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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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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"