mirror of
https://github.com/wpilibsuite/allwpilib
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Merge changes I55ce71c6,I803680c1
* changes: Rewrite CANTalon JNI layer. Last feature addition for CANTalon java/C++ user-facing API.
This commit is contained in:
Brad Miller (WPI)
829
wpilibj/src/athena/cpp/lib/CanTalonJNI.cpp
Normal file
829
wpilibj/src/athena/cpp/lib/CanTalonJNI.cpp
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@@ -0,0 +1,829 @@
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#include <jni.h>
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#include <assert.h>
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#include "edu_wpi_first_wpilibj_hal_CanTalonJNI.h"
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#include "HAL/CanTalonSRX.h"
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#include "HALUtil.h"
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extern "C" {
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inline bool CheckCTRStatus(JNIEnv *env, CTR_Code status) {
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if (status != CTR_OKAY) ReportError(env, (int32_t)status, false);
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return status == CTR_OKAY;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CanTalonJNI
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* Method: new_CanTalonSRX
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* Signature: (III)J
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*/
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_new_1CanTalonSRX__III
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(JNIEnv *env, jclass, jint deviceNumber, jint controlPeriodMs, jint enablePeriodMs)
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{
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return (jlong)(new CanTalonSRX((int)deviceNumber, (int)controlPeriodMs, (int)enablePeriodMs));
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CanTalonJNI
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* Method: new_CanTalonSRX
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* Signature: (II)J
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*/
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_new_1CanTalonSRX__II
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(JNIEnv *env, jclass, jint deviceNumber, jint controlPeriodMs)
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{
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return (jlong)(new CanTalonSRX((int)deviceNumber, (int)controlPeriodMs));
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CanTalonJNI
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* Method: new_CanTalonSRX
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* Signature: (I)J
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*/
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_new_1CanTalonSRX__I
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(JNIEnv *env, jclass, jint deviceNumber)
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{
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return (jlong)(new CanTalonSRX((int)deviceNumber));
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CanTalonJNI
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* Method: new_CanTalonSRX
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* Signature: ()J
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*/
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_new_1CanTalonSRX__
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(JNIEnv *env, jclass)
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{
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return (jlong)(new CanTalonSRX);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CanTalonJNI
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* Method: delete_CanTalonSRX
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_delete_1CanTalonSRX
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(JNIEnv *env, jclass, jlong handle)
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{
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delete (CanTalonSRX*)handle;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CanTalonJNI
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* Method: GetMotionProfileStatus
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* Signature: (JLedu/wpi/first/wpilibj/CANTalon;Ledu/wpi/first/wpilibj/CANTalon/MotionProfileStatus;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetMotionProfileStatus
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(JNIEnv *env, jclass, jlong handle, jobject canTalon, jobject motionProfileStatus)
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{
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static jmethodID setMotionProfileStatusFromJNI = nullptr;
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if (!setMotionProfileStatusFromJNI) {
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jclass cls = env->GetObjectClass(canTalon);
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setMotionProfileStatusFromJNI = env->GetMethodID(cls, "setMotionProfileStatusFromJNI", "(Ledu/wpi/first/wpilibj/CANTalon$MotionProfileStatus;IIIIIIII)V");
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if (!setMotionProfileStatusFromJNI) return;
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}
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uint32_t flags;
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uint32_t profileSlotSelect;
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int32_t targPos;
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int32_t targVel;
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uint32_t topBufferRem;
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uint32_t topBufferCnt;
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uint32_t btmBufferCnt;
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uint32_t outputEnable;
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CTR_Code status = ((CanTalonSRX*)handle)->GetMotionProfileStatus(flags, profileSlotSelect, targPos, targVel, topBufferRem, topBufferCnt, btmBufferCnt, outputEnable);
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if (!CheckCTRStatus(env, status)) return;
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env->CallVoidMethod(canTalon, setMotionProfileStatusFromJNI, motionProfileStatus, (jint)flags, (jint)profileSlotSelect, (jint)targPos, (jint)targVel, (jint)topBufferRem, (jint)topBufferCnt, (jint)btmBufferCnt, (jint)outputEnable);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_Set
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(JNIEnv *env, jclass, jlong handle, jdouble value)
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{
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return ((CanTalonSRX*)handle)->Set((double)value);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetParam
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(JNIEnv *env, jclass, jlong handle, jint paramEnum, jdouble value)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetParam((CanTalonSRX::param_t)paramEnum, (double)value);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_RequestParam
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(JNIEnv *env, jclass, jlong handle, jint paramEnum)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->RequestParam((CanTalonSRX::param_t)paramEnum);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetParamResponse
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(JNIEnv *env, jclass, jlong handle, jint paramEnum)
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{
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double value;
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CTR_Code status = ((CanTalonSRX*)handle)->GetParamResponse((CanTalonSRX::param_t)paramEnum, value);
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CheckCTRStatus(env, status);
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return value;
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetParamResponseInt32
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(JNIEnv *env, jclass, jlong handle, jint paramEnum)
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{
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int value;
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CTR_Code status = ((CanTalonSRX*)handle)->GetParamResponseInt32((CanTalonSRX::param_t)paramEnum, value);
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CheckCTRStatus(env, status);
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return value;
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetPgain
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(JNIEnv *env, jclass, jlong handle, jint slotIdx, jdouble gain)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetPgain((unsigned)slotIdx, (double)gain);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetIgain
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(JNIEnv *env, jclass, jlong handle, jint slotIdx, jdouble gain)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetIgain((unsigned)slotIdx, (double)gain);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetDgain
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(JNIEnv *env, jclass, jlong handle, jint slotIdx, jdouble gain)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetDgain((unsigned)slotIdx, (double)gain);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetFgain
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(JNIEnv *env, jclass, jlong handle, jint slotIdx, jdouble gain)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetFgain((unsigned)slotIdx, (double)gain);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetIzone
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(JNIEnv *env, jclass, jlong handle, jint slotIdx, jint zone)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetIzone((unsigned)slotIdx, (int)zone);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetCloseLoopRampRate
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(JNIEnv *env, jclass, jlong handle, jint slotIdx, jint closeLoopRampRate)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetCloseLoopRampRate((unsigned)slotIdx, (int)closeLoopRampRate);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetVoltageCompensationRate
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(JNIEnv *env, jclass, jlong handle, jdouble voltagePerMs)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetVoltageCompensationRate((double)voltagePerMs);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetSensorPosition
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(JNIEnv *env, jclass, jlong handle, jint pos)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetSensorPosition((int)pos);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetForwardSoftLimit
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(JNIEnv *env, jclass, jlong handle, jint forwardLimit)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetForwardSoftLimit((int)forwardLimit);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetReverseSoftLimit
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(JNIEnv *env, jclass, jlong handle, jint reverseLimit)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetReverseSoftLimit((int)reverseLimit);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetForwardSoftEnable
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(JNIEnv *env, jclass, jlong handle, jint enable)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetForwardSoftEnable((int)enable);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetReverseSoftEnable
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(JNIEnv *env, jclass, jlong handle, jint enable)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetReverseSoftEnable((int)enable);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetPgain
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(JNIEnv *env, jclass, jlong handle, jint slotIdx)
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{
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double gain;
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CTR_Code status = ((CanTalonSRX*)handle)->GetPgain((unsigned)slotIdx, gain);
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CheckCTRStatus(env, status);
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return gain;
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}
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetIgain
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(JNIEnv *env, jclass, jlong handle, jint slotIdx)
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{
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double gain;
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CTR_Code status = ((CanTalonSRX*)handle)->GetIgain((unsigned)slotIdx, gain);
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CheckCTRStatus(env, status);
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return gain;
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}
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetDgain
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(JNIEnv *env, jclass, jlong handle, jint slotIdx)
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{
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double gain;
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CTR_Code status = ((CanTalonSRX*)handle)->GetDgain((unsigned)slotIdx, gain);
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CheckCTRStatus(env, status);
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return gain;
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}
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFgain
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(JNIEnv *env, jclass, jlong handle, jint slotIdx)
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{
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double gain;
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CTR_Code status = ((CanTalonSRX*)handle)->GetFgain((unsigned)slotIdx, gain);
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CheckCTRStatus(env, status);
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return gain;
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetIzone
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(JNIEnv *env, jclass, jlong handle, jint slotIdx)
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{
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int zone;
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CTR_Code status = ((CanTalonSRX*)handle)->GetIzone((unsigned)slotIdx, zone);
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CheckCTRStatus(env, status);
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return zone;
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetCloseLoopRampRate
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(JNIEnv *env, jclass, jlong handle, jint slotIdx)
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{
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int closeLoopRampRate;
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CTR_Code status = ((CanTalonSRX*)handle)->GetCloseLoopRampRate((unsigned)slotIdx, closeLoopRampRate);
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CheckCTRStatus(env, status);
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return closeLoopRampRate;
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}
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetVoltageCompensationRate
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(JNIEnv *env, jclass, jlong handle)
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{
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double voltagePerMs;
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CTR_Code status = ((CanTalonSRX*)handle)->GetVoltageCompensationRate(voltagePerMs);
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CheckCTRStatus(env, status);
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return voltagePerMs;
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetForwardSoftLimit
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(JNIEnv *env, jclass, jlong handle)
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{
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int forwardLimit;
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CTR_Code status = ((CanTalonSRX*)handle)->GetForwardSoftLimit(forwardLimit);
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CheckCTRStatus(env, status);
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return forwardLimit;
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetReverseSoftLimit
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(JNIEnv *env, jclass, jlong handle)
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{
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int reverseLimit;
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CTR_Code status = ((CanTalonSRX*)handle)->GetReverseSoftLimit(reverseLimit);
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CheckCTRStatus(env, status);
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return reverseLimit;
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetForwardSoftEnable
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(JNIEnv *env, jclass, jlong handle)
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{
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int enable;
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CTR_Code status = ((CanTalonSRX*)handle)->GetForwardSoftEnable(enable);
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CheckCTRStatus(env, status);
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return enable;
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetReverseSoftEnable
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(JNIEnv *env, jclass, jlong handle)
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{
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int enable;
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CTR_Code status = ((CanTalonSRX*)handle)->GetReverseSoftEnable(enable);
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CheckCTRStatus(env, status);
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return enable;
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetPulseWidthRiseToFallUs
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(JNIEnv *env, jclass, jlong handle)
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{
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int param;
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CTR_Code status = ((CanTalonSRX*)handle)->GetPulseWidthRiseToFallUs(param);
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CheckCTRStatus(env, status);
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return param;
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_IsPulseWidthSensorPresent
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(JNIEnv *env, jclass, jlong handle)
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{
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int param;
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CTR_Code status = ((CanTalonSRX*)handle)->IsPulseWidthSensorPresent(param);
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CheckCTRStatus(env, status);
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return param;
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetModeSelect2
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(JNIEnv *env, jclass, jlong handle, jint modeSelect, jint demand)
|
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{
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CTR_Code status = ((CanTalonSRX*)handle)->SetModeSelect((int)modeSelect, (int)demand);
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CheckCTRStatus(env, status);
|
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}
|
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetStatusFrameRate
|
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(JNIEnv *env, jclass, jlong handle, jint frameEnum, jint periodMs)
|
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{
|
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CTR_Code status = ((CanTalonSRX*)handle)->SetStatusFrameRate((unsigned)frameEnum, (unsigned)periodMs);
|
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_ClearStickyFaults
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(JNIEnv *env, jclass, jlong handle)
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{
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CTR_Code status = ((CanTalonSRX*)handle)->ClearStickyFaults();
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_ChangeMotionControlFramePeriod
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(JNIEnv *env, jclass, jlong handle, jint periodMs)
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{
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return ((CanTalonSRX*)handle)->ChangeMotionControlFramePeriod((uint32_t)periodMs);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_ClearMotionProfileTrajectories
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(JNIEnv *env, jclass, jlong handle)
|
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{
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return ((CanTalonSRX*)handle)->ClearMotionProfileTrajectories();
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}
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetMotionProfileTopLevelBufferCount
|
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(JNIEnv *env, jclass, jlong handle)
|
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{
|
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return ((CanTalonSRX*)handle)->GetMotionProfileTopLevelBufferCount();
|
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}
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_IsMotionProfileTopLevelBufferFull
|
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(JNIEnv *env, jclass, jlong handle)
|
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{
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return ((CanTalonSRX*)handle)->IsMotionProfileTopLevelBufferFull();
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_PushMotionProfileTrajectory
|
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(JNIEnv *env, jclass, jlong handle, jint targPos, jint targVel, jint profileSlotSelect, jint timeDurMs, jint velOnly, jint isLastPoint, jint zeroPos)
|
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{
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CTR_Code status = ((CanTalonSRX*)handle)->PushMotionProfileTrajectory((int)targPos, (int)targVel, (int)profileSlotSelect, (int)timeDurMs, (int)velOnly, (int)isLastPoint, (int)zeroPos);
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CheckCTRStatus(env, status);
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}
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_ProcessMotionProfileBuffer
|
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(JNIEnv *env, jclass, jlong handle)
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{
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return ((CanTalonSRX*)handle)->ProcessMotionProfileBuffer();
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}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_OverTemp
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetFault_OverTemp(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_UnderVoltage
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetFault_UnderVoltage(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_ForLim
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetFault_ForLim(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_RevLim
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetFault_RevLim(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_HardwareFailure
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetFault_HardwareFailure(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_ForSoftLim
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetFault_ForSoftLim(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_RevSoftLim
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetFault_RevSoftLim(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_OverTemp
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetStckyFault_OverTemp(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_UnderVoltage
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetStckyFault_UnderVoltage(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_ForLim
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetStckyFault_ForLim(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_RevLim
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetStckyFault_RevLim(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_ForSoftLim
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetStckyFault_ForSoftLim(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_RevSoftLim
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetStckyFault_RevSoftLim(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetAppliedThrottle
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetAppliedThrottle(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetCloseLoopErr
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetCloseLoopErr(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFeedbackDeviceSelect
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetFeedbackDeviceSelect(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetModeSelect
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetModeSelect(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetLimitSwitchEn
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetLimitSwitchEn(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetLimitSwitchClosedFor
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetLimitSwitchClosedFor(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetLimitSwitchClosedRev
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetLimitSwitchClosedRev(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetSensorPosition
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetSensorPosition(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetSensorVelocity
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetSensorVelocity(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetCurrent
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
double retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetCurrent(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetBrakeIsEnabled
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetBrakeIsEnabled(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetEncPosition
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetEncPosition(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetEncVel
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetEncVel(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetEncIndexRiseEvents
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetEncIndexRiseEvents(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetQuadApin
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetQuadApin(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetQuadBpin
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetQuadBpin(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetQuadIdxpin
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetQuadIdxpin(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetAnalogInWithOv
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetAnalogInWithOv(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetAnalogInVel
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetAnalogInVel(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetTemp
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
double retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetTemp(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetBatteryV
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
double retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetBatteryV(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetResetCount
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetResetCount(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetResetFlags
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetResetFlags(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFirmVers
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetFirmVers(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetPulseWidthPosition
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetPulseWidthPosition(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetPulseWidthVelocity
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetPulseWidthVelocity(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetPulseWidthRiseToRiseUs
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetPulseWidthRiseToRiseUs(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_IsValid
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetActTraj_IsValid(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_ProfileSlotSelect
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetActTraj_ProfileSlotSelect(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_VelOnly
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetActTraj_VelOnly(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_IsLast
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetActTraj_IsLast(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetOutputType
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetOutputType(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetHasUnderrun
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetHasUnderrun(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetIsUnderrun
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetIsUnderrun(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetNextID
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetNextID(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetBufferIsFull
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetBufferIsFull(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetCount
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetCount(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_Velocity
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetActTraj_Velocity(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_Position
|
||||
(JNIEnv * env, jclass, jlong handle)
|
||||
{
|
||||
int retval;
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->GetActTraj_Position(retval);
|
||||
CheckCTRStatus(env, status);
|
||||
return retval;
|
||||
}
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetDemand
|
||||
(JNIEnv * env, jclass, jlong handle, jint param)
|
||||
{
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->SetDemand(param);
|
||||
CheckCTRStatus(env, status);
|
||||
}
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetOverrideLimitSwitchEn
|
||||
(JNIEnv * env, jclass, jlong handle, jint param)
|
||||
{
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->SetOverrideLimitSwitchEn(param);
|
||||
CheckCTRStatus(env, status);
|
||||
}
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetFeedbackDeviceSelect
|
||||
(JNIEnv * env, jclass, jlong handle, jint param)
|
||||
{
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->SetFeedbackDeviceSelect(param);
|
||||
CheckCTRStatus(env, status);
|
||||
}
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetRevMotDuringCloseLoopEn
|
||||
(JNIEnv * env, jclass, jlong handle, jint param)
|
||||
{
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->SetRevMotDuringCloseLoopEn(param);
|
||||
CheckCTRStatus(env, status);
|
||||
}
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetOverrideBrakeType
|
||||
(JNIEnv * env, jclass, jlong handle, jint param)
|
||||
{
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->SetOverrideBrakeType(param);
|
||||
CheckCTRStatus(env, status);
|
||||
}
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetModeSelect
|
||||
(JNIEnv * env, jclass, jlong handle, jint param)
|
||||
{
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->SetModeSelect(param);
|
||||
CheckCTRStatus(env, status);
|
||||
}
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetProfileSlotSelect
|
||||
(JNIEnv * env, jclass, jlong handle, jint param)
|
||||
{
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->SetProfileSlotSelect(param);
|
||||
CheckCTRStatus(env, status);
|
||||
}
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetRampThrottle
|
||||
(JNIEnv * env, jclass, jlong handle, jint param)
|
||||
{
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->SetRampThrottle(param);
|
||||
CheckCTRStatus(env, status);
|
||||
}
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetRevFeedbackSensor
|
||||
(JNIEnv * env, jclass, jlong handle, jint param)
|
||||
{
|
||||
CTR_Code status = ((CanTalonSRX*)handle)->SetRevFeedbackSensor(param);
|
||||
CheckCTRStatus(env, status);
|
||||
}
|
||||
} // extern "C"
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,15 +0,0 @@
|
||||
%module CanTalon
|
||||
%{
|
||||
#include "ctre/CanTalonSRX.h"
|
||||
%}
|
||||
|
||||
%include "cpointer.i"
|
||||
%pointer_functions(double, doublep);
|
||||
%pointer_functions(int, intp);
|
||||
%pointer_functions(uint32_t, uint32_tp);
|
||||
%pointer_functions(int32_t, int32_tp);
|
||||
%pointer_functions(uint8_t, uint8_tp);
|
||||
%pointer_functions(CTR_Code, CTR_Codep);
|
||||
%pointer_functions(float, floatp);
|
||||
%include "CtreCanNode.h"
|
||||
%include "CanTalonSRX.h"
|
||||
@@ -1,10 +0,0 @@
|
||||
The generateJNI.sh script explains how to use it to generate the JNI bindings
|
||||
for the CAN Talon stuff using swig. This whole directory is a temporary measure
|
||||
until I (James Kuszmaul--11/18/2014) or someone else figures out how to
|
||||
integrate the swig stuff into the build system. For now, all the generated JNI
|
||||
bindings are checked into git, so that it should work until someone goes and updates ctre/CanTalonSRX.*
|
||||
|
||||
In order for this to work, I had to change the CanTalonSRX constructor to take a int deviceNumber instead of a uint8_t.
|
||||
|
||||
Also, in all the SWIGTYPE* files, you must change protected methods to public functions.
|
||||
Because the SWIGTYPE* files don't generally change, you can jsut do a git checkout -- SWIGTYPE* in wpilibJavaDevices/....../wpilibj/
|
||||
@@ -1,18 +0,0 @@
|
||||
#!/bin/bash
|
||||
#This script should be able to generate the JNI
|
||||
# bindings for the CANTalon using swig.At some point,
|
||||
# it should be integrated into the build system,
|
||||
# but I[james 18 November 2014] don't know how to do that.
|
||||
# Assumes running from allwpilib/wpilibj/wpilibJavaJNI/swigTalon
|
||||
# Get files that we node to generate from.
|
||||
cp ../../../hal/lib/Athena/ctre/CanTalonSRX.cpp ./
|
||||
cp ../../../wpilibc/wpilibC++Devices/include/ctre/* ./
|
||||
# Clean up from previous run.
|
||||
rm *.java
|
||||
# Run SWIG.
|
||||
swig -c++ -package edu.wpi.first.wpilibj.hal -java CanTalonSRX.i
|
||||
# Stick generated files into appropriate places.
|
||||
cp CanTalonSRX_wrap.cxx ../lib/CanTalonSRXJNI.cpp
|
||||
mv CanTalonJNI.java ../../wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/
|
||||
rm CanTalon.java # useless file.
|
||||
cp *.java ../../wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/
|
||||
Reference in New Issue
Block a user