Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-01 02:41:48 +00:00
Code Issues Packages Projects Releases Wiki Activity

Added Omar's changes to the compressor interface

Browse Source 
Change-Id: Iff22b0eaa319065b06795b381c4d6072f8087da8
This commit is contained in:
thomasclark
2014-06-12 12:43:03 -04:00
parent 5d646536fb
commit 8d5c67e6aa
8 changed files with 270 additions and 405 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
hal/include/HAL/Compressor.hpp
View File

@@ -16,7 +16,6 @@ extern "C" {
void *initializeCompressor(uint8_t module);
bool checkCompressorModule(uint8_t module);
void setCompressor(void *pcm_pointer, bool value, int32_t *status);
bool getCompressor(void *pcm_pointer, int32_t *status);
void setClosedLoopControl(void *pcm_pointer, bool value, int32_t *status);

7
hal/lib/Athena/Compressor.cpp
View File

@@ -17,13 +17,6 @@ bool checkCompressorModule(uint8_t module) {
}
void setCompressor(void *pcm_pointer, bool value, int32_t *status) {
PCM *module = (PCM *)pcm_pointer;
*status = module->SetCompressor(value);
}
bool getCompressor(void *pcm_pointer, int32_t *status) {
PCM *module = (PCM *)pcm_pointer;
bool value;

37
hal/lib/Athena/ctre/PCM.cpp
View File

@@ -93,19 +93,6 @@ CTR_Code PCM::SetClosedLoopControl(bool en) {
return CTR_OKAY;
}
/* Set Compressor state
*
* @Return - void
*
* @Param - en - Enable / Disable compressor
*/
CTR_Code PCM::SetCompressor(bool en) {
_PcmControl.compressorOn = en;
if (GetTimeSinceLastTx() >= 50)
return CTR_TxTimeout;
return CTR_OKAY;
}
/* Get solenoid state
*
* @Return - True/False - True if solenoid enabled, false otherwise
@@ -158,21 +145,10 @@ CTR_Code PCM::GetClosedLoopControl(bool &status) {
* @Return - Amperes - Compressor current
*/
CTR_Code PCM::GetCompressorCurrent(float &status) {
uint8_t bt = _PcmStatus.compressorCurrentTop6;
uint16_t bt = _PcmStatus.compressorCurrentTop6;
bt <<= 4;
bt |= _PcmStatus.compressorCurrentBtm4;
status = 20.1612903225806 * bt;
if (GetTimeSinceLastRx() >= 50)
return CTR_RxTimeout;
return CTR_OKAY;
}
/* Get suggested compressor state determined by Closed Loop logic
*
* @Return - True/False - True if closed loop suggests enabling compressor, false if otherwise
*/
CTR_Code PCM::GetClosedLoopSuggestedOutput(bool &status) {
status = _PcmStatus.closedLoopOutput;
status = 0.0201612903225806 * bt;
if (GetTimeSinceLastRx() >= 50)
return CTR_RxTimeout;
return CTR_OKAY;
@@ -409,9 +385,6 @@ extern "C" {
CTR_Code c_SetSolenoid(void * handle, unsigned char idx, INT8 param) {
return ((PCM*) handle)->SetSolenoid(idx, param);
}
CTR_Code c_SetCompressor(void * handle, INT8 param) {
return ((PCM*) handle)->SetCompressor(param);
}
CTR_Code c_SetClosedLoopControl(void * handle, INT8 param) {
return ((PCM*) handle)->SetClosedLoopControl(param);
}
@@ -446,12 +419,6 @@ extern "C" {
CTR_Code retval = ((PCM*) handle)->GetCompressorCurrent(*status);
return retval;
}
CTR_Code c_GetClosedLoopSuggestedOutput(void * handle, INT8 * status) {
bool bstatus;
CTR_Code retval = ((PCM*) handle)->GetClosedLoopSuggestedOutput(bstatus);
*status = bstatus;
return retval;
}
CTR_Code c_GetSolenoidVoltage(void * handle, float*status) {
return ((PCM*) handle)->GetSolenoidVoltage(*status);

111
hal/lib/Athena/ctre/PCM.h
View File

@@ -42,9 +42,8 @@ typedef struct _PcmControl_t{
/* Byte 2 */
unsigned solenoidBits:8;
/* Byte 3*/
unsigned reserved:4;
unsigned closeLoopOutput:1;
unsigned compressorOn:1;
unsigned reserved:5;
unsigned CompressorOn_deprecated:1; //!< This is ignored by PCM firm now.
unsigned closedLoopEnable:1;
unsigned clearStickyFaults:1;
}PcmControl_t;
@@ -78,34 +77,20 @@ public:
~PCM();
/* Set PCM solenoid state
*
* @Return - CTR_Code - Error code (if any) for setting solenoid
*
* @Param - idx - ID of solenoid (1-8)
* @Param - en - Enable / Disable identified solenoid
*/
CTR_Code SetSolenoid(unsigned char idx, bool en);
/* Set Compressor state
*
* @Return - CTR_Code - Error code (if any) for setting solenoid
*
* @Param - en - Enable / Disable compressor
*/
CTR_Code SetCompressor(bool en);
/* Enables PCM Closed Loop Control of Compressor via pressure switch
*
* @Return - CTR_Code - Error code (if any) for setting solenoid
*
* @Param - en - Enable / Disable Closed Loop Control
*/
CTR_Code SetClosedLoopControl(bool en);
/* Clears PCM sticky faults (indicators of past faults
*
* @Return - CTR_Code - Error code (if any) for setting solenoid
*
* @Param - clr - Clear / do not clear faults
*/
CTR_Code ClearStickyFaults(bool clr);
@@ -113,107 +98,77 @@ public:
/* Get solenoid state
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - idx - ID of solenoid (1-8) to return status of
*
* @Param - status - True if solenoid enabled, false otherwise
* @Param - status - True if solenoid output is set to be enabled, false otherwise.
* If the phsyical output led still isn't on, then check webdash for
* any faults/is PCM enabled.
*/
CTR_Code GetSolenoid(UINT8 idx, bool &status);
/* Get pressure switch state
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - True if pressure adequate, false if low
*/
CTR_Code GetPressure(bool &status);
/* Get compressor state
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - True if enabled, false if otherwise
* @Param - status - True if compress ouput is on, false if otherwise
*/
CTR_Code GetCompressor(bool &status);
/* Get closed loop control state
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - True if closed loop enabled, false if otherwise
*/
CTR_Code GetClosedLoopControl(bool &status);
/* Get compressor current draw
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - Compressor current returned in Amperes (A)
*/
CTR_Code GetCompressorCurrent(float &status);
/* Get suggested compressor state determined by Closed Loop logic
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - True if closed loop suggests enabling compressor, false if otherwise
*/
CTR_Code GetClosedLoopSuggestedOutput(bool &status);
/* Get voltage across solenoid rail
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - Voltage across solenoid rail in Volts (V)
*/
CTR_Code GetSolenoidVoltage(float &status);
/* Get hardware fault value
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - True if hardware failure detected, false if otherwise
*/
CTR_Code GetHardwareFault(bool &status);
/* Get compressor fault value
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - True if shorted compressor detected, false if otherwise
*/
CTR_Code GetCompressorFault(bool &status);
/* Get solenoid fault value
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - True if shorted solenoid detected, false if otherwise
*/
CTR_Code GetSolenoidFault(bool &status);
/* Get compressor sticky fault value
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - True if solenoid had previously been shorted
* (and sticky fault was not cleared), false if otherwise
*/
CTR_Code GetCompressorStickyFault(bool &status);
/* Get solenoid sticky fault value
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - True if compressor had previously been shorted
* (and sticky fault was not cleared), false if otherwise
*/
CTR_Code GetSolenoidStickyFault(bool &status);
/* Get battery voltage
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - Voltage across PCM power ports in Volts (V)
*/
CTR_Code GetBatteryVoltage(float &status);
@@ -223,31 +178,7 @@ public:
* @Param - deviceNumber - Device number of PCM to control
*/
void SetDeviceNumber(UINT8 deviceNumber);
/* Seek PCM Status Frames on CAN bus
* @Return - void
* @Param - en - Enable / Disable seeking of PCM Status Frame
* @Notes - Status Frames identify
*/
void EnableSeekStatusFrames(bool en);
/* Seek PCM Status Fault Frames on CAN bus
* @Return - void
* @Param - en - Enable / Disable seeking of PCM Status Fault Frame
* @Notes - Status Fault Frames identify Blacklisted Solenoids
*/
void EnableSeekStatusFaultFrames(bool en);
/* Seek PCM Debug Frames on CAN bus
*
* @Return - void
* @Param - en - Enable / Disable seeking of PCM Debug Frame
* @Notes - Debug Frames identify the number of failed tokens (for exclusive, secure control of PCM by RoboRIO)
*/
void EnableSeekDebugFrames(bool en);
/* Get number of total failed PCM Control Frame
*
* @Return - CTR_Code - Error code (if any)
* @Param - status - Number of failed control frames (tokenization fails)
* @WARNING - Return only valid if [SeekDebugFrames] is enabled
@@ -257,12 +188,9 @@ public:
CTR_Code GetNumberOfFailedControlFrames(UINT16 &status);
/* Get raw Solenoid Blacklist
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - status - Raw binary breakdown of Solenoid Blacklist
* BIT7 = Solenoid 1, BIT6 = Solenoid 2, etc.
*
* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
* See function SeekStatusFaultFrames
* See function EnableSeekStatusFaultFrames
@@ -271,13 +199,9 @@ public:
/* Get solenoid Blacklist status
* - Blacklisted solenoids cannot be enabled until PCM is power cycled
*
* @Return - CTR_Code - Error code (if any)
*
* @Param - idx - ID of solenoid
*
* @Param - status - True if Solenoid is blacklisted, false if otherwise
*
* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
* See function SeekStatusFaultFrames
* See function EnableSeekStatusFaultFrames
@@ -300,6 +224,27 @@ public:
*/
int GetTimeSinceLastRx(void) { return _timeSinceLastRx;}
private:
/* Seek PCM Status Frames on CAN bus
* @Return - void
* @Param - en - Enable / Disable seeking of PCM Status Frame
* @Notes - Status Frames identify
*/
void EnableSeekStatusFrames(bool en);
/* Seek PCM Status Fault Frames on CAN bus
* @Return - void
* @Param - en - Enable / Disable seeking of PCM Status Fault Frame
* @Notes - Status Fault Frames identify Blacklisted Solenoids
*/
void EnableSeekStatusFaultFrames(bool en);
/* Seek PCM Debug Frames on CAN bus
* @Return - void
* @Param - en - Enable / Disable seeking of PCM Debug Frame
* @Notes - Debug Frames identify the number of failed tokens (for exclusive, secure control of PCM by RoboRIO)
*/
void EnableSeekDebugFrames(bool en);
/* frames to receive */
PcmDebug_t _PcmDebug;
PcmStatus_t _PcmStatus;
@@ -337,7 +282,6 @@ private:
extern "C" {
void * c_PCM_Init(void);
CTR_Code c_SetSolenoid(void * handle,unsigned char idx,INT8 param);
CTR_Code c_SetCompressor(void * handle,INT8 param);
CTR_Code c_SetClosedLoopControl(void * handle,INT8 param);
CTR_Code c_ClearStickyFaults(void * handle,INT8 param);
CTR_Code c_GetSolenoid(void * handle,UINT8 idx,INT8 * status);
@@ -345,7 +289,6 @@ extern "C" {
CTR_Code c_GetCompressor(void * handle,INT8 * status);
CTR_Code c_GetClosedLoopControl(void * handle,INT8 * status);
CTR_Code c_GetCompressorCurrent(void * handle,float * status);
CTR_Code c_GetClosedLoopSuggestedOutput(void * handle,INT8 * status);
CTR_Code c_GetSolenoidVoltage(void * handle,float*status);
CTR_Code c_GetHardwareFault(void * handle,INT8*status);
CTR_Code c_GetCompressorFault(void * handle,INT8*status);

19
wpilibc/wpilibC++/lib/Compressor.cpp
View File

@@ -35,32 +35,19 @@ Compressor::~Compressor() {
}
/**
* Starts the compressor and disables automatic closed-loop control
* Starts closed-loop control
*/
void Compressor::Start() {
SetClosedLoopControl(false);
SetCompressor(true);
SetClosedLoopControl(true);
}
/**
* Stops the compressor and disables automatic closed-loop control
* Stops closed-loop control
*/
void Compressor::Stop() {
SetClosedLoopControl(false);
SetCompressor(false);
}
void Compressor::SetCompressor(bool on) {
int32_t status = 0;
setCompressor(m_pcm_pointer, on, &status);
if(status) {
wpi_setWPIError(Timeout);
}
}
/**
* @return true if the compressor is on
*/

248
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Compressor.java
View File

@@ -1,129 +1,119 @@
package edu.wpi.first.wpilibj;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import edu.wpi.first.wpilibj.SensorBase;
import edu.wpi.first.wpilibj.hal.CompressorJNI;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.parsing.IDevice;
import edu.wpi.first.wpilibj.tables.ITable;
public class Compressor extends SensorBase implements IDevice, LiveWindowSendable {
private ByteBuffer m_pcm;
public Compressor(int module) {
initCompressor(module);
}
public Compressor() {
initCompressor(getDefaultSolenoidModule());
}
private void initCompressor(int module) {
m_table = null;
m_pcm = CompressorJNI.initializeCompressor((byte)module);
}
public void start() {
setClosedLoopControl(false);
setCompressor(true);
}
public void stop() {
setClosedLoopControl(false);
setCompressor(false);
}
public boolean enabled() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getCompressor(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
public boolean getPressureSwitchValue() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getPressureSwitch(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
public float getCompressorCurrent() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
float current = CompressorJNI.getCompressorCurrent(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return current;
}
public void setClosedLoopControl(boolean on) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
CompressorJNI.setClosedLoopControl(m_pcm, on, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
public boolean getClosedLoopControl() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getClosedLoopControl(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
@Override
public void startLiveWindowMode() {
}
@Override
public void stopLiveWindowMode() {
}
private void setCompressor(boolean on) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
CompressorJNI.setCompressor(m_pcm, on, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@Override
public String getSmartDashboardType() {
return "Compressor";
}
private ITable m_table;
@Override
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
@Override
public ITable getTable() {
return m_table;
}
@Override
public void updateTable() {
if (m_table != null) {
m_table.putBoolean("Enabled", enabled());
m_table.putBoolean("Pressure Switch", getPressureSwitchValue());
}
}
}
package edu.wpi.first.wpilibj;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import edu.wpi.first.wpilibj.SensorBase;
import edu.wpi.first.wpilibj.hal.CompressorJNI;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.parsing.IDevice;
import edu.wpi.first.wpilibj.tables.ITable;
public class Compressor extends SensorBase implements IDevice, LiveWindowSendable {
private ByteBuffer m_pcm;
public Compressor(int module) {
initCompressor(module);
}
public Compressor() {
initCompressor(getDefaultSolenoidModule());
}
private void initCompressor(int module) {
m_table = null;
m_pcm = CompressorJNI.initializeCompressor((byte)module);
}
public void start() {
setClosedLoopControl(true);
}
public void stop() {
setClosedLoopControl(false);
}
public boolean enabled() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getCompressor(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
public boolean getPressureSwitchValue() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getPressureSwitch(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
public float getCompressorCurrent() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
float current = CompressorJNI.getCompressorCurrent(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return current;
}
public void setClosedLoopControl(boolean on) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
CompressorJNI.setClosedLoopControl(m_pcm, on, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
public boolean getClosedLoopControl() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
boolean on = CompressorJNI.getClosedLoopControl(m_pcm, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return on;
}
@Override
public void startLiveWindowMode() {
}
@Override
public void stopLiveWindowMode() {
}
@Override
public String getSmartDashboardType() {
return "Compressor";
}
private ITable m_table;
@Override
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
@Override
public ITable getTable() {
return m_table;
}
@Override
public void updateTable() {
if (m_table != null) {
m_table.putBoolean("Enabled", enabled());
m_table.putBoolean("Pressure Switch", getPressureSwitchValue());
}
}
}

35
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/hal/CompressorJNI.java
View File

@@ -1,18 +1,17 @@
package edu.wpi.first.wpilibj.hal;
import java.nio.ByteBuffer;
import java.nio.IntBuffer;
public class CompressorJNI extends JNIWrapper {
public static native ByteBuffer initializeCompressor(byte module);
public static native boolean checkCompressorModule(byte module);
public static native void setCompressor(ByteBuffer pcm_pointer, boolean value, IntBuffer status);
public static native boolean getCompressor(ByteBuffer pcm_pointer, IntBuffer status);
public static native void setClosedLoopControl(ByteBuffer pcm_pointer, boolean value, IntBuffer status);
public static native boolean getClosedLoopControl(ByteBuffer pcm_pointer, IntBuffer status);
public static native boolean getPressureSwitch(ByteBuffer pcm_pointer, IntBuffer status);
public static native float getCompressorCurrent(ByteBuffer pcm_pointer, IntBuffer status);
}
package edu.wpi.first.wpilibj.hal;
import java.nio.ByteBuffer;
import java.nio.IntBuffer;
public class CompressorJNI extends JNIWrapper {
public static native ByteBuffer initializeCompressor(byte module);
public static native boolean checkCompressorModule(byte module);
public static native boolean getCompressor(ByteBuffer pcm_pointer, IntBuffer status);
public static native void setClosedLoopControl(ByteBuffer pcm_pointer, boolean value, IntBuffer status);
public static native boolean getClosedLoopControl(ByteBuffer pcm_pointer, IntBuffer status);
public static native boolean getPressureSwitch(ByteBuffer pcm_pointer, IntBuffer status);
public static native float getCompressorCurrent(ByteBuffer pcm_pointer, IntBuffer status);
}

217
wpilibj/wpilibJavaJNI/lib/CompressorJNI.cpp
View File

@@ -1,115 +1,102 @@
#include "Log.hpp"
#include "edu_wpi_first_wpilibj_hal_CompressorJNI.h"
#include "HAL/HAL.hpp"
typedef void *VoidPointer;
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: initializeCompressor
* Signature: (B)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_initializeCompressor
(JNIEnv *env, jclass, jbyte module)
{
VoidPointer *pcm_pointer = new VoidPointer;
*pcm_pointer = initializeCompressor(module);
return env->NewDirectByteBuffer(pcm_pointer, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: checkCompressorModule
* Signature: (B)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_checkCompressorModule
(JNIEnv *env, jclass, jbyte module)
{
return checkCompressorModule(module);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: setCompressor
* Signature: (Ljava/nio/ByteBuffer;ZLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setCompressor
(JNIEnv *env, jclass, jobject pcm_pointer_object, jboolean value, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
setCompressor(*pcm_pointer, value, status_pointer);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressor
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor
(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
return getCompressor(*pcm_pointer, status_pointer);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: setClosedLoopControl
* Signature: (Ljava/nio/ByteBuffer;ZLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setClosedLoopControl
(JNIEnv *env, jclass, jobject pcm_pointer_object, jboolean value, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
setClosedLoopControl(*pcm_pointer, value, status_pointer);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getClosedLoopControl
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getClosedLoopControl
(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
return getClosedLoopControl(*pcm_pointer, status_pointer);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getPressureSwitch
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getPressureSwitch
(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
return getPressureSwitch(*pcm_pointer, status_pointer);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorCurrent
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent
(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
return getCompressorCurrent(*pcm_pointer, status_pointer);
}
#include "Log.hpp"
#include "edu_wpi_first_wpilibj_hal_CompressorJNI.h"
#include "HAL/HAL.hpp"
typedef void *VoidPointer;
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: initializeCompressor
* Signature: (B)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_initializeCompressor
(JNIEnv *env, jclass, jbyte module)
{
VoidPointer *pcm_pointer = new VoidPointer;
*pcm_pointer = initializeCompressor(module);
return env->NewDirectByteBuffer(pcm_pointer, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: checkCompressorModule
* Signature: (B)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_checkCompressorModule
(JNIEnv *env, jclass, jbyte module)
{
return checkCompressorModule(module);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressor
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor
(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
return getCompressor(*pcm_pointer, status_pointer);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: setClosedLoopControl
* Signature: (Ljava/nio/ByteBuffer;ZLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setClosedLoopControl
(JNIEnv *env, jclass, jobject pcm_pointer_object, jboolean value, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
setClosedLoopControl(*pcm_pointer, value, status_pointer);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getClosedLoopControl
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getClosedLoopControl
(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
return getClosedLoopControl(*pcm_pointer, status_pointer);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getPressureSwitch
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getPressureSwitch
(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
return getPressureSwitch(*pcm_pointer, status_pointer);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorCurrent
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent
(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
{
VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
return getCompressorCurrent(*pcm_pointer, status_pointer);
}