = env->GetByteArrayElements(*versionDataPtr,NULL);
for( short byteCount = 0; byteCount < 8; byteCount++)
{
versionDataBytePtr[byteCount]=controlDataNative.versionData[byteCount];
}
env->ReleaseByteArrayElements(*versionDataPtr,versionDataBytePtr,0);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getRecentCommonControlData
* Signature: (Ledu/wpi/first/wpilibj/communication/FRCCommonControlData;I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getRecentCommonControlData
(JNIEnv *, jclass, jobject, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getRecentStatusData
@@ -341,17 +144,6 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getDynamicControlData
* Signature: (BLjava/nio/ByteBuffer;II)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getDynamicControlData
(JNIEnv *, jclass, jbyte, jobject, jint, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setStatusData
@@ -368,16 +160,6 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
env->ReleaseStringUTFChars(paramUserDataLow,userDataLowStr);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setStatusDataFloatAsInt
* Signature: (IBBLjava/lang/String;ILjava/lang/String;II)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setStatusDataFloatAsInt
(JNIEnv *, jclass, jint, jbyte, jbyte, jstring, jint, jstring, jint, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setErrorData
@@ -388,16 +170,6 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setUserDsLcdData
* Signature: (Ljava/lang/String;II)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setUserDsLcdData
(JNIEnv *, jclass, jstring, jint, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: overrideIOConfig
@@ -512,6 +284,65 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
assert(1 == HALInitialize(0));
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: NativeHALGetControlWord
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord
(JNIEnv *, jclass)
{
jint controlWord;
HALGetControlWord((HALControlWord*)&controlWord);
return controlWord;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: NativeHALGetAllianceStation
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation
(JNIEnv *, jclass)
{
jint allianceStation;
HALGetAllianceStation((HALAllianceStationID*)&allianceStation);
return allianceStation;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetJoystickAxes
* Signature: (B)[S
*/
JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes
(JNIEnv * env, jclass, jbyte joystickNum)
{
HALJoystickAxes axes;
HALGetJoystickAxes(joystickNum, &axes, 6);
jshortArray axesArray = env->NewShortArray(axes.count);
env->SetShortArrayRegion(axesArray, 0, axes.count, axes.axes);
return axesArray;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetJoystickButtons
* Signature: (B)S
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons
(JNIEnv *, jclass, jbyte joystickNum)
{
HALJoystickButtons buttons;
uint8_t count;
HALGetJoystickButtons(joystickNum, &buttons, &count);
return buttons;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: setNewDataSem