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Merge "Move SerialPort to HAL and add SerialPort support for Java Squashed commit of the following:"

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This commit is contained in:
Brad Miller (WPI)
2014-11-07 08:27:36 -08:00
committed by Gerrit Code Review
parent 18de3aebdd 6b6e5d9530
commit 8d49d8255b
17 changed files with 729 additions and 598 deletions
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13
hal/include/HAL/Errors.hpp
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@@ -45,3 +45,16 @@
#define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE "HAL: Attempted to read AnalogTrigger pulse output."
#define PARAMETER_OUT_OF_RANGE -1028
#define PARAMETER_OUT_OF_RANGE_MESSAGE "HAL: A parameter is out of range."
#define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
#define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"
#define VI_ERROR_RSRC_LOCKED_MESSAGE "HAL - VISA: Resource Locked"
#define VI_ERROR_RSRC_NFOUND_MESSAGE "HAL - VISA: Resource Not Found"
#define VI_ERROR_INV_RSRC_NAME_MESSAGE "HAL - VISA: Invalid Resource Name"
#define VI_ERROR_QUEUE_OVERFLOW_MESSAGE "HAL - VISA: Queue Overflow"
#define VI_ERROR_IO_MESSAGE "HAL - VISA: General IO Error"
#define VI_ERROR_ASRL_PARITY_MESSAGE "HAL - VISA: Parity Error"
#define VI_ERROR_ASRL_FRAMING_MESSAGE "HAL - VISA: Framing Error"
#define VI_ERROR_ASRL_OVERRUN_MESSAGE "HAL - VISA: Buffer Overrun Error"
#define VI_ERROR_RSRC_BUSY_MESSAGE "HAL - VISA: Resource Busy"
#define VI_ERROR_INV_PARAMETER_MESSAGE "HAL - VISA: Invalid Parameter"

1
hal/include/HAL/HAL.hpp
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@@ -23,6 +23,7 @@
#include "Errors.hpp"
#include "PDP.hpp"
#include "Power.hpp"
#include "SerialPort.hpp"
#include "Utilities.hpp"
#include "Semaphore.hpp"

29
hal/include/HAL/SerialPort.hpp Normal file
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@@ -0,0 +1,29 @@
#pragma once
#ifdef __vxworks
#include <vxWorks.h>
#else
#include <stdint.h>
#endif
extern "C"
{
void serialInitializePort(uint8_t port, int32_t *status);
void serialSetBaudRate(uint8_t port, uint32_t baud, int32_t *status);
void serialSetDataBits(uint8_t port, uint8_t bits, int32_t *status);
void serialSetParity(uint8_t port, uint8_t parity, int32_t *status);
void serialSetStopBits(uint8_t port, uint8_t stopBits, int32_t *status);
void serialSetWriteMode(uint8_t port, uint8_t mode, int32_t *status);
void serialSetFlowControl(uint8_t port, uint8_t flow, int32_t *status);
void serialSetTimeout(uint8_t port, float timeout, int32_t *status);
void serialEnableTermination(uint8_t port, char terminator, int32_t *status);
void serialDisableTermination(uint8_t port, int32_t *status);
void serialSetReadBufferSize(uint8_t port, uint32_t size, int32_t *status);
void serialSetWriteBufferSize(uint8_t port, uint32_t size, int32_t *status);
int32_t serialGetBytesReceived(uint8_t port, int32_t *status);
uint32_t serialRead(uint8_t port, char* buffer, int32_t count, int32_t *status);
uint32_t serialWrite(uint8_t port, const char *buffer, int32_t count, int32_t *status);
void serialFlush(uint8_t port, int32_t *status);
void serialClear(uint8_t port, int32_t *status);
void serialClose(uint8_t port, int32_t *status);
}

27
hal/lib/Athena/HAL.cpp
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@@ -3,6 +3,7 @@
#include "Port.h"
#include "HAL/Errors.hpp"
#include "ctre/ctre.h"
#include "visa/visa.h"
#include "ChipObject.h"
#include "NetworkCommunication/FRCComm.h"
#include "NetworkCommunication/UsageReporting.h"
@@ -101,7 +102,31 @@ const char* getHALErrorMessage(int32_t code)
case ERR_CANSessionMux_NotAllowed:
return ERR_CANSessionMux_NotAllowed_MESSAGE;
case ERR_CANSessionMux_NotInitialized:
return ERR_CANSessionMux_NotInitialized_MESSAGE;
return ERR_CANSessionMux_NotInitialized_MESSAGE;
case VI_ERROR_SYSTEM_ERROR:
return VI_ERROR_SYSTEM_ERROR_MESSAGE;
case VI_ERROR_INV_OBJECT:
return VI_ERROR_INV_OBJECT_MESSAGE;
case VI_ERROR_RSRC_LOCKED:
return VI_ERROR_RSRC_LOCKED_MESSAGE;
case VI_ERROR_RSRC_NFOUND:
return VI_ERROR_RSRC_NFOUND_MESSAGE;
case VI_ERROR_INV_RSRC_NAME:
return VI_ERROR_INV_RSRC_NAME_MESSAGE;
case VI_ERROR_QUEUE_OVERFLOW:
return VI_ERROR_QUEUE_OVERFLOW_MESSAGE;
case VI_ERROR_IO:
return VI_ERROR_IO_MESSAGE;
case VI_ERROR_ASRL_PARITY:
return VI_ERROR_ASRL_PARITY_MESSAGE;
case VI_ERROR_ASRL_FRAMING:
return VI_ERROR_ASRL_FRAMING_MESSAGE;
case VI_ERROR_ASRL_OVERRUN:
return VI_ERROR_ASRL_OVERRUN_MESSAGE;
case VI_ERROR_RSRC_BUSY:
return VI_ERROR_RSRC_BUSY_MESSAGE;
case VI_ERROR_INV_PARAMETER:
return VI_ERROR_INV_PARAMETER_MESSAGE;
default:
return "Unknown error status";
}

146
hal/lib/Athena/SerialPort.cpp Normal file
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@@ -0,0 +1,146 @@
#include "HAL/SerialPort.hpp"
#include "visa/visa.h"
uint32_t m_resourceManagerHandle;
uint32_t m_portHandle[2];
void serialInitializePort(uint8_t port, int32_t *status) {
char const * portName;
if (m_resourceManagerHandle ==0)
viOpenDefaultRM((ViSession*)&m_resourceManagerHandle);
if(port == 0)
portName = "ASRL1::INSTR";
else
portName = "ASRL2::INSTR";
*status = viOpen(m_resourceManagerHandle, const_cast<char*>(portName), VI_NULL, VI_NULL, (ViSession*)&m_portHandle[port]);
if(*status > 0)
*status = 0;
}
void serialSetBaudRate(uint8_t port, uint32_t baud, int32_t *status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_BAUD, baud);
if(*status > 0)
*status = 0;
}
void serialSetDataBits(uint8_t port, uint8_t bits, int32_t *status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_DATA_BITS, bits);
if(*status > 0)
*status = 0;
}
void serialSetParity(uint8_t port, uint8_t parity, int32_t *status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_PARITY, parity);
if(*status > 0)
*status = 0;
}
void serialSetStopBits(uint8_t port, uint8_t stopBits, int32_t *status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_STOP_BITS, stopBits);
if(*status > 0)
*status = 0;
}
void serialSetWriteMode(uint8_t port, uint8_t mode, int32_t *status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_WR_BUF_OPER_MODE, mode);
if(*status > 0)
*status = 0;
}
void serialSetFlowControl(uint8_t port, uint8_t flow, int32_t *status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_FLOW_CNTRL, flow);
if(*status > 0)
*status = 0;
}
void serialSetTimeout(uint8_t port, float timeout, int32_t *status) {
*status = viSetAttribute(m_portHandle[port], VI_ATTR_TMO_VALUE, (uint32_t)(timeout * 1e3));
if(*status > 0)
*status = 0;
}
void serialEnableTermination(uint8_t port, char terminator, int32_t *status) {
viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR_EN, VI_TRUE);
viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR, terminator);
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_END_IN, VI_ASRL_END_TERMCHAR);
if(*status > 0)
*status = 0;
}
void serialDisableTermination(uint8_t port, int32_t *status) {
viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR_EN, VI_FALSE);
*status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_END_IN, VI_ASRL_END_NONE);
if(*status > 0)
*status = 0;
}
void serialSetReadBufferSize(uint8_t port, uint32_t size, int32_t *status) {
*status = viSetBuf(m_portHandle[port], VI_READ_BUF, size);
if(*status > 0)
*status = 0;
}
void serialSetWriteBufferSize(uint8_t port, uint32_t size, int32_t *status) {
*status = viSetBuf(m_portHandle[port], VI_WRITE_BUF, size);
if(*status > 0)
*status = 0;
}
int32_t serialGetBytesReceived(uint8_t port, int32_t *status) {
int32_t bytes = 0;
*status = viGetAttribute(m_portHandle[port], VI_ATTR_ASRL_AVAIL_NUM, &bytes);
if(*status > 0)
*status = 0;
return bytes;
}
uint32_t serialRead(uint8_t port, char* buffer, int32_t count, int32_t *status) {
uint32_t retCount = 0;
*status = viRead(m_portHandle[port], (ViPBuf)buffer, count, (ViPUInt32)&retCount);
if(*status == VI_ERROR_IO || *status == VI_ERROR_ASRL_OVERRUN || *status == VI_ERROR_ASRL_FRAMING || *status == VI_ERROR_ASRL_PARITY)
{
int32_t localStatus = 0;
serialClear(port, &localStatus);
}
if(*status == VI_ERROR_TMO || *status > 0)
*status = 0;
return retCount;
}
uint32_t serialWrite(uint8_t port, const char *buffer, int32_t count, int32_t *status) {
uint32_t retCount = 0;
*status = viWrite(m_portHandle[port], (ViPBuf)buffer, count, (ViPUInt32)&retCount);
if(*status > 0)
*status = 0;
return retCount;
}
void serialFlush(uint8_t port, int32_t *status) {
*status = viFlush(m_portHandle[port], VI_WRITE_BUF);
if(*status > 0)
*status = 0;
}
void serialClear(uint8_t port, int32_t *status) {
*status = viClear(m_portHandle[port]);
if(*status > 0)
*status = 0;
}
void serialClose(uint8_t port, int32_t *status) {
*status = viClose(m_portHandle[port]);
if(*status > 0)
*status = 0;
}

0
wpilibc/wpilibC++Devices/include/visa/visa.h → hal/lib/Athena/visa/visa.h
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0
wpilibc/wpilibC++Devices/include/visa/visatype.h → hal/lib/Athena/visa/visatype.h
View File

6
wpilibc/wpilibC++Devices/include/SerialPort.h
View File

@@ -27,16 +27,15 @@ public:
enum StopBits {kStopBits_One=10, kStopBits_OnePointFive=15, kStopBits_Two=20};
enum FlowControl {kFlowControl_None=0, kFlowControl_XonXoff=1, kFlowControl_RtsCts=2, kFlowControl_DtrDsr=4};
enum WriteBufferMode {kFlushOnAccess=1, kFlushWhenFull=2};
enum Port {kOnboard=0, kMXP=1};
SerialPort(uint32_t baudRate, uint8_t dataBits = 8, Parity parity = kParity_None,
SerialPort(uint32_t baudRate, Port port = kOnboard, uint8_t dataBits = 8, Parity parity = kParity_None,
StopBits stopBits = kStopBits_One);
~SerialPort();
void SetFlowControl(FlowControl flowControl);
void EnableTermination(char terminator = '\n');
void DisableTermination();
int32_t GetBytesReceived();
void Printf(const char *writeFmt, ...);
void Scanf(const char *readFmt, ...);
uint32_t Read(char *buffer, int32_t count);
uint32_t Write(const char *buffer, int32_t count);
void SetTimeout(float timeout);
@@ -50,6 +49,7 @@ private:
uint32_t m_resourceManagerHandle;
uint32_t m_portHandle;
bool m_consoleModeEnabled;
uint8_t m_port;
DISALLOW_COPY_AND_ASSIGN(SerialPort);
};

203
wpilibc/wpilibC++Devices/src/SerialPort.cpp
View File

@@ -7,7 +7,7 @@
#include "SerialPort.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "visa/visa.h"
#include "HAL/HAL.hpp"
#include <stdarg.h>
//static ViStatus _VI_FUNCH ioCompleteHandler (ViSession vi, ViEventType eventType, ViEvent event, ViAddr userHandle);
@@ -20,31 +20,25 @@
* @param parity Select the type of parity checking to use.
* @param stopBits The number of stop bits to use as defined by the enum StopBits.
*/
SerialPort::SerialPort(uint32_t baudRate, uint8_t dataBits, SerialPort::Parity parity, SerialPort::StopBits stopBits)
SerialPort::SerialPort(uint32_t baudRate, Port port, uint8_t dataBits, SerialPort::Parity parity, SerialPort::StopBits stopBits)
: m_resourceManagerHandle (0)
, m_portHandle (0)
, m_consoleModeEnabled (false)
{
ViStatus localStatus = VI_SUCCESS;
localStatus = viOpenDefaultRM((ViSession*)&m_resourceManagerHandle);
wpi_setError(localStatus);
localStatus = viOpen(m_resourceManagerHandle, const_cast<char*>("ASRL1::INSTR"), VI_NULL, VI_NULL, (ViSession*)&m_portHandle);
wpi_setError(localStatus);
if (localStatus != 0)
{
m_consoleModeEnabled = true;
return;
}
localStatus = viSetAttribute(m_portHandle, VI_ATTR_ASRL_BAUD, baudRate);
wpi_setError(localStatus);
localStatus = viSetAttribute(m_portHandle, VI_ATTR_ASRL_DATA_BITS, dataBits);
wpi_setError(localStatus);
localStatus = viSetAttribute(m_portHandle, VI_ATTR_ASRL_PARITY, parity);
wpi_setError(localStatus);
localStatus = viSetAttribute(m_portHandle, VI_ATTR_ASRL_STOP_BITS, stopBits);
wpi_setError(localStatus);
int32_t status = 0;
m_port = port;
serialInitializePort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
serialSetBaudRate(port, baudRate, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
serialSetDataBits(port, dataBits, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
serialSetParity(port, parity, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
serialSetStopBits(port, stopBits, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
// Set the default timeout to 5 seconds.
SetTimeout(5.0f);
@@ -56,7 +50,7 @@ SerialPort::SerialPort(uint32_t baudRate, uint8_t dataBits, SerialPort::Parity p
//viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler, this);
//viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
HALReport(HALUsageReporting::kResourceType_SerialPort, 0);
}
@@ -65,12 +59,9 @@ SerialPort::SerialPort(uint32_t baudRate, uint8_t dataBits, SerialPort::Parity p
*/
SerialPort::~SerialPort()
{
if (!m_consoleModeEnabled)
{
//viUninstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler, this);
viClose(m_portHandle);
}
viClose(m_resourceManagerHandle);
int32_t status = 0;
serialClose(m_port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -80,11 +71,9 @@ SerialPort::~SerialPort()
*/
void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl)
{
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viSetAttribute (m_portHandle, VI_ATTR_ASRL_FLOW_CNTRL, flowControl);
wpi_setError(localStatus);
}
int32_t status = 0;
serialSetFlowControl(m_port, flowControl, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -98,12 +87,9 @@ void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl)
*/
void SerialPort::EnableTermination(char terminator)
{
if (!m_consoleModeEnabled)
{
viSetAttribute(m_portHandle, VI_ATTR_TERMCHAR_EN, VI_TRUE);
viSetAttribute(m_portHandle, VI_ATTR_TERMCHAR, terminator);
viSetAttribute(m_portHandle, VI_ATTR_ASRL_END_IN, VI_ASRL_END_TERMCHAR);
}
int32_t status = 0;
serialEnableTermination(m_port, terminator, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -111,65 +97,22 @@ void SerialPort::EnableTermination(char terminator)
*/
void SerialPort::DisableTermination()
{
if (!m_consoleModeEnabled)
{
viSetAttribute(m_portHandle, VI_ATTR_TERMCHAR_EN, VI_FALSE);
viSetAttribute(m_portHandle, VI_ATTR_ASRL_END_IN, VI_ASRL_END_NONE);
}
int32_t status = 0;
serialDisableTermination(m_port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Get the number of bytes currently available to read from the serial port.
*
* @return The number of bytes available to read.
* @return The number of bytes available to read
*/
int32_t SerialPort::GetBytesReceived()
{
int32_t bytes = 0;
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viGetAttribute(m_portHandle, VI_ATTR_ASRL_AVAIL_NUM, &bytes);
wpi_setError(localStatus);
}
return bytes;
}
/**
* Output formatted text to the serial port.
*
* @bug All pointer-based parameters seem to return an error.
*
* @param writeFmt A string that defines the format of the output.
*/
void SerialPort::Printf(const char *writeFmt, ...)
{
if (!m_consoleModeEnabled)
{
va_list args;
va_start (args, writeFmt);
ViStatus localStatus = viVPrintf(m_portHandle, (ViString)writeFmt, args);
va_end (args);
wpi_setError(localStatus);
}
}
/**
* Input formatted text from the serial port.
*
* @bug All pointer-based parameters seem to return an error.
*
* @param readFmt A string that defines the format of the input.
*/
void SerialPort::Scanf(const char *readFmt, ...)
{
if (!m_consoleModeEnabled)
{
va_list args;
va_start (args, readFmt);
ViStatus localStatus = viVScanf(m_portHandle, (ViString)readFmt, args);
va_end (args);
wpi_setError(localStatus);
}
int32_t status = 0;
int32_t retVal = serialGetBytesReceived(m_port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return retVal;
}
/**
@@ -181,21 +124,10 @@ void SerialPort::Scanf(const char *readFmt, ...)
*/
uint32_t SerialPort::Read(char *buffer, int32_t count)
{
uint32_t retCount = 0;
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viBufRead(m_portHandle, (ViPBuf)buffer, count, (ViPUInt32)&retCount);
switch (localStatus)
{
case VI_SUCCESS_TERM_CHAR:
case VI_SUCCESS_MAX_CNT:
case VI_ERROR_TMO: // Timeout
break;
default:
wpi_setError(localStatus);
}
}
return retCount;
int32_t status = 0;
int32_t retVal = serialRead(m_port, buffer, count, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return retVal;
}
/**
@@ -207,13 +139,10 @@ uint32_t SerialPort::Read(char *buffer, int32_t count)
*/
uint32_t SerialPort::Write(const char *buffer, int32_t count)
{
uint32_t retCount = 0;
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viBufWrite(m_portHandle, (ViPBuf)buffer, count, (ViPUInt32)&retCount);
wpi_setError(localStatus);
}
return retCount;
int32_t status = 0;
int32_t retVal = serialWrite(m_port, buffer, count, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return retVal;
}
/**
@@ -226,11 +155,9 @@ uint32_t SerialPort::Write(const char *buffer, int32_t count)
*/
void SerialPort::SetTimeout(float timeout)
{
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viSetAttribute(m_portHandle, VI_ATTR_TMO_VALUE, (uint32_t)(timeout * 1e3));
wpi_setError(localStatus);
}
int32_t status = 0;
serialSetTimeout(m_port, timeout, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -247,11 +174,9 @@ void SerialPort::SetTimeout(float timeout)
*/
void SerialPort::SetReadBufferSize(uint32_t size)
{
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viSetBuf(m_portHandle, VI_READ_BUF, size);
wpi_setError(localStatus);
}
int32_t status = 0;
serialSetReadBufferSize(m_port, size, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -264,11 +189,9 @@ void SerialPort::SetReadBufferSize(uint32_t size)
*/
void SerialPort::SetWriteBufferSize(uint32_t size)
{
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viSetBuf(m_portHandle, VI_WRITE_BUF, size);
wpi_setError(localStatus);
}
int32_t status = 0;
serialSetWriteBufferSize(m_port, size, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -284,11 +207,9 @@ void SerialPort::SetWriteBufferSize(uint32_t size)
*/
void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode)
{
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viSetAttribute(m_portHandle, VI_ATTR_WR_BUF_OPER_MODE, mode);
wpi_setError(localStatus);
}
int32_t status = 0;
serialSetWriteMode(m_port, mode, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -299,11 +220,9 @@ void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode)
*/
void SerialPort::Flush()
{
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viFlush(m_portHandle, VI_WRITE_BUF);
wpi_setError(localStatus);
}
int32_t status = 0;
serialFlush(m_port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
@@ -313,11 +232,9 @@ void SerialPort::Flush()
*/
void SerialPort::Reset()
{
if (!m_consoleModeEnabled)
{
ViStatus localStatus = viClear(m_portHandle);
wpi_setError(localStatus);
}
int32_t status = 0;
serialClear(m_port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
//void SerialPort::_internalHandler(uint32_t port, uint32_t eventType, uint32_t event)

4
wpilibj/wpilibJavaDevices/pom.xml
View File

@@ -65,8 +65,6 @@
<excludes>
<exclude>edu/wpi/first/wpilibj/image/</exclude>
<exclude>edu/wpi/first/wpilibj/camera/</exclude>
<exclude>edu/wpi/first/wpilibj/visa/</exclude>
<exclude>edu/wpi/first/wpilibj/SerialPort.java</exclude>
</excludes>
</configuration>
</plugin>
@@ -81,8 +79,6 @@
<sourceFileExcludes>
<exclude>edu/wpi/first/wpilibj/image/</exclude>
<exclude>edu/wpi/first/wpilibj/camera/</exclude>
<exclude>edu/wpi/first/wpilibj/visa/</exclude>
<exclude>edu/wpi/first/wpilibj/SerialPort.java</exclude>
</sourceFileExcludes>
</configuration>
</plugin>

218
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
View File

@@ -8,8 +8,15 @@ package edu.wpi.first.wpilibj;
import java.io.UnsupportedEncodingException;
import edu.wpi.first.wpilibj.visa.Visa;
import edu.wpi.first.wpilibj.visa.VisaException;
import java.nio.ByteOrder;
import java.nio.IntBuffer;
import java.nio.ByteBuffer;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.hal.HALLibrary;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.hal.SerialPortJNI;
/**
* Driver for the RS-232 serial port on the RoboRIO.
@@ -25,8 +32,22 @@ import edu.wpi.first.wpilibj.visa.VisaException;
*/
public class SerialPort {
private int m_resourceManagerHandle;
private int m_portHandle;
private byte m_port;
public enum Port {
kOnboard(0),
kMXP(1);
private int value;
private Port(int value){
this.value = value;
}
public int getValue(){
return this.value;
}
};
/**
* Represents the parity to use for serial communications
@@ -166,22 +187,22 @@ public class SerialPort {
* @param parity Select the type of parity checking to use.
* @param stopBits The number of stop bits to use as defined by the enum StopBits.
*/
public SerialPort(final int baudRate, final int dataBits, Parity parity, StopBits stopBits) throws VisaException {
m_resourceManagerHandle = 0;
m_portHandle = 0;
m_resourceManagerHandle = Visa.viOpenDefaultRM();
m_portHandle = Visa.viOpen(m_resourceManagerHandle, "ASRL1::INSTR", 0, 0);
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_ASRL_BAUD, baudRate);
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_ASRL_DATA_BITS, dataBits);
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_ASRL_PARITY, parity.value);
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_ASRL_STOP_BITS, stopBits.value);
public SerialPort(final int baudRate, Port port, final int dataBits, Parity parity, StopBits stopBits) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
m_port = (byte) port.getValue();
SerialPortJNI.serialInitializePort(m_port, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
SerialPortJNI.serialSetBaudRate(m_port, baudRate, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
SerialPortJNI.serialSetDataBits(m_port, (byte) dataBits, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
SerialPortJNI.serialSetParity(m_port, (byte) parity.value, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
SerialPortJNI.serialSetStopBits(m_port, (byte) stopBits.value, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
// Set the default read buffer size to 1 to return bytes immediately
setReadBufferSize(1);
@@ -193,11 +214,7 @@ public class SerialPort {
disableTermination();
//viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler, this);
//viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
// XXX: Resource Reporting Fixes
// UsageReporting.report(UsageReporting.kResourceType_SerialPort,0);
UsageReporting.report(tResourceType.kResourceType_SerialPort,0);
}
/**
@@ -207,8 +224,8 @@ public class SerialPort {
* @param dataBits The number of data bits per transfer. Valid values are between 5 and 8 bits.
* @param parity Select the type of parity checking to use.
*/
public SerialPort(final int baudRate, final int dataBits, Parity parity) throws VisaException {
this(baudRate, dataBits, parity, StopBits.kOne);
public SerialPort(final int baudRate, Port port, final int dataBits, Parity parity) {
this(baudRate, port, dataBits, parity, StopBits.kOne);
}
/**
@@ -218,8 +235,8 @@ public class SerialPort {
* @param baudRate The baud rate to configure the serial port.
* @param dataBits The number of data bits per transfer. Valid values are between 5 and 8 bits.
*/
public SerialPort(final int baudRate, final int dataBits) throws VisaException {
this(baudRate, dataBits, Parity.kNone, StopBits.kOne);
public SerialPort(final int baudRate, Port port, final int dataBits) {
this(baudRate, port, dataBits, Parity.kNone, StopBits.kOne);
}
/**
@@ -228,17 +245,18 @@ public class SerialPort {
*
* @param baudRate The baud rate to configure the serial port.
*/
public SerialPort(final int baudRate) throws VisaException {
this(baudRate, 8, Parity.kNone, StopBits.kOne);
public SerialPort(final int baudRate, Port port) {
this(baudRate, port, 8, Parity.kNone, StopBits.kOne);
}
/**
* Destructor.
*/
public void free() {
//viUninstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler, this);
Visa.viClose(m_portHandle);
Visa.viClose(m_resourceManagerHandle);
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialClose(m_port, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
@@ -247,8 +265,11 @@ public class SerialPort {
* By default, flow control is disabled.
* @param flowControl
*/
public void setFlowControl(FlowControl flowControl) throws VisaException {
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_ASRL_FLOW_CNTRL, flowControl.value);
public void setFlowControl(FlowControl flowControl) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialSetFlowControl(m_port, (byte) flowControl.value, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
@@ -260,14 +281,15 @@ public class SerialPort {
*
* @param terminator The character to use for termination.
*/
public void enableTermination(char terminator) throws VisaException {
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_TERMCHAR_EN, true);
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_TERMCHAR, terminator);
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_ASRL_END_IN, Visa.VI_ASRL_END_TERMCHAR);
public void enableTermination(char terminator) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialEnableTermination(m_port, terminator, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
* Enable termination and specify the termination character.
* Enable termination with the default terminator '\n'
*
* Termination is currently only implemented for receive.
* When the the terminator is received, the read() or readString() will return
@@ -275,16 +297,18 @@ public class SerialPort {
*
* The default terminator is '\n'
*/
public void enableTermination() throws VisaException {
public void enableTermination() {
this.enableTermination('\n');
}
/**
* Disable termination behavior.
*/
public void disableTermination() throws VisaException {
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_TERMCHAR_EN, false);
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_ASRL_END_IN, Visa.VI_ASRL_END_NONE);
public void disableTermination() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialDisableTermination(m_port, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
@@ -292,20 +316,13 @@ public class SerialPort {
*
* @return The number of bytes available to read.
*/
public int getBytesReceived() throws VisaException {
return Visa.viGetAttribute(m_portHandle, Visa.VI_ATTR_ASRL_AVAIL_NUM);
}
/**
* Output formatted text to the serial port.
*
* @deprecated use write(string.getBytes()) instead
* @bug All pointer-based parameters seem to return an error.
*
* @param write A string to write
*/
public void print(String write) throws VisaException {
Visa.viVPrintf(m_portHandle, write);
public int getBytesReceived() {
int retVal = 0;
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
retVal = SerialPortJNI.serialGetBytesRecieved(m_port, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return retVal;
}
/**
@@ -313,7 +330,7 @@ public class SerialPort {
*
* @return The read string
*/
public String readString() throws VisaException {
public String readString() {
return readString(getBytesReceived());
}
@@ -323,8 +340,8 @@ public class SerialPort {
* @param count the number of characters to read into the string
* @return The read string
*/
public String readString(int count) throws VisaException {
byte[] out = Visa.viBufRead(m_portHandle, count);
public String readString(int count) {
byte[] out = read(count);
try {
return new String(out, 0, count, "US-ASCII");
} catch (UnsupportedEncodingException ex) {
@@ -339,20 +356,43 @@ public class SerialPort {
* @param count The maximum number of bytes to read.
* @return An array of the read bytes
*/
public byte[] read(final int count) throws VisaException {
return Visa.viBufRead(m_portHandle, count);
public byte[] read(final int count) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(count);
SerialPortJNI.serialRead(m_port, dataReceivedBuffer, count, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
byte[] retVal = new byte[count];
dataReceivedBuffer.get(retVal);
return retVal;
}
/**
* Write raw bytes to the buffer.
* Write raw bytes to the serial port.
*
* @param buffer the buffer to read the bytes from.
* @param buffer The buffer of bytes to write.
* @param count The maximum number of bytes to write.
* @return The number of bytes actually written into the port.
*/
public int write(byte[] buffer, int count) throws VisaException {
return Visa.viBufWrite(m_portHandle, buffer, count);
public int write(byte[] buffer, int count) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(count);
dataToSendBuffer.put(buffer);
int retVal = SerialPortJNI.serialWrite(m_port, dataToSendBuffer, count, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return retVal;
}
/**
* Write a string to the serial port
*
* @param data The string to write to the serial port.
* @return The number of bytes actually written into the port.
*/
public int writeString(String data) {
return write(data.getBytes(), data.length());
}
/**
* Configure the timeout of the serial port.
@@ -363,8 +403,11 @@ public class SerialPort {
*
* @param timeout The number of seconds to to wait for I/O.
*/
public void setTimeout(double timeout) throws VisaException {
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_TMO_VALUE, (int) (timeout * 1e3));
public void setTimeout(double timeout) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialSetTimeout(m_port, (float)timeout, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
@@ -379,8 +422,11 @@ public class SerialPort {
*
* @param size The read buffer size.
*/
void setReadBufferSize(int size) throws VisaException {
Visa.viSetBuf(m_portHandle, Visa.VI_READ_BUF, size);
public void setReadBufferSize(int size) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialSetReadBufferSize(m_port, size, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
@@ -391,8 +437,11 @@ public class SerialPort {
*
* @param size The write buffer size.
*/
void setWriteBufferSize(int size) throws VisaException {
Visa.viSetBuf(m_portHandle, Visa.VI_WRITE_BUF, size);
public void setWriteBufferSize(int size) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialSetWriteBufferSize(m_port, size, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
@@ -406,8 +455,11 @@ public class SerialPort {
*
* @param mode The write buffer mode.
*/
public void setWriteBufferMode(WriteBufferMode mode) throws VisaException {
Visa.viSetAttribute(m_portHandle, Visa.VI_ATTR_WR_BUF_OPER_MODE, mode.value);
public void setWriteBufferMode(WriteBufferMode mode) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialSetWriteMode(m_port, (byte)mode.value, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
@@ -416,8 +468,11 @@ public class SerialPort {
* This is used when setWriteBufferMode() is set to kFlushWhenFull to force a
* flush before the buffer is full.
*/
public void flush() throws VisaException {
Visa.viFlush(m_portHandle, Visa.VI_WRITE_BUF);
public void flush() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialFlush(m_port, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
/**
@@ -425,7 +480,10 @@ public class SerialPort {
*
* Empty the transmit and receive buffers in the device and formatted I/O.
*/
public void reset() throws VisaException {
Visa.viClear(m_portHandle);
public void reset() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
SerialPortJNI.serialClear(m_port, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
}

24
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/SerialPortJNI.java Normal file
View File

@@ -0,0 +1,24 @@
package edu.wpi.first.wpilibj.hal;
import java.nio.IntBuffer;
import java.nio.ByteBuffer;
public class SerialPortJNI extends JNIWrapper {
public static native void serialInitializePort(byte port, IntBuffer status);
public static native void serialSetBaudRate(byte port, int baud, IntBuffer status);
public static native void serialSetDataBits(byte port, byte bits, IntBuffer status);
public static native void serialSetParity(byte port, byte parity, IntBuffer status);
public static native void serialSetStopBits(byte port, byte stopBits, IntBuffer status);
public static native void serialSetWriteMode(byte port, byte mode, IntBuffer status);
public static native void serialSetFlowControl(byte port, byte flow, IntBuffer status);
public static native void serialSetTimeout(byte port, float timeout, IntBuffer status);
public static native void serialEnableTermination(byte port, char terminator, IntBuffer status);
public static native void serialDisableTermination(byte port, IntBuffer status);
public static native void serialSetReadBufferSize(byte port, int size, IntBuffer status);
public static native void serialSetWriteBufferSize(byte port, int size, IntBuffer status);
public static native int serialGetBytesRecieved(byte port, IntBuffer status);
public static native int serialRead(byte port, ByteBuffer buffer, int count, IntBuffer status);
public static native int serialWrite(byte port, ByteBuffer buffer, int count, IntBuffer status);
public static native void serialFlush(byte port, IntBuffer status);
public static native void serialClear(byte port, IntBuffer status);
public static native void serialClose(byte port, IntBuffer status);
}

161
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/visa/Visa.java
View File

@@ -1,161 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.visa;
import com.sun.jna.Function;
import com.sun.jna.NativeLibrary;
import com.sun.jna.Pointer;
import com.sun.jna.ptr.IntByReference;
/**
* This port of visa.h includes only the functions and definitions used in
* SerialPort.java
* @author dtjones
*/
public class Visa {
/**
* Stores the status of the last operation.
*/
private static int status;
/**
* temp buffer for getting values by references
*/
private static final IntByReference pValue = new IntByReference(0);
public static final int VI_ATTR_ASRL_BAUD = (0x3FFF0021);
public static final int VI_ATTR_ASRL_DATA_BITS = (0x3FFF0022);
public static final int VI_ATTR_ASRL_PARITY = (0x3FFF0023);
public static final int VI_ATTR_ASRL_STOP_BITS = (0x3FFF0024);
public static final int VI_ATTR_ASRL_FLOW_CNTRL = (0x3FFF0025);
public static final int VI_ATTR_TERMCHAR_EN = (0x3FFF0038);
public static final int VI_ATTR_TERMCHAR = (0x3FFF0018);
public static final int VI_ATTR_ASRL_END_IN = (0x3FFF00B3);
public static final int VI_ASRL_END_TERMCHAR = 2;
public static final int VI_ASRL_END_NONE = 0;
public static final int VI_ATTR_ASRL_AVAIL_NUM = (0x3FFF00AC);
public static final int VI_SUCCESS_TERM_CHAR = (0x3FFF0005);
public static final int VI_SUCCESS_MAX_CNT = (0x3FFF0006);
public static final int VI_ATTR_TMO_VALUE = (0x3FFF001A);
public static final int VI_ATTR_WR_BUF_OPER_MODE = (0x3FFF002D);
public static final short VI_READ_BUF = 1;
public static final short VI_WRITE_BUF = 2;
private static final Function viOpenDefaultRMFn = NativeLibrary.getDefaultInstance().getFunction("viOpenDefaultRM");
public synchronized static int viOpenDefaultRM() throws VisaException {
status = viOpenDefaultRMFn.call1(pValue.getPointer());
assertCleanStatus("viOpenDefaultRM");
return pValue.getValue();
}
private static final Function viOpenFn = NativeLibrary.getDefaultInstance().getFunction("viOpen");
public synchronized static int viOpen(int sesn, String name, int mode,
int timeout) throws VisaException {
Pointer pName = new Pointer(name.length());
pName.setBytes(0, name.getBytes(), 0, name.length());
status = viOpenFn.call5(sesn, pName, mode, timeout, pValue.getPointer());
assertCleanStatus("viOpen");
pName.free();
return pValue.getValue();
}
private static final Function viSetAttributeFn = NativeLibrary.getDefaultInstance().getFunction("viSetAttribute");
public static void viSetAttribute(int vi, int attrName, int attrValue) throws VisaException {
status = viSetAttributeFn.call3(vi, attrName, attrValue);
assertCleanStatus("viSetAttribute");
}
public static void viSetAttribute(int vi, int attrName, boolean attrValue) throws VisaException {
status = viSetAttributeFn.call3(vi, attrName, attrValue?1:0);
assertCleanStatus("viSetAttribute");
}
private static final Function viSetBufFn = NativeLibrary.getDefaultInstance().getFunction("viSetBuf");
public static void viSetBuf(int vi, short buffer, int size) throws VisaException {
status = viSetBufFn.call3(vi, buffer, size);
assertCleanStatus("viSetBuf");
}
private static final Function viCloseFn = NativeLibrary.getDefaultInstance().getFunction("viClose");
public static void viClose(int vi) {
viCloseFn.call1(vi);
}
private static final Function viGetAttributeFn = NativeLibrary.getDefaultInstance().getFunction("viGetAttribute");
public synchronized static int viGetAttribute(int vi, int attrName) throws VisaException {
status = viGetAttributeFn.call3(vi, attrName, pValue.getPointer());
assertCleanStatus("viGetAttribute");
return pValue.getValue();
}
//Doesn't work correctly. Correct parameters are vi, a format string, and a list of args
private static final Function viVPrintfFn = NativeLibrary.getDefaultInstance().getFunction("viVPrintf");
public static void viVPrintf(int vi, String write) throws VisaException {
Pointer string = new Pointer(write.length());
string.setBytes(0, write.getBytes(), 0, write.length());
status = viVPrintfFn.call2(vi, string);
string.free();
assertCleanStatus("viPrintf");
}
private static final Function viBufReadFn = NativeLibrary.getDefaultInstance().getFunction("viBufRead");
public static byte[] viBufRead(int vi, int cnt) throws VisaException {
Pointer bytes = new Pointer(cnt);
Pointer retCnt = new Pointer(4);
status = viBufReadFn.call4(vi, bytes, cnt, retCnt);
switch (status) {
case VI_SUCCESS_TERM_CHAR:
case VI_SUCCESS_MAX_CNT:
status = 0;
break;
default:
assertCleanStatus("viBufRead");
}
byte[] toReturn = new byte[cnt];
bytes.getBytes(0, toReturn, 0, cnt);
bytes.free();
return toReturn;
}
private static final Function viBufWriteFn = NativeLibrary.getDefaultInstance().getFunction("viBufWrite");
public synchronized static int viBufWrite(int vi, byte[] buf, int cnt) throws VisaException {
Pointer string = new Pointer(buf.length);
string.setBytes(0, buf, 0, buf.length);
status = viBufWriteFn.call4(vi, string, cnt, pValue.getPointer());
assertCleanStatus("viBufWrite");
string.free();
return pValue.getValue();
}
private static final Function viFlushFn = NativeLibrary.getDefaultInstance().getFunction("viFlush");
public static void viFlush(int vi, short mask) throws VisaException {
status = viFlushFn.call2(vi, mask);
assertCleanStatus("viFlush");
}
private static final Function viClearFn = NativeLibrary.getDefaultInstance().getFunction("viClear");
public static void viClear(int vi) throws VisaException {
viClearFn.call1(vi);
assertCleanStatus("viClear");
}
protected static final void assertCleanStatus(String function) throws VisaException {
if (status < 0) {
throw new VisaException(function, status);
} else if (status != 0) {
System.out.println(VisaException.makeMessage(function, status));
status = 0;
}
}
private Visa() {
/* do not instantiate utility class */
}
}

196
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/visa/VisaException.java
View File

@@ -1,196 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.visa;
/**
* Exception class which looks up visa error codes
* @author dtjones
*/
public class VisaException extends Exception {
/**
* Create a new VisaException
* @param function the name of the function which returned the status code
* @param errorCode the status code returned by the function
*/
public VisaException(String function, int errorCode) {
super(makeMessage(function, errorCode));
}
public static String makeMessage(String function, int errorCode) {
return lookUpCode(errorCode) + " in function " + function;
}
public static String lookUpCode(int errorCode) {
switch (errorCode) {
case -1073807360:
return "VI_ERROR_SYSTEM_ERROR";
case -1073807346:
return "VI_ERROR_INV_OBJECT";
case -1073807345:
return "VI_ERROR_RSRC_LOCKED";
case -1073807344:
return "VI_ERROR_INV_EXPR";
case -1073807343:
return "VI_ERROR_RSRC_NFOUND";
case -1073807342:
return "VI_ERROR_INV_RSRC_NAME";
case -1073807341:
return "VI_ERROR_INV_ACC_MODE";
case -1073807339:
return "VI_ERROR_TMO";
case -1073807338:
return "VI_ERROR_CLOSING_FAILED";
case -1073807333:
return "VI_ERROR_INV_DEGREE";
case -1073807332:
return "VI_ERROR_INV_JOB_ID";
case -1073807331:
return "VI_ERROR_NSUP_ATTR";
case -1073807330:
return "VI_ERROR_NSUP_ATTR_STATE";
case -1073807329:
return "VI_ERROR_ATTR_READONLY";
case -1073807328:
return "VI_ERROR_INV_LOCK_TYPE";
case -1073807327:
return "VI_ERROR_INV_ACCESS_KEY";
case -1073807322:
return "VI_ERROR_INV_EVENT";
case -1073807321:
return "VI_ERROR_INV_MECH";
case -1073807320:
return "VI_ERROR_HNDLR_NINSTALLED";
case -1073807319:
return "VI_ERROR_INV_HNDLR_REF";
case -1073807318:
return "VI_ERROR_INV_CONTEXT";
case -1073807315:
return "VI_ERROR_QUEUE_OVERFLOW";
case -1073807313:
return "VI_ERROR_NENABLED";
case -1073807312:
return "VI_ERROR_ABORT";
case -1073807308:
return "VI_ERROR_RAW_WR_PROT_VIOL";
case -1073807307:
return "VI_ERROR_RAW_RD_PROT_VIOL";
case -1073807306:
return "VI_ERROR_OUTP_PROT_VIOL";
case -1073807305:
return "VI_ERROR_INP_PROT_VIOL";
case -1073807304:
return "VI_ERROR_BERR";
case -1073807303:
return "VI_ERROR_IN_PROGRESS";
case -1073807302:
return "VI_ERROR_INV_SETUP";
case -1073807301:
return "VI_ERROR_QUEUE_ERROR";
case -1073807300:
return "VI_ERROR_ALLOC";
case -1073807299:
return "VI_ERROR_INV_MASK";
case -1073807298:
return "VI_ERROR_IO";
case -1073807297:
return "VI_ERROR_INV_FMT";
case -1073807295:
return "VI_ERROR_NSUP_FMT";
case -1073807294:
return "VI_ERROR_LINE_IN_USE";
case -1073807290:
return "VI_ERROR_NSUP_MODE";
case -1073807286:
return "VI_ERROR_SRQ_NOCCURRED";
case -1073807282:
return "VI_ERROR_INV_SPACE";
case -1073807279:
return "VI_ERROR_INV_OFFSET";
case -1073807278:
return "VI_ERROR_INV_WIDTH";
case -1073807276:
return "VI_ERROR_NSUP_OFFSET";
case -1073807275:
return "VI_ERROR_NSUP_VAR_WIDTH";
case -1073807273:
return "VI_ERROR_WINDOW_NMAPPED";
case -1073807271:
return "VI_ERROR_RESP_PENDING";
case -1073807265:
return "VI_ERROR_NLISTENERS";
case -1073807264:
return "VI_ERROR_NCIC";
case -1073807263:
return "VI_ERROR_NSYS_CNTLR";
case -1073807257:
return "VI_ERROR_NSUP_OPER";
case -1073807256:
return "VI_ERROR_INTR_PENDING";
case -1073807254:
return "VI_ERROR_ASRL_PARITY";
case -1073807253:
return "VI_ERROR_ASRL_FRAMING";
case -1073807252:
return "VI_ERROR_ASRL_OVERRUN";
case -1073807250:
return "VI_ERROR_TRIG_NMAPPED";
case -1073807248:
return "VI_ERROR_NSUP_ALIGN_OFFSET";
case -1073807247:
return "VI_ERROR_USER_BUF";
case -1073807246:
return "VI_ERROR_RSRC_BUSY";
case -1073807242:
return "VI_ERROR_NSUP_WIDTH";
case -1073807240:
return "VI_ERROR_INV_PARAMETER";
case -1073807239:
return "VI_ERROR_INV_PROT";
case -1073807237:
return "VI_ERROR_INV_SIZE";
case -1073807232:
return "VI_ERROR_WINDOW_MAPPED";
case -1073807231:
return "VI_ERROR_NIMPL_OPER";
case -1073807229:
return "VI_ERROR_INV_LENGTH";
case -1073807215:
return "VI_ERROR_INV_MODE";
case -1073807204:
return "VI_ERROR_SESN_NLOCKED";
case -1073807203:
return "VI_ERROR_MEM_NSHARED";
case -1073807202:
return "VI_ERROR_LIBRARY_NFOUND";
case -1073807201:
return "VI_ERROR_NSUP_INTR";
case -1073807200:
return "VI_ERROR_INV_LINE";
case -1073807199:
return "VI_ERROR_FILE_ACCESS";
case -1073807198:
return "VI_ERROR_FILE_IO";
case -1073807197:
return "VI_ERROR_NSUP_LINE";
case -1073807196:
return "VI_ERROR_NSUP_MECH";
case -1073807195:
return "VI_ERROR_INTF_NUM_NCONFIG";
case -1073807194:
return "VI_ERROR_CONN_LOST";
case -1073807193:
return "VI_ERROR_MACHINE_NAVAIL";
case -1073807192:
return "VI_ERROR_NPERMISSION";
default:
return "Unknown error code";
}
}
}

10
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/visa/package.html
View File

@@ -1,10 +0,0 @@
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<head>
<title>VISA</title>
<meta http-equiv="Content-Type" content="text/html; charset=MacRoman">
</head>
<body>
Provides classes to access I/O functions in visa.h.
</body>
</html>

288
wpilibj/wpilibJavaJNI/lib/SerialPortJNI.cpp Normal file
View File

@@ -0,0 +1,288 @@
#include <jni.h>
#include <assert.h>
#include "Log.hpp"
#include "edu_wpi_first_wpilibj_hal_SerialPortJNI.h"
#include "HAL/SerialPort.hpp"
// set the logging level
TLogLevel serialJNILogLevel = logWARNING;
#define SERIALJNI_LOG(level) \
if (level > serialJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialInitializePort
* Signature: (BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePort
(JNIEnv * env, jclass, jbyte port, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize";
SERIALJNI_LOG(logDEBUG) << "Port = " << (jint) port;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialInitializePort(port, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialSetBaudRate
* Signature: (BILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetBaudRate
(JNIEnv * env, jclass, jbyte port, jint rate, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate";
SERIALJNI_LOG(logDEBUG) << "Baud: " << rate;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialSetBaudRate(port, rate, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialSetDataBits
* Signature: (BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetDataBits
(JNIEnv * env, jclass, jbyte port, jbyte bits, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits";
SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialSetDataBits(port, bits, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialSetParity
* Signature: (BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetParity
(JNIEnv * env, jclass, jbyte port, jbyte parity, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity";
SERIALJNI_LOG(logDEBUG) << "Parity: " << parity;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialSetParity(port, parity, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialSetStopBits
* Signature: (BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetStopBits
(JNIEnv * env, jclass, jbyte port, jbyte bits, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits";
SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialSetStopBits(port, bits, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialSetWriteMode
* Signature: (BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteMode
(JNIEnv * env, jclass, jbyte port, jbyte mode, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode";
SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialSetWriteMode(port, mode, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialSetFlowControl
* Signature: (BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetFlowControl
(JNIEnv * env, jclass, jbyte port, jbyte flow, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control";
SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialSetFlowControl(port, flow, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialSetTimeout
* Signature: (BFLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetTimeout
(JNIEnv * env, jclass, jbyte port, jfloat timeout, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialSetTimeout(port, timeout, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialEnableTermination
* Signature: (BCLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialEnableTermination
(JNIEnv * env, jclass, jbyte port, jchar terminator, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination";
SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialEnableTermination(port, terminator, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialDisableTermination
* Signature: (BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialDisableTermination
(JNIEnv * env, jclass, jbyte port, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialDisableTermination(port, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialSetReadBufferSize
* Signature: (BILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetReadBufferSize
(JNIEnv * env, jclass, jbyte port, jint size, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size";
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialSetReadBufferSize(port, size, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialSetWriteBufferSize
* Signature: (BILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteBufferSize
(JNIEnv * env, jclass, jbyte port, jint size, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size";
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialSetWriteBufferSize(port, size, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialGetBytesRecieved
* Signature: (BLjava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialGetBytesRecieved
(JNIEnv * env, jclass, jbyte port, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint retVal = serialGetBytesReceived(port, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialRead
* Signature: (BLjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialRead
(JNIEnv * env, jclass, jbyte port, jobject dataReceived, jint size, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Serial Read";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jbyte * dataReceivedPtr = NULL;
dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
jint retVal = serialRead(port, (char*)dataReceivedPtr, size, statusPtr);
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialWrite
* Signature: (BLjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialWrite
(JNIEnv * env, jclass, jbyte port, jobject dataToSend, jint size, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Serial Write";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jbyte * dataToSendPtr = NULL;
if(dataToSend != 0){
dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
}
jint retVal = serialWrite(port, (const char*)dataToSendPtr, size, statusPtr);
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
return retVal;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialFlush
* Signature: (BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialFlush
(JNIEnv * env, jclass, jbyte port, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Serial Flush";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialFlush(port, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialClear
* Signature: (BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClear
(JNIEnv * env, jclass, jbyte port, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Serial Clear";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialClear(port, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
* Method: serialClose
* Signature: (BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClose
(JNIEnv * env, jclass, jbyte port, jobject status)
{
SERIALJNI_LOG(logDEBUG) << "Serial Close";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
serialClose(port, statusPtr);
SERIALJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}

1
wpilibj/wpilibJavaJNI/pom.xml
View File

@@ -127,6 +127,7 @@ this default location, specify a value for the 'embeddedJDKHome' property at the
<javahClassName>edu.wpi.first.wpilibj.hal.CompressorJNI</javahClassName>
<javahClassName>edu.wpi.first.wpilibj.hal.PDPJNI</javahClassName>
<javahClassName>edu.wpi.first.wpilibj.hal.PowerJNI</javahClassName>
<javahClassName>edu.wpi.first.wpilibj.hal.SerialPortJNI</javahClassName>
</javahClassNames>
<!-- enable additional javah interface in dependencies list -->
<!-- javahSearchJNIFromDependencies>true</javahSearchJNIFromDependencies -->