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[wpilib, hal] Add support for getting faults and versions from power distribution (#3794)

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This commit is contained in:
Thad House
2021-12-19 13:42:49 -08:00
committed by GitHub
parent 34b2d0dae1
commit 9778626f34
15 changed files with 743 additions and 165 deletions
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18
hal/src/main/native/cpp/jni/HALUtil.cpp
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@@ -46,6 +46,7 @@ static JException canMessageNotFoundExCls;
static JException canMessageNotAllowedExCls;
static JException canNotInitializedExCls;
static JException uncleanStatusExCls;
static JClass powerDistributionVersionCls;
static JClass pwmConfigDataResultCls;
static JClass canStatusCls;
static JClass matchInfoDataCls;
@@ -56,6 +57,8 @@ static JClass baseStoreCls;
static JClass revPHVersionCls;
static const JClassInit classes[] = {
{"edu/wpi/first/hal/PowerDistributionVersion",
&powerDistributionVersionCls},
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
{"edu/wpi/first/hal/can/CANStatus", &canStatusCls},
{"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
@@ -333,6 +336,21 @@ jobject CreateDMABaseStore(JNIEnv* env, jint valueType, jint index) {
return env->NewObject(baseStoreCls, ctor, valueType, index);
}
jobject CreatePowerDistributionVersion(JNIEnv* env, uint32_t firmwareMajor,
uint32_t firmwareMinor,
uint32_t firmwareFix,
uint32_t hardwareMinor,
uint32_t hardwareMajor,
uint32_t uniqueId) {
static jmethodID constructor =
env->GetMethodID(powerDistributionVersionCls, "<init>", "(IIIIII)V");
return env->NewObject(
powerDistributionVersionCls, constructor,
static_cast<jint>(firmwareMajor), static_cast<jint>(firmwareMinor),
static_cast<jint>(firmwareFix), static_cast<jint>(hardwareMinor),
static_cast<jint>(hardwareMajor), static_cast<jint>(uniqueId));
}
JavaVM* GetJVM() {
return jvm;
}

7
hal/src/main/native/cpp/jni/HALUtil.h
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@@ -82,6 +82,13 @@ jobject CreateHALValue(JNIEnv* env, const HAL_Value& value);
jobject CreateDMABaseStore(JNIEnv* env, jint valueType, jint index);
jobject CreatePowerDistributionVersion(JNIEnv* env, uint32_t firmwareMajor,
uint32_t firmwareMinor,
uint32_t firmwareFix,
uint32_t hardwareMinor,
uint32_t hardwareMajor,
uint32_t uniqueId);
JavaVM* GetJVM();
} // namespace hal

59
hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
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@@ -362,4 +362,63 @@ Java_edu_wpi_first_hal_PowerDistributionJNI_getSwitchableChannelNoError
return state;
}
/*
* Class: edu_wpi_first_hal_PowerDistributionJNI
* Method: getStickyFaultsNative
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_PowerDistributionJNI_getStickyFaultsNative
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_PowerDistributionStickyFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetPowerDistributionStickyFaults(handle, &halFaults, &status);
CheckStatus(env, status, false);
jint faults;
static_assert(sizeof(faults) == sizeof(halFaults));
std::memcpy(&faults, &halFaults, sizeof(faults));
return faults;
}
/*
* Class: edu_wpi_first_hal_PowerDistributionJNI
* Method: getFaultsNative
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_PowerDistributionJNI_getFaultsNative
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_PowerDistributionFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetPowerDistributionFaults(handle, &halFaults, &status);
CheckStatus(env, status, false);
jint faults;
static_assert(sizeof(faults) == sizeof(halFaults));
std::memcpy(&faults, &halFaults, sizeof(faults));
return faults;
}
/*
* Class: edu_wpi_first_hal_PowerDistributionJNI
* Method: getVersion
* Signature: (I)Ljava/lang/Object;
*/
JNIEXPORT jobject JNICALL
Java_edu_wpi_first_hal_PowerDistributionJNI_getVersion
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_PowerDistributionVersion version;
std::memset(&version, 0, sizeof(version));
HAL_GetPowerDistributionVersion(handle, &version, &status);
CheckStatus(env, status, false);
return CreatePowerDistributionVersion(
env, version.firmwareMajor, version.firmwareMinor, version.firmwareFix,
version.hardwareMinor, version.hardwareMajor, version.uniqueId);
}
} // extern "C"