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[build] Apply spotless for java formatting (#1768)

Browse Source 
Update checkstyle config to be compatible with spotless.

Co-authored-by: Austin Shalit <austinshalit@gmail.com>
This commit is contained in:
Peter Johnson
2020-12-29 22:45:16 -08:00
committed by GitHub
parent e563a0b7db
commit a751fa22d2
883 changed files with 16526 additions and 17751 deletions
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14
build.gradle
View File

@@ -11,6 +11,7 @@ plugins {
id 'visual-studio'
id 'net.ltgt.errorprone' version '1.1.1' apply false
id 'com.github.johnrengelman.shadow' version '5.2.0' apply false
id 'com.diffplug.gradle.spotless' version '4.5.0'
}
if (project.hasProperty('buildServer')) {
@@ -131,6 +132,19 @@ ext.getCurrentArch = {
return NativePlatforms.desktop
}
spotless {
java {
target fileTree('.') {
include '**/*.java'
exclude '**/manualTests/**', '**/build*/**'
}
googleJavaFormat()
removeUnusedImports()
trimTrailingWhitespace()
endWithNewline()
}
}
wrapper {
gradleVersion = '6.0.1'
}

90
cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
View File

@@ -4,49 +4,47 @@
package edu.wpi;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.List;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import com.google.gson.JsonArray;
import com.google.gson.JsonElement;
import com.google.gson.JsonObject;
import com.google.gson.JsonParser;
import edu.wpi.cscore.VideoSource;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.List;
/*
JSON format:
{
"team": <team number>,
"ntmode": <"client" or "server", "client" if unspecified>
"cameras": [
{
"name": <camera name>
"path": <path, e.g. "/dev/video0">
"pixel format": <"MJPEG", "YUYV", etc> // optional
"width": <video mode width> // optional
"height": <video mode height> // optional
"fps": <video mode fps> // optional
"brightness": <percentage brightness> // optional
"white balance": <"auto", "hold", value> // optional
"exposure": <"auto", "hold", value> // optional
"properties": [ // optional
{
"name": <property name>
"value": <property value>
}
]
}
]
}
*/
JSON format:
{
"team": <team number>,
"ntmode": <"client" or "server", "client" if unspecified>
"cameras": [
{
"name": <camera name>
"path": <path, e.g. "/dev/video0">
"pixel format": <"MJPEG", "YUYV", etc> // optional
"width": <video mode width> // optional
"height": <video mode height> // optional
"fps": <video mode fps> // optional
"brightness": <percentage brightness> // optional
"white balance": <"auto", "hold", value> // optional
"exposure": <"auto", "hold", value> // optional
"properties": [ // optional
{
"name": <property name>
"value": <property value>
}
]
}
]
}
*/
public final class Main {
private static String configFile = "/boot/frc.json";
@@ -62,19 +60,14 @@ public final class Main {
public static boolean server;
public static List<CameraConfig> cameras = new ArrayList<>();
private Main() {
}
private Main() {}
/**
* Report parse error.
*/
/** Report parse error. */
public static void parseError(String str) {
System.err.println("config error in '" + configFile + "': " + str);
}
/**
* Read single camera configuration.
*/
/** Read single camera configuration. */
public static boolean readCameraConfig(JsonObject config) {
CameraConfig cam = new CameraConfig();
@@ -100,9 +93,7 @@ public final class Main {
return true;
}
/**
* Read configuration file.
*/
/** Read configuration file. */
@SuppressWarnings("PMD.CyclomaticComplexity")
public static boolean readConfig() {
// parse file
@@ -157,22 +148,17 @@ public final class Main {
return true;
}
/**
* Start running the camera.
*/
/** Start running the camera. */
public static void startCamera(CameraConfig config) {
System.out.println("Starting camera '" + config.name + "' on " + config.path);
VideoSource camera = CameraServer.getInstance().startAutomaticCapture(
config.name, config.path);
VideoSource camera = CameraServer.getInstance().startAutomaticCapture(config.name, config.path);
Gson gson = new GsonBuilder().create();
camera.setConfigJson(gson.toJson(config.config));
}
/**
* Main.
*/
/** Main. */
public static void main(String... args) {
if (args.length > 0) {
configFile = args[0];
@@ -199,7 +185,7 @@ public final class Main {
}
// loop forever
for (;;) {
for (; ; ) {
try {
Thread.sleep(10000);
} catch (InterruptedException ex) {

7
cameraserver/src/dev/java/edu/wpi/first/cameraserver/DevMain.java
View File

@@ -5,10 +5,7 @@
package edu.wpi.first.cameraserver;
public final class DevMain {
public static void main(String[] args) {
public static void main(String[] args) {}
}
private DevMain() {
}
private DevMain() {}
}

493
cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
View File

@@ -4,13 +4,6 @@
package edu.wpi.first.cameraserver;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.Map;
import java.util.Objects;
import java.util.concurrent.atomic.AtomicInteger;
import edu.wpi.cscore.AxisCamera;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.cscore.CvSink;
@@ -29,27 +22,28 @@ import edu.wpi.first.networktables.EntryListenerFlags;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.Map;
import java.util.Objects;
import java.util.concurrent.atomic.AtomicInteger;
/**
* Singleton class for creating and keeping camera servers.
* Also publishes camera information to NetworkTables.
* Singleton class for creating and keeping camera servers. Also publishes camera information to
* NetworkTables.
*/
public final class CameraServer {
public static final int kBasePort = 1181;
@Deprecated
public static final int kSize640x480 = 0;
@Deprecated
public static final int kSize320x240 = 1;
@Deprecated
public static final int kSize160x120 = 2;
@Deprecated public static final int kSize640x480 = 0;
@Deprecated public static final int kSize320x240 = 1;
@Deprecated public static final int kSize160x120 = 2;
private static final String kPublishName = "/CameraPublisher";
private static CameraServer server;
/**
* Get the CameraServer instance.
*/
/** Get the CameraServer instance. */
public static synchronized CameraServer getInstance() {
if (server == null) {
server = new CameraServer();
@@ -61,12 +55,12 @@ public final class CameraServer {
private String m_primarySourceName;
private final Map<String, VideoSource> m_sources;
private final Map<String, VideoSink> m_sinks;
private final Map<Integer, NetworkTable> m_tables; // indexed by source handle
private final Map<Integer, NetworkTable> m_tables; // indexed by source handle
// source handle indexed by sink handle
private final Map<Integer, Integer> m_fixedSources;
private final NetworkTable m_publishTable;
private final VideoListener m_videoListener; //NOPMD
private final int m_tableListener; //NOPMD
private final VideoListener m_videoListener; // NOPMD
private final int m_tableListener; // NOPMD
private int m_nextPort;
private String[] m_addresses;
@@ -75,14 +69,15 @@ public final class CameraServer {
switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
case kUsb:
return "usb:" + CameraServerJNI.getUsbCameraPath(source);
case kHttp: {
String[] urls = CameraServerJNI.getHttpCameraUrls(source);
if (urls.length > 0) {
return "ip:" + urls[0];
} else {
return "ip:";
case kHttp:
{
String[] urls = CameraServerJNI.getHttpCameraUrls(source);
if (urls.length > 0) {
return "ip:" + urls[0];
} else {
return "ip:";
}
}
}
case kCv:
return "cv:";
default:
@@ -98,8 +93,7 @@ public final class CameraServer {
@SuppressWarnings({"MissingJavadocMethod", "PMD.AvoidUsingHardCodedIP"})
private synchronized String[] getSinkStreamValues(int sink) {
// Ignore all but MjpegServer
if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
!= VideoSink.Kind.kMjpeg) {
if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) != VideoSink.Kind.kMjpeg) {
return new String[0];
}
@@ -117,7 +111,7 @@ public final class CameraServer {
values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
for (String addr : m_addresses) {
if ("127.0.0.1".equals(addr)) {
continue; // ignore localhost
continue; // ignore localhost
}
values.add(makeStreamValue(addr, port));
}
@@ -130,7 +124,7 @@ public final class CameraServer {
private synchronized String[] getSourceStreamValues(int source) {
// Ignore all but HttpCamera
if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
!= VideoSource.Kind.kHttp) {
!= VideoSource.Kind.kHttp) {
return new String[0];
}
@@ -148,7 +142,7 @@ public final class CameraServer {
int sinkSource = CameraServerJNI.getSinkSource(sink);
if (source == sinkSource
&& VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
== VideoSink.Kind.kMjpeg) {
== VideoSink.Kind.kMjpeg) {
// Add USB-only passthrough
String[] finalValues = Arrays.copyOf(values, values.length + 1);
int port = CameraServerJNI.getMjpegServerPort(sink);
@@ -161,17 +155,20 @@ public final class CameraServer {
return values;
}
@SuppressWarnings({"MissingJavadocMethod",
"PMD.AvoidUsingHardCodedIP",
"PMD.CyclomaticComplexity"})
@SuppressWarnings({
"MissingJavadocMethod",
"PMD.AvoidUsingHardCodedIP",
"PMD.CyclomaticComplexity"
})
private synchronized void updateStreamValues() {
// Over all the sinks...
for (VideoSink i : m_sinks.values()) {
int sink = i.getHandle();
// Get the source's subtable (if none exists, we're done)
int source = Objects.requireNonNullElseGet(m_fixedSources.get(sink),
() -> CameraServerJNI.getSinkSource(sink));
int source =
Objects.requireNonNullElseGet(
m_fixedSources.get(sink), () -> CameraServerJNI.getSinkSource(sink));
if (source == 0) {
continue;
@@ -230,8 +227,14 @@ public final class CameraServer {
/// The returned string is "{width}x{height} {format} {fps} fps".
@SuppressWarnings("MissingJavadocMethod")
private static String videoModeToString(VideoMode mode) {
return mode.width + "x" + mode.height + " " + pixelFormatToString(mode.pixelFormat)
+ " " + mode.fps + " fps";
return mode.width
+ "x"
+ mode.height
+ " "
+ pixelFormatToString(mode.pixelFormat)
+ " "
+ mode.fps
+ " fps";
}
@SuppressWarnings("MissingJavadocMethod")
@@ -270,14 +273,18 @@ public final class CameraServer {
case kEnum:
if (isNew) {
entry.setDefaultDouble(event.value);
table.getEntry(infoName + "/min").setDouble(
CameraServerJNI.getPropertyMin(event.propertyHandle));
table.getEntry(infoName + "/max").setDouble(
CameraServerJNI.getPropertyMax(event.propertyHandle));
table.getEntry(infoName + "/step").setDouble(
CameraServerJNI.getPropertyStep(event.propertyHandle));
table.getEntry(infoName + "/default").setDouble(
CameraServerJNI.getPropertyDefault(event.propertyHandle));
table
.getEntry(infoName + "/min")
.setDouble(CameraServerJNI.getPropertyMin(event.propertyHandle));
table
.getEntry(infoName + "/max")
.setDouble(CameraServerJNI.getPropertyMax(event.propertyHandle));
table
.getEntry(infoName + "/step")
.setDouble(CameraServerJNI.getPropertyStep(event.propertyHandle));
table
.getEntry(infoName + "/default")
.setDouble(CameraServerJNI.getPropertyDefault(event.propertyHandle));
} else {
entry.setDouble(event.value);
}
@@ -297,8 +304,12 @@ public final class CameraServer {
}
}
@SuppressWarnings({"MissingJavadocMethod", "PMD.UnusedLocalVariable", "PMD.ExcessiveMethodLength",
"PMD.NPathComplexity"})
@SuppressWarnings({
"MissingJavadocMethod",
"PMD.UnusedLocalVariable",
"PMD.ExcessiveMethodLength",
"PMD.NPathComplexity"
})
private CameraServer() {
m_defaultUsbDevice = new AtomicInteger();
m_sources = new HashMap<>();
@@ -321,176 +332,204 @@ public final class CameraServer {
// - "PropertyInfo/{Property}" - Property supporting information
// Listener for video events
m_videoListener = new VideoListener(event -> {
switch (event.kind) {
case kSourceCreated: {
// Create subtable for the camera
NetworkTable table = m_publishTable.getSubTable(event.name);
m_tables.put(event.sourceHandle, table);
table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
table.getEntry("description").setString(
CameraServerJNI.getSourceDescription(event.sourceHandle));
table.getEntry("connected").setBoolean(
CameraServerJNI.isSourceConnected(event.sourceHandle));
table.getEntry("streams").setStringArray(getSourceStreamValues(event.sourceHandle));
try {
VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
table.getEntry("mode").setDefaultString(videoModeToString(mode));
table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
} catch (VideoException ignored) {
// Do nothing. Let the other event handlers update this if there is an error.
}
break;
}
case kSourceDestroyed: {
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.getEntry("source").setString("");
table.getEntry("streams").setStringArray(new String[0]);
table.getEntry("modes").setStringArray(new String[0]);
}
break;
}
case kSourceConnected: {
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
// update the description too (as it may have changed)
table.getEntry("description").setString(
CameraServerJNI.getSourceDescription(event.sourceHandle));
table.getEntry("connected").setBoolean(true);
}
break;
}
case kSourceDisconnected: {
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.getEntry("connected").setBoolean(false);
}
break;
}
case kSourceVideoModesUpdated: {
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
}
break;
}
case kSourceVideoModeChanged: {
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.getEntry("mode").setString(videoModeToString(event.mode));
}
break;
}
case kSourcePropertyCreated: {
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
putSourcePropertyValue(table, event, true);
}
break;
}
case kSourcePropertyValueUpdated: {
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
putSourcePropertyValue(table, event, false);
}
break;
}
case kSourcePropertyChoicesUpdated: {
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
try {
String[] choices = CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
table.getEntry("PropertyInfo/" + event.name + "/choices").setStringArray(choices);
} catch (VideoException ignored) {
// ignore
}
}
break;
}
case kSinkSourceChanged:
case kSinkCreated:
case kSinkDestroyed:
case kNetworkInterfacesChanged: {
m_addresses = CameraServerJNI.getNetworkInterfaces();
updateStreamValues();
break;
}
default:
break;
}
}, 0x4fff, true);
m_videoListener =
new VideoListener(
event -> {
switch (event.kind) {
case kSourceCreated:
{
// Create subtable for the camera
NetworkTable table = m_publishTable.getSubTable(event.name);
m_tables.put(event.sourceHandle, table);
table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
table
.getEntry("description")
.setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
table
.getEntry("connected")
.setBoolean(CameraServerJNI.isSourceConnected(event.sourceHandle));
table
.getEntry("streams")
.setStringArray(getSourceStreamValues(event.sourceHandle));
try {
VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
table.getEntry("mode").setDefaultString(videoModeToString(mode));
table
.getEntry("modes")
.setStringArray(getSourceModeValues(event.sourceHandle));
} catch (VideoException ignored) {
// Do nothing. Let the other event handlers update this if there is an error.
}
break;
}
case kSourceDestroyed:
{
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.getEntry("source").setString("");
table.getEntry("streams").setStringArray(new String[0]);
table.getEntry("modes").setStringArray(new String[0]);
}
break;
}
case kSourceConnected:
{
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
// update the description too (as it may have changed)
table
.getEntry("description")
.setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
table.getEntry("connected").setBoolean(true);
}
break;
}
case kSourceDisconnected:
{
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.getEntry("connected").setBoolean(false);
}
break;
}
case kSourceVideoModesUpdated:
{
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table
.getEntry("modes")
.setStringArray(getSourceModeValues(event.sourceHandle));
}
break;
}
case kSourceVideoModeChanged:
{
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
table.getEntry("mode").setString(videoModeToString(event.mode));
}
break;
}
case kSourcePropertyCreated:
{
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
putSourcePropertyValue(table, event, true);
}
break;
}
case kSourcePropertyValueUpdated:
{
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
putSourcePropertyValue(table, event, false);
}
break;
}
case kSourcePropertyChoicesUpdated:
{
NetworkTable table = m_tables.get(event.sourceHandle);
if (table != null) {
try {
String[] choices =
CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
table
.getEntry("PropertyInfo/" + event.name + "/choices")
.setStringArray(choices);
} catch (VideoException ignored) {
// ignore
}
}
break;
}
case kSinkSourceChanged:
case kSinkCreated:
case kSinkDestroyed:
case kNetworkInterfacesChanged:
{
m_addresses = CameraServerJNI.getNetworkInterfaces();
updateStreamValues();
break;
}
default:
break;
}
},
0x4fff,
true);
// Listener for NetworkTable events
// We don't currently support changing settings via NT due to
// synchronization issues, so just update to current setting if someone
// else tries to change it.
m_tableListener = NetworkTableInstance.getDefault().addEntryListener(kPublishName + "/",
event -> {
String relativeKey = event.name.substring(kPublishName.length() + 1);
m_tableListener =
NetworkTableInstance.getDefault()
.addEntryListener(
kPublishName + "/",
event -> {
String relativeKey = event.name.substring(kPublishName.length() + 1);
// get source (sourceName/...)
int subKeyIndex = relativeKey.indexOf('/');
if (subKeyIndex == -1) {
return;
}
String sourceName = relativeKey.substring(0, subKeyIndex);
VideoSource source = m_sources.get(sourceName);
if (source == null) {
return;
}
// get source (sourceName/...)
int subKeyIndex = relativeKey.indexOf('/');
if (subKeyIndex == -1) {
return;
}
String sourceName = relativeKey.substring(0, subKeyIndex);
VideoSource source = m_sources.get(sourceName);
if (source == null) {
return;
}
// get subkey
relativeKey = relativeKey.substring(subKeyIndex + 1);
// get subkey
relativeKey = relativeKey.substring(subKeyIndex + 1);
// handle standard names
String propName;
if ("mode".equals(relativeKey)) {
// reset to current mode
event.getEntry().setString(videoModeToString(source.getVideoMode()));
return;
} else if (relativeKey.startsWith("Property/")) {
propName = relativeKey.substring(9);
} else if (relativeKey.startsWith("RawProperty/")) {
propName = relativeKey.substring(12);
} else {
return; // ignore
}
// handle standard names
String propName;
if ("mode".equals(relativeKey)) {
// reset to current mode
event.getEntry().setString(videoModeToString(source.getVideoMode()));
return;
} else if (relativeKey.startsWith("Property/")) {
propName = relativeKey.substring(9);
} else if (relativeKey.startsWith("RawProperty/")) {
propName = relativeKey.substring(12);
} else {
return; // ignore
}
// everything else is a property
VideoProperty property = source.getProperty(propName);
switch (property.getKind()) {
case kNone:
return;
case kBoolean:
// reset to current setting
event.getEntry().setBoolean(property.get() != 0);
return;
case kInteger:
case kEnum:
// reset to current setting
event.getEntry().setDouble(property.get());
return;
case kString:
// reset to current setting
event.getEntry().setString(property.getString());
return;
default:
return;
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
// everything else is a property
VideoProperty property = source.getProperty(propName);
switch (property.getKind()) {
case kNone:
return;
case kBoolean:
// reset to current setting
event.getEntry().setBoolean(property.get() != 0);
return;
case kInteger:
case kEnum:
// reset to current setting
event.getEntry().setDouble(property.get());
return;
case kString:
// reset to current setting
event.getEntry().setString(property.getString());
return;
default:
return;
}
},
EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
}
/**
* Start automatically capturing images to send to the dashboard.
*
* <p>You should call this method to see a camera feed on the dashboard.
* If you also want to perform vision processing on the roboRIO, use
* getVideo() to get access to the camera images.
* <p>You should call this method to see a camera feed on the dashboard. If you also want to
* perform vision processing on the roboRIO, use getVideo() to get access to the camera images.
*
* <p>The first time this overload is called, it calls
* {@link #startAutomaticCapture(int)} with device 0, creating a camera
* named "USB Camera 0". Subsequent calls increment the device number
* <p>The first time this overload is called, it calls {@link #startAutomaticCapture(int)} with
* device 0, creating a camera named "USB Camera 0". Subsequent calls increment the device number
* (e.g. 1, 2, etc).
*/
public UsbCamera startAutomaticCapture() {
@@ -502,8 +541,8 @@ public final class CameraServer {
/**
* Start automatically capturing images to send to the dashboard.
*
* <p>This overload calls {@link #startAutomaticCapture(String, int)} with
* a name of "USB Camera {dev}".
* <p>This overload calls {@link #startAutomaticCapture(String, int)} with a name of "USB Camera
* {dev}".
*
* @param dev The device number of the camera interface
*/
@@ -541,8 +580,7 @@ public final class CameraServer {
}
/**
* Start automatically capturing images to send to the dashboard from
* an existing camera.
* Start automatically capturing images to send to the dashboard from an existing camera.
*
* @param camera Camera
*/
@@ -556,8 +594,7 @@ public final class CameraServer {
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #addAxisCamera(String, String)} with
* name "Axis Camera".
* <p>This overload calls {@link #addAxisCamera(String, String)} with name "Axis Camera".
*
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
@@ -568,8 +605,7 @@ public final class CameraServer {
/**
* Adds an Axis IP camera.
*
* <p>This overload calls {@link #addAxisCamera(String, String[])} with
* name "Axis Camera".
* <p>This overload calls {@link #addAxisCamera(String, String[])} with name "Axis Camera".
*
* @param hosts Array of Camera host IPs/DNS names
*/
@@ -606,10 +642,9 @@ public final class CameraServer {
}
/**
* Adds a virtual camera for switching between two streams. Unlike the
* other addCamera methods, this returns a VideoSink rather than a
* VideoSource. Calling setSource() on the returned object can be used
* to switch the actual source of the stream.
* Adds a virtual camera for switching between two streams. Unlike the other addCamera methods,
* this returns a VideoSink rather than a VideoSource. Calling setSource() on the returned object
* can be used to switch the actual source of the stream.
*/
public MjpegServer addSwitchedCamera(String name) {
// create a dummy CvSource
@@ -623,11 +658,11 @@ public final class CameraServer {
}
/**
* Get OpenCV access to the primary camera feed. This allows you to
* get images from the camera for image processing on the roboRIO.
* Get OpenCV access to the primary camera feed. This allows you to get images from the camera for
* image processing on the roboRIO.
*
* <p>This is only valid to call after a camera feed has been added
* with startAutomaticCapture() or addServer().
* <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
* or addServer().
*/
public CvSink getVideo() {
VideoSource source;
@@ -644,8 +679,8 @@ public final class CameraServer {
}
/**
* Get OpenCV access to the specified camera. This allows you to get
* images from the camera for image processing on the roboRIO.
* Get OpenCV access to the specified camera. This allows you to get images from the camera for
* image processing on the roboRIO.
*
* @param camera Camera (e.g. as returned by startAutomaticCapture).
*/
@@ -670,8 +705,8 @@ public final class CameraServer {
}
/**
* Get OpenCV access to the specified camera. This allows you to get
* images from the camera for image processing on the roboRIO.
* Get OpenCV access to the specified camera. This allows you to get images from the camera for
* image processing on the roboRIO.
*
* @param name Camera name
*/
@@ -687,8 +722,8 @@ public final class CameraServer {
}
/**
* Create a MJPEG stream with OpenCV input. This can be called to pass custom
* annotated images to the dashboard.
* Create a MJPEG stream with OpenCV input. This can be called to pass custom annotated images to
* the dashboard.
*
* @param name Name to give the stream
* @param width Width of the image being sent
@@ -750,8 +785,8 @@ public final class CameraServer {
/**
* Get server for the primary camera feed.
*
* <p>This is only valid to call after a camera feed has been added
* with startAutomaticCapture() or addServer().
* <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
* or addServer().
*/
public VideoSink getServer() {
synchronized (this) {

1
cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
View File

@@ -4,7 +4,6 @@
package edu.wpi.first.cameraserver;
public interface CameraServerShared {
/**
* get the main thread id func.

48
cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java
View File

@@ -7,48 +7,36 @@ package edu.wpi.first.cameraserver;
public final class CameraServerSharedStore {
private static CameraServerShared cameraServerShared;
private CameraServerSharedStore() {
}
private CameraServerSharedStore() {}
/**
* get the CameraServerShared object.
*/
/** get the CameraServerShared object. */
public static synchronized CameraServerShared getCameraServerShared() {
if (cameraServerShared == null) {
cameraServerShared = new CameraServerShared() {
cameraServerShared =
new CameraServerShared() {
@Override
public void reportVideoServer(int id) {
@Override
public void reportVideoServer(int id) {}
}
@Override
public void reportUsbCamera(int id) {}
@Override
public void reportUsbCamera(int id) {
@Override
public void reportDriverStationError(String error) {}
}
@Override
public void reportAxisCamera(int id) {}
@Override
public void reportDriverStationError(String error) {
}
@Override
public void reportAxisCamera(int id) {
}
@Override
public Long getRobotMainThreadId() {
return null;
}
};
@Override
public Long getRobotMainThreadId() {
return null;
}
};
}
return cameraServerShared;
}
/**
* set the CameraServerShared object.
*/
/** set the CameraServerShared object. */
public static synchronized void setCameraServerShared(CameraServerShared shared) {
cameraServerShared = shared;
}

9
cameraserver/src/main/java/edu/wpi/first/vision/VisionPipeline.java
View File

@@ -7,17 +7,16 @@ package edu.wpi.first.vision;
import org.opencv.core.Mat;
/**
* A vision pipeline is responsible for running a group of
* OpenCV algorithms to extract data from an image.
* A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an
* image.
*
* @see VisionRunner
* @see VisionThread
*/
public interface VisionPipeline {
/**
* Processes the image input and sets the result objects.
* Implementations should make these objects accessible.
* Processes the image input and sets the result objects. Implementations should make these
* objects accessible.
*/
void process(Mat image);
}

48
cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
View File

@@ -4,16 +4,15 @@
package edu.wpi.first.vision;
import org.opencv.core.Mat;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.VideoSource;
import edu.wpi.first.cameraserver.CameraServerSharedStore;
import org.opencv.core.Mat;
/**
* A vision runner is a convenient wrapper object to make it easy to run vision pipelines
* from robot code. The easiest way to use this is to run it in a {@link VisionThread}
* and use the listener to take snapshots of the pipeline's outputs.
* A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot
* code. The easiest way to use this is to run it in a {@link VisionThread} and use the listener to
* take snapshots of the pipeline's outputs.
*
* @see VisionPipeline
* @see VisionThread
@@ -42,17 +41,16 @@ public class VisionRunner<P extends VisionPipeline> {
* @param pipeline the vision pipeline that ran
*/
void copyPipelineOutputs(P pipeline);
}
/**
* Creates a new vision runner. It will take images from the {@code videoSource}, send them to
* the {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert
* user code when it is safe to access the pipeline's outputs.
* Creates a new vision runner. It will take images from the {@code videoSource}, send them to the
* {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert user
* code when it is safe to access the pipeline's outputs.
*
* @param videoSource the video source to use to supply images for the pipeline
* @param pipeline the vision pipeline to run
* @param listener a function to call after the pipeline has finished running
* @param pipeline the vision pipeline to run
* @param listener a function to call after the pipeline has finished running
*/
public VisionRunner(VideoSource videoSource, P pipeline, Listener<? super P> listener) {
this.m_pipeline = pipeline;
@@ -61,15 +59,15 @@ public class VisionRunner<P extends VisionPipeline> {
}
/**
* Runs the pipeline one time, giving it the next image from the video source specified
* in the constructor. This will block until the source either has an image or throws an error.
* If the source successfully supplied a frame, the pipeline's image input will be set,
* the pipeline will run, and the listener specified in the constructor will be called to notify
* it that the pipeline ran.
* Runs the pipeline one time, giving it the next image from the video source specified in the
* constructor. This will block until the source either has an image or throws an error. If the
* source successfully supplied a frame, the pipeline's image input will be set, the pipeline will
* run, and the listener specified in the constructor will be called to notify it that the
* pipeline ran.
*
* <p>This method is exposed to allow teams to add additional functionality or have their own
* ways to run the pipeline. Most teams, however, should just use {@link #runForever} in its own
* thread using a {@link VisionThread}.</p>
* <p>This method is exposed to allow teams to add additional functionality or have their own ways
* to run the pipeline. Most teams, however, should just use {@link #runForever} in its own thread
* using a {@link VisionThread}.
*/
public void runOnce() {
Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
@@ -95,11 +93,11 @@ public class VisionRunner<P extends VisionPipeline> {
}
/**
* A convenience method that calls {@link #runOnce()} in an infinite loop. This must
* be run in a dedicated thread, and cannot be used in the main robot thread because
* it will freeze the robot program.
* A convenience method that calls {@link #runOnce()} in an infinite loop. This must be run in a
* dedicated thread, and cannot be used in the main robot thread because it will freeze the robot
* program.
*
* <p><strong>Do not call this method directly from the main thread.</strong></p>
* <p><strong>Do not call this method directly from the main thread.</strong>
*
* @throws IllegalStateException if this is called from the main robot thread
* @see VisionThread
@@ -116,9 +114,7 @@ public class VisionRunner<P extends VisionPipeline> {
}
}
/**
* Stop a RunForever() loop.
*/
/** Stop a RunForever() loop. */
public void stop() {
m_enabled = false;
}

18
cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java
View File

@@ -7,9 +7,9 @@ package edu.wpi.first.vision;
import edu.wpi.cscore.VideoSource;
/**
* A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread;
* it does not prevent the program from exiting when all other non-daemon threads
* have finished running.
* A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread; it
* does not prevent the program from exiting when all other non-daemon threads have finished
* running.
*
* @see VisionPipeline
* @see VisionRunner
@@ -31,14 +31,12 @@ public class VisionThread extends Thread {
* equivalent to {@code new VisionThread(new VisionRunner<>(videoSource, pipeline, listener))}.
*
* @param videoSource the source for images the pipeline should process
* @param pipeline the pipeline to run
* @param listener the listener to copy outputs from the pipeline after it runs
* @param <P> the type of the pipeline
* @param pipeline the pipeline to run
* @param listener the listener to copy outputs from the pipeline after it runs
* @param <P> the type of the pipeline
*/
public <P extends VisionPipeline> VisionThread(VideoSource videoSource,
P pipeline,
VisionRunner.Listener<? super P> listener) {
public <P extends VisionPipeline> VisionThread(
VideoSource videoSource, P pipeline, VisionRunner.Listener<? super P> listener) {
this(new VisionRunner<>(videoSource, pipeline, listener));
}
}

8
cameraserver/src/main/java/edu/wpi/first/vision/package-info.java
View File

@@ -3,11 +3,11 @@
// the WPILib BSD license file in the root directory of this project.
/**
* Classes in the {@code edu.wpi.first.vision} package are designed to
* simplify using OpenCV vision processing code from a robot program.
* Classes in the {@code edu.wpi.first.vision} package are designed to simplify using OpenCV vision
* processing code from a robot program.
*
* <p>An example use case for grabbing a yellow tote from 2015 in autonomous: <br>
*
* <p>An example use case for grabbing a yellow tote from 2015 in autonomous:
* <br>
* <pre><code>
* public class Robot extends IterativeRobot
* implements VisionRunner.Listener&lt;MyFindTotePipeline&gt; {

66
cscore/java-examples/RawCVMatSink.java
View File

@@ -4,13 +4,11 @@
package edu.wpi.cscore;
import java.nio.ByteBuffer;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import edu.wpi.cscore.VideoMode.PixelFormat;
import edu.wpi.cscore.raw.RawFrame;
import java.nio.ByteBuffer;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
public class RawCVMatSink extends ImageSink {
RawFrame frame = new RawFrame();
@@ -24,26 +22,25 @@ public class RawCVMatSink extends ImageSink {
private int getCVFormat(PixelFormat pixelFormat) {
int type = 0;
switch (pixelFormat) {
case kYUYV:
case kRGB565:
type = CvType.CV_8UC2;
break;
case kBGR:
type = CvType.CV_8UC3;
break;
case kGray:
case kMJPEG:
default:
type = CvType.CV_8UC1;
break;
case kYUYV:
case kRGB565:
type = CvType.CV_8UC2;
break;
case kBGR:
type = CvType.CV_8UC3;
break;
case kGray:
case kMJPEG:
default:
type = CvType.CV_8UC1;
break;
}
return type;
}
/**
* Create a sink for accepting OpenCV images.
* WaitForFrame() must be called on the created sink to get each new
* image.
* Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
* get each new image.
*
* @param name Source name (arbitrary unique identifier)
*/
@@ -52,24 +49,21 @@ public class RawCVMatSink extends ImageSink {
}
/**
* Wait for the next frame and get the image.
* Times out (returning 0) after 0.225 seconds.
* The provided image will have three 3-bit channels stored in BGR order.
* Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
* provided image will have three 3-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call GetError() to obtain the error
* message)
* @return Frame time, or 0 on error (call GetError() to obtain the error message)
*/
public long grabFrame(Mat image) {
return grabFrame(image, 0.225);
}
/**
* Wait for the next frame and get the image.
* Times out (returning 0) after timeout seconds.
* The provided image will have three 3-bit channels stored in BGR order.
* Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
* provided image will have three 3-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call GetError() to obtain the error
* message); the frame time is in 1 us increments.
* @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
* is in 1 us increments.
*/
public long grabFrame(Mat image, double timeout) {
frame.setWidth(0);
@@ -80,12 +74,20 @@ public class RawCVMatSink extends ImageSink {
return rv;
}
if (frame.getDataByteBuffer() != origByteBuffer || width != frame.getWidth() || height != frame.getHeight() || pixelFormat != frame.getPixelFormat()) {
if (frame.getDataByteBuffer() != origByteBuffer
|| width != frame.getWidth()
|| height != frame.getHeight()
|| pixelFormat != frame.getPixelFormat()) {
origByteBuffer = frame.getDataByteBuffer();
height = frame.getHeight();
width = frame.getWidth();
pixelFormat = frame.getPixelFormat();
tmpMat = new Mat(frame.getHeight(), frame.getWidth(), getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)), origByteBuffer);
tmpMat =
new Mat(
frame.getHeight(),
frame.getWidth(),
getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)),
origByteBuffer);
}
tmpMat.copyTo(image);
return rv;

28
cscore/java-examples/RawCVMatSource.java
View File

@@ -4,9 +4,8 @@
package edu.wpi.cscore;
import org.opencv.core.Mat;
import edu.wpi.cscore.VideoMode.PixelFormat;
import org.opencv.core.Mat;
public class RawCVMatSource extends ImageSource {
/**
@@ -16,11 +15,9 @@ public class RawCVMatSource extends ImageSource {
* @param mode Video mode being generated
*/
public RawCVMatSource(String name, VideoMode mode) {
super(CameraServerJNI.createRawSource(name,
mode.pixelFormat.getValue(),
mode.width,
mode.height,
mode.fps));
super(
CameraServerJNI.createRawSource(
name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
}
/**
@@ -32,16 +29,17 @@ public class RawCVMatSource extends ImageSource {
* @param height height
* @param fps fps
*/
public RawCVMatSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
public RawCVMatSource(
String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
}
/**
* Put an OpenCV image and notify sinks.
*
* <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
* are supported. If the format, depth or channel order is different, use
* Mat.convertTo() and/or cvtColor() to convert it first.
* <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images are supported. If the
* format, depth or channel order is different, use Mat.convertTo() and/or cvtColor() to convert
* it first.
*
* @param image OpenCV image
*/
@@ -51,6 +49,12 @@ public class RawCVMatSource extends ImageSource {
throw new VideoException("Unsupported Image Type");
}
int imgType = channels == 1 ? PixelFormat.kGray.getValue() : PixelFormat.kBGR.getValue();
CameraServerJNI.putRawSourceFrame(m_handle, image.dataAddr(), image.width(), image.height(), imgType, (int)image.total() * channels);
CameraServerJNI.putRawSourceFrame(
m_handle,
image.dataAddr(),
image.width(),
image.height(),
imgType,
(int) image.total() * channels);
}
}

7
cscore/src/dev/java/edu/wpi/cscore/DevMain.java
View File

@@ -7,15 +7,12 @@ package edu.wpi.cscore;
import edu.wpi.first.wpiutil.RuntimeDetector;
public final class DevMain {
/**
* Main method.
*/
/** Main method. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
System.out.println(CameraServerJNI.getHostname());
}
private DevMain() {
}
private DevMain() {}
}

4
cscore/src/main/java/edu/wpi/cscore/AxisCamera.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.cscore;
/**
* A source that represents an Axis IP camera.
*/
/** A source that represents an Axis IP camera. */
public class AxisCamera extends HttpCamera {
private static String hostToUrl(String host) {
return "http://" + host + "/mjpg/video.mjpg";

21
cscore/src/main/java/edu/wpi/cscore/CameraServerCvJNI.java
View File

@@ -4,13 +4,11 @@
package edu.wpi.cscore;
import edu.wpi.first.wpiutil.RuntimeLoader;
import java.io.IOException;
import java.util.concurrent.atomic.AtomicBoolean;
import org.opencv.core.Core;
import edu.wpi.first.wpiutil.RuntimeLoader;
public class CameraServerCvJNI {
static boolean libraryLoaded = false;
@@ -33,7 +31,8 @@ public class CameraServerCvJNI {
if (Helper.getExtractOnStaticLoad()) {
try {
CameraServerJNI.forceLoad();
loader = new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader =
new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibraryHashed();
} catch (IOException ex) {
ex.printStackTrace();
@@ -43,27 +42,29 @@ public class CameraServerCvJNI {
}
}
/**
* Force load the library.
*/
/** Force load the library. */
public static synchronized void forceLoad() throws IOException {
if (libraryLoaded) {
return;
}
CameraServerJNI.forceLoad();
loader = new RuntimeLoader<>(Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
libraryLoaded = true;
}
public static native int createCvSource(String name, int pixelFormat, int width, int height, int fps);
public static native int createCvSource(
String name, int pixelFormat, int width, int height, int fps);
public static native void putSourceFrame(int source, long imageNativeObj);
public static native int createCvSink(String name);
//public static native int createCvSinkCallback(String name,
// public static native int createCvSinkCallback(String name,
// void (*processFrame)(long time));
public static native long grabSinkFrame(int sink, long imageNativeObj);
public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
}

166
cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java
View File

@@ -4,14 +4,13 @@
package edu.wpi.cscore;
import edu.wpi.cscore.raw.RawFrame;
import edu.wpi.first.wpiutil.RuntimeLoader;
import java.io.IOException;
import java.nio.ByteBuffer;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.Consumer;
import edu.wpi.cscore.raw.RawFrame;
import edu.wpi.first.wpiutil.RuntimeLoader;
public class CameraServerJNI {
static boolean libraryLoaded = false;
@@ -32,7 +31,9 @@ public class CameraServerJNI {
static {
if (Helper.getExtractOnStaticLoad()) {
try {
loader = new RuntimeLoader<>("cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
loader =
new RuntimeLoader<>(
"cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
loader.loadLibrary();
} catch (IOException ex) {
ex.printStackTrace();
@@ -42,14 +43,14 @@ public class CameraServerJNI {
}
}
/**
* Force load the library.
*/
/** Force load the library. */
public static synchronized void forceLoad() throws IOException {
if (libraryLoaded) {
return;
}
loader = new RuntimeLoader<>("cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
loader =
new RuntimeLoader<>(
"cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
loader.loadLibrary();
libraryLoaded = true;
}
@@ -58,89 +59,159 @@ public class CameraServerJNI {
// Property Functions
//
public static native int getPropertyKind(int property);
public static native String getPropertyName(int property);
public static native int getProperty(int property);
public static native void setProperty(int property, int value);
public static native int getPropertyMin(int property);
public static native int getPropertyMax(int property);
public static native int getPropertyStep(int property);
public static native int getPropertyDefault(int property);
public static native String getStringProperty(int property);
public static native void setStringProperty(int property, String value);
public static native String[] getEnumPropertyChoices(int property);
//
// Source Creation Functions
//
public static native int createUsbCameraDev(String name, int dev);
public static native int createUsbCameraPath(String name, String path);
public static native int createHttpCamera(String name, String url, int kind);
public static native int createHttpCameraMulti(String name, String[] urls, int kind);
public static native int createRawSource(String name, int pixelFormat, int width, int height, int fps);
public static native int createRawSource(
String name, int pixelFormat, int width, int height, int fps);
//
// Source Functions
//
public static native int getSourceKind(int source);
public static native String getSourceName(int source);
public static native String getSourceDescription(int source);
public static native long getSourceLastFrameTime(int source);
public static native void setSourceConnectionStrategy(int source, int strategy);
public static native boolean isSourceConnected(int source);
public static native boolean isSourceEnabled(int source);
public static native int getSourceProperty(int source, String name);
public static native int[] enumerateSourceProperties(int source);
public static native VideoMode getSourceVideoMode(int source);
public static native boolean setSourceVideoMode(int source, int pixelFormat, int width, int height, int fps);
public static native boolean setSourceVideoMode(
int source, int pixelFormat, int width, int height, int fps);
public static native boolean setSourcePixelFormat(int source, int pixelFormat);
public static native boolean setSourceResolution(int source, int width, int height);
public static native boolean setSourceFPS(int source, int fps);
public static native boolean setSourceConfigJson(int source, String config);
public static native String getSourceConfigJson(int source);
public static native VideoMode[] enumerateSourceVideoModes(int source);
public static native int[] enumerateSourceSinks(int source);
public static native int copySource(int source);
public static native void releaseSource(int source);
//
// Camera Source Common Property Fuctions
//
public static native void setCameraBrightness(int source, int brightness);
public static native int getCameraBrightness(int source);
public static native void setCameraWhiteBalanceAuto(int source);
public static native void setCameraWhiteBalanceHoldCurrent(int source);
public static native void setCameraWhiteBalanceManual(int source, int value);
public static native void setCameraExposureAuto(int source);
public static native void setCameraExposureHoldCurrent(int source);
public static native void setCameraExposureManual(int source, int value);
//
// UsbCamera Source Functions
//
public static native void setUsbCameraPath(int source, String path);
public static native String getUsbCameraPath(int source);
public static native UsbCameraInfo getUsbCameraInfo(int source);
//
// HttpCamera Source Functions
//
public static native int getHttpCameraKind(int source);
public static native void setHttpCameraUrls(int source, String[] urls);
public static native String[] getHttpCameraUrls(int source);
//
// Image Source Functions
//
public static native void putRawSourceFrameBB(int source, ByteBuffer data, int width, int height, int pixelFormat, int totalData);
public static native void putRawSourceFrame(int source, long data, int width, int height, int pixelFormat, int totalData);
public static native void putRawSourceFrameBB(
int source, ByteBuffer data, int width, int height, int pixelFormat, int totalData);
public static native void putRawSourceFrame(
int source, long data, int width, int height, int pixelFormat, int totalData);
public static void putRawSourceFrame(int source, RawFrame raw) {
putRawSourceFrame(source, raw.getDataPtr(), raw.getWidth(), raw.getHeight(), raw.getPixelFormat(), raw.getTotalData());
putRawSourceFrame(
source,
raw.getDataPtr(),
raw.getWidth(),
raw.getHeight(),
raw.getPixelFormat(),
raw.getTotalData());
}
public static native void notifySourceError(int source, String msg);
public static native void setSourceConnected(int source, boolean connected);
public static native void setSourceDescription(int source, String description);
public static native int createSourceProperty(int source, String name, int kind, int minimum, int maximum, int step, int defaultValue, int value);
public static native void setSourceEnumPropertyChoices(int source, int property, String[] choices);
public static native int createSourceProperty(
int source,
String name,
int kind,
int minimum,
int maximum,
int step,
int defaultValue,
int value);
public static native void setSourceEnumPropertyChoices(
int source, int property, String[] choices);
//
// Sink Creation Functions
@@ -153,22 +224,34 @@ public class CameraServerJNI {
// Sink Functions
//
public static native int getSinkKind(int sink);
public static native String getSinkName(int sink);
public static native String getSinkDescription(int sink);
public static native int getSinkProperty(int sink, String name);
public static native int[] enumerateSinkProperties(int sink);
public static native boolean setSinkConfigJson(int sink, String config);
public static native String getSinkConfigJson(int sink);
public static native void setSinkSource(int sink, int source);
public static native int getSinkSourceProperty(int sink, String name);
public static native int getSinkSource(int sink);
public static native int copySink(int sink);
public static native void releaseSink(int sink);
//
// MjpegServer Sink Functions
//
public static native String getMjpegServerListenAddress(int sink);
public static native int getMjpegServerPort(int sink);
//
@@ -176,23 +259,57 @@ public class CameraServerJNI {
//
public static native void setSinkDescription(int sink, String description);
private static native long grabRawSinkFrameImpl(int sink, RawFrame rawFrame, long rawFramePtr, ByteBuffer byteBuffer, int width, int height, int pixelFormat);
private static native long grabRawSinkFrameTimeoutImpl(int sink, RawFrame rawFrame, long rawFramePtr, ByteBuffer byteBuffer, int width, int height, int pixelFormat, double timeout);
private static native long grabRawSinkFrameImpl(
int sink,
RawFrame rawFrame,
long rawFramePtr,
ByteBuffer byteBuffer,
int width,
int height,
int pixelFormat);
private static native long grabRawSinkFrameTimeoutImpl(
int sink,
RawFrame rawFrame,
long rawFramePtr,
ByteBuffer byteBuffer,
int width,
int height,
int pixelFormat,
double timeout);
public static long grabSinkFrame(int sink, RawFrame rawFrame) {
return grabRawSinkFrameImpl(sink, rawFrame, rawFrame.getFramePtr(), rawFrame.getDataByteBuffer(), rawFrame.getWidth(), rawFrame.getHeight(), rawFrame.getPixelFormat());
return grabRawSinkFrameImpl(
sink,
rawFrame,
rawFrame.getFramePtr(),
rawFrame.getDataByteBuffer(),
rawFrame.getWidth(),
rawFrame.getHeight(),
rawFrame.getPixelFormat());
}
public static long grabSinkFrameTimeout(int sink, RawFrame rawFrame, double timeout) {
return grabRawSinkFrameTimeoutImpl(sink, rawFrame, rawFrame.getFramePtr(), rawFrame.getDataByteBuffer(), rawFrame.getWidth(), rawFrame.getHeight(), rawFrame.getPixelFormat(), timeout);
return grabRawSinkFrameTimeoutImpl(
sink,
rawFrame,
rawFrame.getFramePtr(),
rawFrame.getDataByteBuffer(),
rawFrame.getWidth(),
rawFrame.getHeight(),
rawFrame.getPixelFormat(),
timeout);
}
public static native String getSinkError(int sink);
public static native void setSinkEnabled(int sink, boolean enabled);
//
// Listener Functions
//
public static native int addListener(Consumer<VideoEvent> listener,
int eventMask, boolean immediateNotify);
public static native int addListener(
Consumer<VideoEvent> listener, int eventMask, boolean immediateNotify);
public static native void removeListener(int handle);
@@ -213,13 +330,19 @@ public class CameraServerJNI {
return value;
}
}
public static native void setTelemetryPeriod(double seconds);
public static native double getTelemetryElapsedTime();
public static native long getTelemetryValue(int handle, int kind);
public static long getTelemetryValue(int handle, TelemetryKind kind) {
return getTelemetryValue(handle, kind.getValue());
}
public static native double getTelemetryAverageValue(int handle, int kind);
public static double getTelemetryAverageValue(int handle, TelemetryKind kind) {
return getTelemetryAverageValue(handle, kind.getValue());
}
@@ -231,6 +354,7 @@ public class CameraServerJNI {
public interface LoggerFunction {
void apply(int level, String file, int line, String msg);
}
public static native void setLogger(LoggerFunction func, int minLevel);
//

40
cscore/src/main/java/edu/wpi/cscore/CvSink.java
View File

@@ -7,16 +7,13 @@ package edu.wpi.cscore;
import org.opencv.core.Mat;
/**
* A sink for user code to accept video frames as OpenCV images.
* These sinks require the WPILib OpenCV builds.
* For an alternate OpenCV, see the documentation how to build your own
* with RawSink.
* A sink for user code to accept video frames as OpenCV images. These sinks require the WPILib
* OpenCV builds. For an alternate OpenCV, see the documentation how to build your own with RawSink.
*/
public class CvSink extends ImageSink {
/**
* Create a sink for accepting OpenCV images.
* WaitForFrame() must be called on the created sink to get each new
* image.
* Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
* get each new image.
*
* @param name Source name (arbitrary unique identifier)
*/
@@ -32,41 +29,38 @@ public class CvSink extends ImageSink {
/// time=0 if an error occurred. processFrame should call GetImage()
/// or GetError() as needed, but should not call (except in very
/// unusual circumstances) WaitForImage().
//public CvSink(wpi::StringRef name,
// public CvSink(wpi::StringRef name,
// std::function<void(uint64_t time)> processFrame) {
// super(CameraServerJNI.createCvSinkCallback(name, processFrame));
//}
// }
/**
* Wait for the next frame and get the image.
* Times out (returning 0) after 0.225 seconds.
* The provided image will have three 3-bit channels stored in BGR order.
* Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
* provided image will have three 3-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call GetError() to obtain the error
* message)
* @return Frame time, or 0 on error (call GetError() to obtain the error message)
*/
public long grabFrame(Mat image) {
return grabFrame(image, 0.225);
}
/**
* Wait for the next frame and get the image.
* Times out (returning 0) after timeout seconds.
* The provided image will have three 3-bit channels stored in BGR order.
* Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
* provided image will have three 3-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call GetError() to obtain the error
* message); the frame time is in 1 us increments.
* @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
* is in 1 us increments.
*/
public long grabFrame(Mat image, double timeout) {
return CameraServerCvJNI.grabSinkFrameTimeout(m_handle, image.nativeObj, timeout);
}
/**
* Wait for the next frame and get the image. May block forever.
* The provided image will have three 3-bit channels stored in BGR order.
* Wait for the next frame and get the image. May block forever. The provided image will have
* three 3-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call GetError() to obtain the error
* message); the frame time is in 1 us increments.
* @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
* is in 1 us increments.
*/
public long grabFrameNoTimeout(Mat image) {
return CameraServerCvJNI.grabSinkFrame(m_handle, image.nativeObj);

21
cscore/src/main/java/edu/wpi/cscore/CvSource.java
View File

@@ -7,10 +7,8 @@ package edu.wpi.cscore;
import org.opencv.core.Mat;
/**
* A source that represents a video camera.
* These sources require the WPILib OpenCV builds.
* For an alternate OpenCV, see the documentation how to build your own
* with RawSource.
* A source that represents a video camera. These sources require the WPILib OpenCV builds. For an
* alternate OpenCV, see the documentation how to build your own with RawSource.
*/
public class CvSource extends ImageSource {
/**
@@ -20,11 +18,9 @@ public class CvSource extends ImageSource {
* @param mode Video mode being generated
*/
public CvSource(String name, VideoMode mode) {
super(CameraServerCvJNI.createCvSource(name,
mode.pixelFormat.getValue(),
mode.width,
mode.height,
mode.fps));
super(
CameraServerCvJNI.createCvSource(
name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
}
/**
@@ -43,14 +39,13 @@ public class CvSource extends ImageSource {
/**
* Put an OpenCV image and notify sinks.
*
* <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
* are supported. If the format, depth or channel order is different, use
* Mat.convertTo() and/or cvtColor() to convert it first.
* <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images are supported. If the
* format, depth or channel order is different, use Mat.convertTo() and/or cvtColor() to convert
* it first.
*
* @param image OpenCV image
*/
public void putFrame(Mat image) {
CameraServerCvJNI.putSourceFrame(m_handle, image.nativeObj);
}
}

32
cscore/src/main/java/edu/wpi/cscore/HttpCamera.java
View File

@@ -4,12 +4,13 @@
package edu.wpi.cscore;
/**
* A source that represents a MJPEG-over-HTTP (IP) camera.
*/
/** A source that represents a MJPEG-over-HTTP (IP) camera. */
public class HttpCamera extends VideoCamera {
public enum HttpCameraKind {
kUnknown(0), kMJPGStreamer(1), kCSCore(2), kAxis(3);
kUnknown(0),
kMJPGStreamer(1),
kCSCore(2),
kAxis(3);
private final int value;
@@ -30,10 +31,14 @@ public class HttpCamera extends VideoCamera {
*/
public static HttpCameraKind getHttpCameraKindFromInt(int kind) {
switch (kind) {
case 1: return HttpCameraKind.kMJPGStreamer;
case 2: return HttpCameraKind.kCSCore;
case 3: return HttpCameraKind.kAxis;
default: return HttpCameraKind.kUnknown;
case 1:
return HttpCameraKind.kMJPGStreamer;
case 2:
return HttpCameraKind.kCSCore;
case 3:
return HttpCameraKind.kAxis;
default:
return HttpCameraKind.kUnknown;
}
}
@@ -82,23 +87,18 @@ public class HttpCamera extends VideoCamera {
/**
* Get the kind of HTTP camera.
*
* <p>Autodetection can result in returning a different value than the camera
* was created with.
* <p>Autodetection can result in returning a different value than the camera was created with.
*/
public HttpCameraKind getHttpCameraKind() {
return getHttpCameraKindFromInt(CameraServerJNI.getHttpCameraKind(m_handle));
}
/**
* Change the URLs used to connect to the camera.
*/
/** Change the URLs used to connect to the camera. */
public void setUrls(String[] urls) {
CameraServerJNI.setHttpCameraUrls(m_handle, urls);
}
/**
* Get the URLs used to connect to the camera.
*/
/** Get the URLs used to connect to the camera. */
public String[] getUrls() {
return CameraServerJNI.getHttpCameraUrls(m_handle);
}

12
cscore/src/main/java/edu/wpi/cscore/ImageSink.java
View File

@@ -18,19 +18,15 @@ public abstract class ImageSink extends VideoSink {
CameraServerJNI.setSinkDescription(m_handle, description);
}
/**
* Get error string. Call this if WaitForFrame() returns 0 to determine
* what the error is.
*/
/** Get error string. Call this if WaitForFrame() returns 0 to determine what the error is. */
public String getError() {
return CameraServerJNI.getSinkError(m_handle);
}
/**
* Enable or disable getting new frames.
* Disabling will cause processFrame (for callback-based CvSinks) to not
* be called and WaitForFrame() to not return. This can be used to save
* processor resources when frames are not needed.
* Enable or disable getting new frames. Disabling will cause processFrame (for callback-based
* CvSinks) to not be called and WaitForFrame() to not return. This can be used to save processor
* resources when frames are not needed.
*/
public void setEnabled(boolean enabled) {
CameraServerJNI.setSinkEnabled(m_handle, enabled);

58
cscore/src/main/java/edu/wpi/cscore/ImageSource.java
View File

@@ -10,15 +10,15 @@ public abstract class ImageSource extends VideoSource {
}
/**
* Signal sinks that an error has occurred. This should be called instead
* of NotifyFrame when an error occurs.
* Signal sinks that an error has occurred. This should be called instead of NotifyFrame when an
* error occurs.
*/
public void notifyError(String msg) {
CameraServerJNI.notifySourceError(m_handle, msg);
}
/**
* Set source connection status. Defaults to true.
* Set source connection status. Defaults to true.
*
* @param connected True for connected, false for disconnected
*/
@@ -47,22 +47,17 @@ public abstract class ImageSource extends VideoSource {
* @param value Current value
* @return Property
*/
public VideoProperty createProperty(String name,
VideoProperty.Kind kind,
int minimum,
int maximum,
int step,
int defaultValue,
int value) {
public VideoProperty createProperty(
String name,
VideoProperty.Kind kind,
int minimum,
int maximum,
int step,
int defaultValue,
int value) {
return new VideoProperty(
CameraServerJNI.createSourceProperty(m_handle,
name,
kind.getValue(),
minimum,
maximum,
step,
defaultValue,
value));
CameraServerJNI.createSourceProperty(
m_handle, name, kind.getValue(), minimum, maximum, step, defaultValue, value));
}
/**
@@ -76,14 +71,11 @@ public abstract class ImageSource extends VideoSource {
* @param value Current value
* @return Property
*/
public VideoProperty createIntegerProperty(String name,
int minimum,
int maximum,
int step,
int defaultValue,
int value) {
public VideoProperty createIntegerProperty(
String name, int minimum, int maximum, int step, int defaultValue, int value) {
return new VideoProperty(
CameraServerJNI.createSourceProperty(m_handle,
CameraServerJNI.createSourceProperty(
m_handle,
name,
VideoProperty.Kind.kInteger.getValue(),
minimum,
@@ -103,7 +95,8 @@ public abstract class ImageSource extends VideoSource {
*/
public VideoProperty createBooleanProperty(String name, boolean defaultValue, boolean value) {
return new VideoProperty(
CameraServerJNI.createSourceProperty(m_handle,
CameraServerJNI.createSourceProperty(
m_handle,
name,
VideoProperty.Kind.kBoolean.getValue(),
0,
@@ -121,15 +114,10 @@ public abstract class ImageSource extends VideoSource {
* @return Property
*/
public VideoProperty createStringProperty(String name, String value) {
VideoProperty prop = new VideoProperty(
CameraServerJNI.createSourceProperty(m_handle,
name,
VideoProperty.Kind.kString.getValue(),
0,
0,
0,
0,
0));
VideoProperty prop =
new VideoProperty(
CameraServerJNI.createSourceProperty(
m_handle, name, VideoProperty.Kind.kString.getValue(), 0, 0, 0, 0, 0));
prop.setString(value);
return prop;
}

40
cscore/src/main/java/edu/wpi/cscore/MjpegServer.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.cscore;
/**
* A sink that acts as a MJPEG-over-HTTP network server.
*/
/** A sink that acts as a MJPEG-over-HTTP network server. */
public class MjpegServer extends VideoSink {
/**
* Create a MJPEG-over-HTTP server sink.
@@ -29,16 +27,12 @@ public class MjpegServer extends VideoSink {
this(name, "", port);
}
/**
* Get the listen address of the server.
*/
/** Get the listen address of the server. */
public String getListenAddress() {
return CameraServerJNI.getMjpegServerListenAddress(m_handle);
}
/**
* Get the port number of the server.
*/
/** Get the port number of the server. */
public int getPort() {
return CameraServerJNI.getMjpegServerPort(m_handle);
}
@@ -46,13 +40,11 @@ public class MjpegServer extends VideoSink {
/**
* Set the stream resolution for clients that don't specify it.
*
* <p>It is not necessary to set this if it is the same as the source
* resolution.
* <p>It is not necessary to set this if it is the same as the source resolution.
*
* <p>Setting this different than the source resolution will result in
* increased CPU usage, particularly for MJPEG source cameras, as it will
* decompress, resize, and recompress the image, instead of using the
* camera's MJPEG image directly.
* <p>Setting this different than the source resolution will result in increased CPU usage,
* particularly for MJPEG source cameras, as it will decompress, resize, and recompress the image,
* instead of using the camera's MJPEG image directly.
*
* @param width width, 0 for unspecified
* @param height height, 0 for unspecified
@@ -76,26 +68,24 @@ public class MjpegServer extends VideoSink {
/**
* Set the compression for clients that don't specify it.
*
* <p>Setting this will result in increased CPU usage for MJPEG source cameras
* as it will decompress and recompress the image instead of using the
* camera's MJPEG image directly.
* <p>Setting this will result in increased CPU usage for MJPEG source cameras as it will
* decompress and recompress the image instead of using the camera's MJPEG image directly.
*
* @param quality JPEG compression quality (0-100), -1 for unspecified
*/
public void setCompression(int quality) {
CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "compression"),
quality);
CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "compression"), quality);
}
/**
* Set the default compression used for non-MJPEG sources. If not set,
* 80 is used. This function has no effect on MJPEG source cameras; use
* SetCompression() instead to force recompression of MJPEG source images.
* Set the default compression used for non-MJPEG sources. If not set, 80 is used. This function
* has no effect on MJPEG source cameras; use SetCompression() instead to force recompression of
* MJPEG source images.
*
* @param quality JPEG compression quality (0-100)
*/
public void setDefaultCompression(int quality) {
CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "default_compression"),
quality);
CameraServerJNI.setProperty(
CameraServerJNI.getSinkProperty(m_handle, "default_compression"), quality);
}
}

20
cscore/src/main/java/edu/wpi/cscore/UsbCamera.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.cscore;
/**
* A source that represents a USB camera.
*/
/** A source that represents a USB camera. */
public class UsbCamera extends VideoCamera {
/**
* Create a source for a USB camera based on device number.
@@ -37,23 +35,17 @@ public class UsbCamera extends VideoCamera {
return CameraServerJNI.enumerateUsbCameras();
}
/**
* Change the path to the device.
*/
/** Change the path to the device. */
void setPath(String path) {
CameraServerJNI.setUsbCameraPath(m_handle, path);
}
/**
* Get the path to the device.
*/
/** Get the path to the device. */
public String getPath() {
return CameraServerJNI.getUsbCameraPath(m_handle);
}
/**
* Get the full camera information for the device.
*/
/** Get the full camera information for the device. */
public UsbCameraInfo getInfo() {
return CameraServerJNI.getUsbCameraInfo(m_handle);
}
@@ -64,7 +56,7 @@ public class UsbCamera extends VideoCamera {
* @param level 0=don't display Connecting message, 1=do display message
*/
public void setConnectVerbose(int level) {
CameraServerJNI.setProperty(CameraServerJNI.getSourceProperty(m_handle, "connect_verbose"),
level);
CameraServerJNI.setProperty(
CameraServerJNI.getSourceProperty(m_handle, "connect_verbose"), level);
}
}

32
cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.cscore;
/**
* USB camera information.
*/
/** USB camera information. */
public class UsbCameraInfo {
/**
* Create a new set of UsbCameraInfo.
@@ -19,8 +17,8 @@ public class UsbCameraInfo {
* @param productId USB product id
*/
@SuppressWarnings("PMD.ArrayIsStoredDirectly")
public UsbCameraInfo(int dev, String path, String name, String[] otherPaths, int vendorId,
int productId) {
public UsbCameraInfo(
int dev, String path, String name, String[] otherPaths, int vendorId, int productId) {
this.dev = dev;
this.path = path;
this.name = name;
@@ -29,39 +27,27 @@ public class UsbCameraInfo {
this.productId = productId;
}
/**
* Device number (e.g. N in '/dev/videoN' on Linux).
*/
/** Device number (e.g. N in '/dev/videoN' on Linux). */
@SuppressWarnings("MemberName")
public int dev;
/**
* Path to device if available (e.g. '/dev/video0' on Linux).
*/
/** Path to device if available (e.g. '/dev/video0' on Linux). */
@SuppressWarnings("MemberName")
public String path;
/**
* Vendor/model name of the camera as provided by the USB driver.
*/
/** Vendor/model name of the camera as provided by the USB driver. */
@SuppressWarnings("MemberName")
public String name;
/**
* Other path aliases to device (e.g. '/dev/v4l/by-id/...' etc on Linux).
*/
/** Other path aliases to device (e.g. '/dev/v4l/by-id/...' etc on Linux). */
@SuppressWarnings("MemberName")
public String[] otherPaths;
/**
* USB vendor id.
*/
/** USB vendor id. */
@SuppressWarnings("MemberName")
public int vendorId;
/**
* USB product id.
*/
/** USB product id. */
@SuppressWarnings("MemberName")
public int productId;
}

36
cscore/src/main/java/edu/wpi/cscore/VideoCamera.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.cscore;
/**
* A source that represents a video camera.
*/
/** A source that represents a video camera. */
public class VideoCamera extends VideoSource {
public static class WhiteBalance {
public static final int kFixedIndoor = 3000;
@@ -20,58 +18,42 @@ public class VideoCamera extends VideoSource {
super(handle);
}
/**
* Set the brightness, as a percentage (0-100).
*/
/** Set the brightness, as a percentage (0-100). */
public synchronized void setBrightness(int brightness) {
CameraServerJNI.setCameraBrightness(m_handle, brightness);
}
/**
* Get the brightness, as a percentage (0-100).
*/
/** Get the brightness, as a percentage (0-100). */
public synchronized int getBrightness() {
return CameraServerJNI.getCameraBrightness(m_handle);
}
/**
* Set the white balance to auto.
*/
/** Set the white balance to auto. */
public synchronized void setWhiteBalanceAuto() {
CameraServerJNI.setCameraWhiteBalanceAuto(m_handle);
}
/**
* Set the white balance to hold current.
*/
/** Set the white balance to hold current. */
public synchronized void setWhiteBalanceHoldCurrent() {
CameraServerJNI.setCameraWhiteBalanceHoldCurrent(m_handle);
}
/**
* Set the white balance to manual, with specified color temperature.
*/
/** Set the white balance to manual, with specified color temperature. */
public synchronized void setWhiteBalanceManual(int value) {
CameraServerJNI.setCameraWhiteBalanceManual(m_handle, value);
}
/**
* Set the exposure to auto aperture.
*/
/** Set the exposure to auto aperture. */
public synchronized void setExposureAuto() {
CameraServerJNI.setCameraExposureAuto(m_handle);
}
/**
* Set the exposure to hold current.
*/
/** Set the exposure to hold current. */
public synchronized void setExposureHoldCurrent() {
CameraServerJNI.setCameraExposureHoldCurrent(m_handle);
}
/**
* Set the exposure to manual, as a percentage (0-100).
*/
/** Set the exposure to manual, as a percentage (0-100). */
public synchronized void setExposureManual(int value) {
CameraServerJNI.setCameraExposureManual(m_handle, value);
}

82
cscore/src/main/java/edu/wpi/cscore/VideoEvent.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.cscore;
/**
* Video event.
*/
/** Video event. */
public class VideoEvent {
public enum Kind {
kUnknown(0x0000),
@@ -50,32 +48,61 @@ public class VideoEvent {
@SuppressWarnings("PMD.CyclomaticComplexity")
public static Kind getKindFromInt(int kind) {
switch (kind) {
case 0x0001: return Kind.kSourceCreated;
case 0x0002: return Kind.kSourceDestroyed;
case 0x0004: return Kind.kSourceConnected;
case 0x0008: return Kind.kSourceDisconnected;
case 0x0010: return Kind.kSourceVideoModesUpdated;
case 0x0020: return Kind.kSourceVideoModeChanged;
case 0x0040: return Kind.kSourcePropertyCreated;
case 0x0080: return Kind.kSourcePropertyValueUpdated;
case 0x0100: return Kind.kSourcePropertyChoicesUpdated;
case 0x0200: return Kind.kSinkSourceChanged;
case 0x0400: return Kind.kSinkCreated;
case 0x0800: return Kind.kSinkDestroyed;
case 0x1000: return Kind.kSinkEnabled;
case 0x2000: return Kind.kSinkDisabled;
case 0x4000: return Kind.kNetworkInterfacesChanged;
case 0x10000: return Kind.kSinkPropertyCreated;
case 0x20000: return Kind.kSinkPropertyValueUpdated;
case 0x40000: return Kind.kSinkPropertyChoicesUpdated;
default: return Kind.kUnknown;
case 0x0001:
return Kind.kSourceCreated;
case 0x0002:
return Kind.kSourceDestroyed;
case 0x0004:
return Kind.kSourceConnected;
case 0x0008:
return Kind.kSourceDisconnected;
case 0x0010:
return Kind.kSourceVideoModesUpdated;
case 0x0020:
return Kind.kSourceVideoModeChanged;
case 0x0040:
return Kind.kSourcePropertyCreated;
case 0x0080:
return Kind.kSourcePropertyValueUpdated;
case 0x0100:
return Kind.kSourcePropertyChoicesUpdated;
case 0x0200:
return Kind.kSinkSourceChanged;
case 0x0400:
return Kind.kSinkCreated;
case 0x0800:
return Kind.kSinkDestroyed;
case 0x1000:
return Kind.kSinkEnabled;
case 0x2000:
return Kind.kSinkDisabled;
case 0x4000:
return Kind.kNetworkInterfacesChanged;
case 0x10000:
return Kind.kSinkPropertyCreated;
case 0x20000:
return Kind.kSinkPropertyValueUpdated;
case 0x40000:
return Kind.kSinkPropertyChoicesUpdated;
default:
return Kind.kUnknown;
}
}
@SuppressWarnings("PMD.ExcessiveParameterList")
VideoEvent(int kind, int source, int sink, String name, int pixelFormat,
int width, int height, int fps, int property, int propertyKind,
int value, String valueStr) {
VideoEvent(
int kind,
int source,
int sink,
String name,
int pixelFormat,
int width,
int height,
int fps,
int property,
int propertyKind,
int value,
String valueStr) {
this.kind = getKindFromInt(kind);
this.sourceHandle = source;
this.sinkHandle = sink;
@@ -93,6 +120,7 @@ public class VideoEvent {
// Valid for kSource* and kSink* respectively
@SuppressWarnings("MemberName")
public int sourceHandle;
@SuppressWarnings("MemberName")
public int sinkHandle;
@@ -107,10 +135,13 @@ public class VideoEvent {
// Fields for kSourceProperty* events
@SuppressWarnings("MemberName")
public int propertyHandle;
@SuppressWarnings("MemberName")
public VideoProperty.Kind propertyKind;
@SuppressWarnings("MemberName")
public int value;
@SuppressWarnings("MemberName")
public String valueStr;
@@ -125,5 +156,4 @@ public class VideoEvent {
public VideoProperty getProperty() {
return new VideoProperty(propertyHandle, propertyKind);
}
}

4
cscore/src/main/java/edu/wpi/cscore/VideoException.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.cscore;
/**
* An exception raised by the camera server.
*/
/** An exception raised by the camera server. */
public class VideoException extends RuntimeException {
private static final long serialVersionUID = -9155939328084105145L;

11
cscore/src/main/java/edu/wpi/cscore/VideoListener.java
View File

@@ -7,8 +7,8 @@ package edu.wpi.cscore;
import java.util.function.Consumer;
/**
* An event listener. This calls back to a desigated callback function when
* an event matching the specified mask is generated by the library.
* An event listener. This calls back to a desigated callback function when an event matching the
* specified mask is generated by the library.
*/
public class VideoListener implements AutoCloseable {
/**
@@ -16,11 +16,10 @@ public class VideoListener implements AutoCloseable {
*
* @param listener Listener function
* @param eventMask Bitmask of VideoEvent.Type values
* @param immediateNotify Whether callback should be immediately called with
* a representative set of events for the current library state.
* @param immediateNotify Whether callback should be immediately called with a representative set
* of events for the current library state.
*/
public VideoListener(Consumer<VideoEvent> listener, int eventMask,
boolean immediateNotify) {
public VideoListener(Consumer<VideoEvent> listener, int eventMask, boolean immediateNotify) {
m_handle = CameraServerJNI.addListener(listener, eventMask, immediateNotify);
}

35
cscore/src/main/java/edu/wpi/cscore/VideoMode.java
View File

@@ -4,12 +4,15 @@
package edu.wpi.cscore;
/**
* Video mode.
*/
/** Video mode. */
public class VideoMode {
public enum PixelFormat {
kUnknown(0), kMJPEG(1), kYUYV(2), kRGB565(3), kBGR(4), kGray(5);
kUnknown(0),
kMJPEG(1),
kYUYV(2),
kRGB565(3),
kBGR(4),
kGray(5);
private final int value;
@@ -28,9 +31,7 @@ public class VideoMode {
return m_pixelFormatValues[pixelFormat];
}
/**
* Create a new video mode.
*/
/** Create a new video mode. */
public VideoMode(int pixelFormat, int width, int height, int fps) {
this.pixelFormat = getPixelFormatFromInt(pixelFormat);
this.width = width;
@@ -38,9 +39,7 @@ public class VideoMode {
this.fps = fps;
}
/**
* Create a new video mode.
*/
/** Create a new video mode. */
public VideoMode(PixelFormat pixelFormat, int width, int height, int fps) {
this.pixelFormat = pixelFormat;
this.width = width;
@@ -48,27 +47,19 @@ public class VideoMode {
this.fps = fps;
}
/**
* Pixel format.
*/
/** Pixel format. */
@SuppressWarnings("MemberName")
public PixelFormat pixelFormat;
/**
* Width in pixels.
*/
/** Width in pixels. */
@SuppressWarnings("MemberName")
public int width;
/**
* Height in pixels.
*/
/** Height in pixels. */
@SuppressWarnings("MemberName")
public int height;
/**
* Frames per second.
*/
/** Frames per second. */
@SuppressWarnings("MemberName")
public int fps;
}

25
cscore/src/main/java/edu/wpi/cscore/VideoProperty.java
View File

@@ -4,12 +4,14 @@
package edu.wpi.cscore;
/**
* A source or sink property.
*/
/** A source or sink property. */
public class VideoProperty {
public enum Kind {
kNone(0), kBoolean(1), kInteger(2), kString(4), kEnum(8);
kNone(0),
kBoolean(1),
kInteger(2),
kString(4),
kEnum(8);
private final int value;
@@ -30,11 +32,16 @@ public class VideoProperty {
*/
public static Kind getKindFromInt(int kind) {
switch (kind) {
case 1: return Kind.kBoolean;
case 2: return Kind.kInteger;
case 4: return Kind.kString;
case 8: return Kind.kEnum;
default: return Kind.kNone;
case 1:
return Kind.kBoolean;
case 2:
return Kind.kInteger;
case 4:
return Kind.kString;
case 8:
return Kind.kEnum;
default:
return Kind.kNone;
}
}

50
cscore/src/main/java/edu/wpi/cscore/VideoSink.java
View File

@@ -5,13 +5,15 @@
package edu.wpi.cscore;
/**
* A source for video that provides a sequence of frames. Each frame may
* consist of multiple images (e.g. from a stereo or depth camera); these
* are called channels.
* A source for video that provides a sequence of frames. Each frame may consist of multiple images
* (e.g. from a stereo or depth camera); these are called channels.
*/
public class VideoSink implements AutoCloseable {
public enum Kind {
kUnknown(0), kMjpeg(2), kCv(4), kRaw(8);
kUnknown(0),
kMjpeg(2),
kCv(4),
kRaw(8);
private final int value;
@@ -32,9 +34,12 @@ public class VideoSink implements AutoCloseable {
*/
public static Kind getKindFromInt(int kind) {
switch (kind) {
case 2: return Kind.kMjpeg;
case 4: return Kind.kCv;
default: return Kind.kUnknown;
case 2:
return Kind.kMjpeg;
case 4:
return Kind.kCv;
default:
return Kind.kUnknown;
}
}
@@ -78,24 +83,20 @@ public class VideoSink implements AutoCloseable {
return m_handle;
}
/**
* Get the kind of the sink.
*/
/** Get the kind of the sink. */
public Kind getKind() {
return getKindFromInt(CameraServerJNI.getSinkKind(m_handle));
}
/**
* Get the name of the sink. The name is an arbitrary identifier
* provided when the sink is created, and should be unique.
* Get the name of the sink. The name is an arbitrary identifier provided when the sink is
* created, and should be unique.
*/
public String getName() {
return CameraServerJNI.getSinkName(m_handle);
}
/**
* Get the sink description. This is sink-kind specific.
*/
/** Get the sink description. This is sink-kind specific. */
public String getDescription() {
return CameraServerJNI.getSinkDescription(m_handle);
}
@@ -104,16 +105,13 @@ public class VideoSink implements AutoCloseable {
* Get a property of the sink.
*
* @param name Property name
* @return Property (kind Property::kNone if no property with
* the given name exists)
* @return Property (kind Property::kNone if no property with the given name exists)
*/
public VideoProperty getProperty(String name) {
return new VideoProperty(CameraServerJNI.getSinkProperty(m_handle, name));
}
/**
* Enumerate all properties of this sink.
*/
/** Enumerate all properties of this sink. */
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public VideoProperty[] enumerateProperties() {
int[] handles = CameraServerJNI.enumerateSinkProperties(m_handle);
@@ -157,9 +155,8 @@ public class VideoSink implements AutoCloseable {
}
/**
* Configure which source should provide frames to this sink. Each sink
* can accept frames from only a single source, but a single source can
* provide frames to multiple clients.
* Configure which source should provide frames to this sink. Each sink can accept frames from
* only a single source, but a single source can provide frames to multiple clients.
*
* @param source Source
*/
@@ -186,12 +183,11 @@ public class VideoSink implements AutoCloseable {
* Get a property of the associated source.
*
* @param name Property name
* @return Property (kind Property::kNone if no property with
* the given name exists or no source connected)
* @return Property (kind Property::kNone if no property with the given name exists or no source
* connected)
*/
public VideoProperty getSourceProperty(String name) {
return new VideoProperty(
CameraServerJNI.getSinkSourceProperty(m_handle, name));
return new VideoProperty(CameraServerJNI.getSinkSourceProperty(m_handle, name));
}
/**

108
cscore/src/main/java/edu/wpi/cscore/VideoSource.java
View File

@@ -5,13 +5,16 @@
package edu.wpi.cscore;
/**
* A source for video that provides a sequence of frames. Each frame may
* consist of multiple images (e.g. from a stereo or depth camera); these
* are called channels.
* A source for video that provides a sequence of frames. Each frame may consist of multiple images
* (e.g. from a stereo or depth camera); these are called channels.
*/
public class VideoSource implements AutoCloseable {
public enum Kind {
kUnknown(0), kUsb(1), kHttp(2), kCv(4), kRaw(8);
kUnknown(0),
kUsb(1),
kHttp(2),
kCv(4),
kRaw(8);
private final int value;
@@ -24,25 +27,19 @@ public class VideoSource implements AutoCloseable {
}
}
/**
* Connection strategy.
*/
/** Connection strategy. */
public enum ConnectionStrategy {
/**
* Automatically connect or disconnect based on whether any sinks are
* connected to this source. This is the default behavior.
* Automatically connect or disconnect based on whether any sinks are connected to this source.
* This is the default behavior.
*/
kAutoManage(0),
/**
* Try to keep the connection open regardless of whether any sinks are
* connected.
*/
/** Try to keep the connection open regardless of whether any sinks are connected. */
kKeepOpen(1),
/**
* Never open the connection. If this is set when the connection is open,
* close the connection.
* Never open the connection. If this is set when the connection is open, close the connection.
*/
kForceClose(2);
@@ -65,10 +62,14 @@ public class VideoSource implements AutoCloseable {
*/
public static Kind getKindFromInt(int kind) {
switch (kind) {
case 1: return Kind.kUsb;
case 2: return Kind.kHttp;
case 4: return Kind.kCv;
default: return Kind.kUnknown;
case 1:
return Kind.kUsb;
case 2:
return Kind.kHttp;
case 4:
return Kind.kCv;
default:
return Kind.kUnknown;
}
}
@@ -112,30 +113,27 @@ public class VideoSource implements AutoCloseable {
return m_handle;
}
/**
* Get the kind of the source.
*/
/** Get the kind of the source. */
public Kind getKind() {
return getKindFromInt(CameraServerJNI.getSourceKind(m_handle));
}
/**
* Get the name of the source. The name is an arbitrary identifier
* provided when the source is created, and should be unique.
* Get the name of the source. The name is an arbitrary identifier provided when the source is
* created, and should be unique.
*/
public String getName() {
return CameraServerJNI.getSourceName(m_handle);
}
/**
* Get the source description. This is source-kind specific.
*/
/** Get the source description. This is source-kind specific. */
public String getDescription() {
return CameraServerJNI.getSourceDescription(m_handle);
}
/**
* Get the last time a frame was captured.
*
* @return Time in 1 us increments.
*/
public long getLastFrameTime() {
@@ -143,12 +141,11 @@ public class VideoSource implements AutoCloseable {
}
/**
* Sets the connection strategy. By default, the source will automatically
* connect or disconnect based on whether any sinks are connected.
* Sets the connection strategy. By default, the source will automatically connect or disconnect
* based on whether any sinks are connected.
*
* <p>This function is non-blocking; look for either a connection open or
* close event or call {@link #isConnected()} to determine the connection
* state.
* <p>This function is non-blocking; look for either a connection open or close event or call
* {@link #isConnected()} to determine the connection state.
*
* @param strategy connection strategy (auto, keep open, or force close)
*/
@@ -156,16 +153,14 @@ public class VideoSource implements AutoCloseable {
CameraServerJNI.setSourceConnectionStrategy(m_handle, strategy.getValue());
}
/**
* Returns if the source currently connected to whatever is providing the images.
*/
/** Returns if the source currently connected to whatever is providing the images. */
public boolean isConnected() {
return CameraServerJNI.isSourceConnected(m_handle);
}
/**
* Gets source enable status. This is determined with a combination of
* connection strategy and the number of sinks connected.
* Gets source enable status. This is determined with a combination of connection strategy and the
* number of sinks connected.
*
* @return True if enabled, false otherwise.
*/
@@ -177,16 +172,13 @@ public class VideoSource implements AutoCloseable {
* Get a property.
*
* @param name Property name
* @return Property contents (of kind Property::kNone if no property with
* the given name exists)
* @return Property contents (of kind Property::kNone if no property with the given name exists)
*/
public VideoProperty getProperty(String name) {
return new VideoProperty(CameraServerJNI.getSourceProperty(m_handle, name));
}
/**
* Enumerate all properties of this source.
*/
/** Enumerate all properties of this source. */
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public VideoProperty[] enumerateProperties() {
int[] handles = CameraServerJNI.enumerateSourceProperties(m_handle);
@@ -197,23 +189,19 @@ public class VideoSource implements AutoCloseable {
return rv;
}
/**
* Get the current video mode.
*/
/** Get the current video mode. */
public VideoMode getVideoMode() {
return CameraServerJNI.getSourceVideoMode(m_handle);
}
/**
* Set the video mode.
*
* @param mode Video mode
*/
public boolean setVideoMode(VideoMode mode) {
return CameraServerJNI.setSourceVideoMode(m_handle,
mode.pixelFormat.getValue(),
mode.width,
mode.height,
mode.fps);
return CameraServerJNI.setSourceVideoMode(
m_handle, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps);
}
/**
@@ -302,32 +290,30 @@ public class VideoSource implements AutoCloseable {
/**
* Get the actual FPS.
*
* <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid
* (throws VisionException if telemetry is not enabled).
* <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid (throws
* VisionException if telemetry is not enabled).
*
* @return Actual FPS averaged over the telemetry period.
*/
public double getActualFPS() {
return CameraServerJNI.getTelemetryAverageValue(m_handle,
CameraServerJNI.TelemetryKind.kSourceFramesReceived);
return CameraServerJNI.getTelemetryAverageValue(
m_handle, CameraServerJNI.TelemetryKind.kSourceFramesReceived);
}
/**
* Get the data rate (in bytes per second).
*
* <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid
* (throws VisionException if telemetry is not enabled).
* <p>CameraServerJNI#setTelemetryPeriod() must be called for this to be valid (throws
* VisionException if telemetry is not enabled).
*
* @return Data rate averaged over the telemetry period.
*/
public double getActualDataRate() {
return CameraServerJNI.getTelemetryAverageValue(m_handle,
CameraServerJNI.TelemetryKind.kSourceBytesReceived);
return CameraServerJNI.getTelemetryAverageValue(
m_handle, CameraServerJNI.TelemetryKind.kSourceBytesReceived);
}
/**
* Enumerate all known video modes for this source.
*/
/** Enumerate all known video modes for this source. */
public VideoMode[] enumerateVideoModes() {
return CameraServerJNI.enumerateSourceVideoModes(m_handle);
}

68
cscore/src/main/java/edu/wpi/cscore/raw/RawFrame.java
View File

@@ -4,9 +4,8 @@
package edu.wpi.cscore.raw;
import java.nio.ByteBuffer;
import edu.wpi.cscore.CameraServerJNI;
import java.nio.ByteBuffer;
/**
* Class for storing raw frame data between image read call.
@@ -22,27 +21,28 @@ public class RawFrame implements AutoCloseable {
private int m_height;
private int m_pixelFormat;
/**
* Construct a new RawFrame.
*/
/** Construct a new RawFrame. */
public RawFrame() {
m_framePtr = CameraServerJNI.allocateRawFrame();
}
/**
* Close the RawFrame, releasing native resources.
* Any images currently using the data will be invalidated.
* Close the RawFrame, releasing native resources. Any images currently using the data will be
* invalidated.
*/
@Override
public void close() {
CameraServerJNI.freeRawFrame(m_framePtr);
}
/**
* Called from JNI to set data in class.
*/
public void setData(ByteBuffer dataByteBuffer, long dataPtr, int totalData,
int width, int height, int pixelFormat) {
/** Called from JNI to set data in class. */
public void setData(
ByteBuffer dataByteBuffer,
long dataPtr,
int totalData,
int width,
int height,
int pixelFormat) {
m_dataByteBuffer = dataByteBuffer;
m_dataPtr = dataPtr;
m_totalData = totalData;
@@ -51,76 +51,60 @@ public class RawFrame implements AutoCloseable {
m_pixelFormat = pixelFormat;
}
/**
* Get the pointer to native representation of this frame.
*/
/** Get the pointer to native representation of this frame. */
public long getFramePtr() {
return m_framePtr;
}
/**
* Get a ByteBuffer pointing to the frame data.
* This ByteBuffer is backed by the frame directly. Its lifetime is controlled by
* the frame. If a new frame gets read, it will overwrite the current one.
* Get a ByteBuffer pointing to the frame data. This ByteBuffer is backed by the frame directly.
* Its lifetime is controlled by the frame. If a new frame gets read, it will overwrite the
* current one.
*/
public ByteBuffer getDataByteBuffer() {
return m_dataByteBuffer;
}
/**
* Get a long (is a char* in native code) pointing to the frame data.
* This pointer is backed by the frame directly. Its lifetime is controlled by
* the frame. If a new frame gets read, it will overwrite the current one.
* Get a long (is a char* in native code) pointing to the frame data. This pointer is backed by
* the frame directly. Its lifetime is controlled by the frame. If a new frame gets read, it will
* overwrite the current one.
*/
public long getDataPtr() {
return m_dataPtr;
}
/**
* Get the total length of the data stored in the frame.
*/
/** Get the total length of the data stored in the frame. */
public int getTotalData() {
return m_totalData;
}
/**
* Get the width of the frame.
*/
/** Get the width of the frame. */
public int getWidth() {
return m_width;
}
/**
* Set the width of the frame.
*/
/** Set the width of the frame. */
public void setWidth(int width) {
this.m_width = width;
}
/**
* Get the height of the frame.
*/
/** Get the height of the frame. */
public int getHeight() {
return m_height;
}
/**
* Set the height of the frame.
*/
/** Set the height of the frame. */
public void setHeight(int height) {
this.m_height = height;
}
/**
* Get the PixelFormat of the frame.
*/
/** Get the PixelFormat of the frame. */
public int getPixelFormat() {
return m_pixelFormat;
}
/**
* Set the PixelFormat of the frame.
*/
/** Set the PixelFormat of the frame. */
public void setPixelFormat(int pixelFormat) {
this.m_pixelFormat = pixelFormat;
}

32
cscore/src/main/java/edu/wpi/cscore/raw/RawSink.java
View File

@@ -16,8 +16,7 @@ public class RawSink extends ImageSink {
/**
* Create a sink for accepting raw images.
*
* <p>grabFrame() must be called on the created sink to get each new
* image.
* <p>grabFrame() must be called on the created sink to get each new image.
*
* @param name Source name (arbitrary unique identifier)
*/
@@ -26,38 +25,33 @@ public class RawSink extends ImageSink {
}
/**
* Wait for the next frame and get the image.
* Times out (returning 0) after 0.225 seconds.
* The provided image will have three 8-bit channels stored in BGR order.
* Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
* provided image will have three 8-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call getError() to obtain the error
* message); the frame time is in the same time base as wpi::Now(),
* and is in 1 us increments.
* @return Frame time, or 0 on error (call getError() to obtain the error message); the frame time
* is in the same time base as wpi::Now(), and is in 1 us increments.
*/
protected long grabFrame(RawFrame frame) {
return grabFrame(frame, 0.225);
}
/**
* Wait for the next frame and get the image.
* Times out (returning 0) after timeout seconds.
* The provided image will have three 8-bit channels stored in BGR order.
* Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
* provided image will have three 8-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call getError() to obtain the error
* message); the frame time is in the same time base as wpi::Now(),
* and is in 1 us increments.
* @return Frame time, or 0 on error (call getError() to obtain the error message); the frame time
* is in the same time base as wpi::Now(), and is in 1 us increments.
*/
protected long grabFrame(RawFrame frame, double timeout) {
return CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
}
/**
* Wait for the next frame and get the image. May block forever.
* The provided image will have three 8-bit channels stored in BGR order.
* Wait for the next frame and get the image. May block forever. The provided image will have
* three 8-bit channels stored in BGR order.
*
* @return Frame time, or 0 on error (call getError() to obtain the error
* message); the frame time is in the same time base as wpi::Now(),
* and is in 1 us increments.
* @return Frame time, or 0 on error (call getError() to obtain the error message); the frame time
* is in the same time base as wpi::Now(), and is in 1 us increments.
*/
protected long grabFrameNoTimeout(RawFrame frame) {
return CameraServerJNI.grabSinkFrame(m_handle, frame);

20
cscore/src/main/java/edu/wpi/cscore/raw/RawSource.java
View File

@@ -21,10 +21,9 @@ public class RawSource extends ImageSource {
* @param mode Video mode being generated
*/
public RawSource(String name, VideoMode mode) {
super(CameraServerJNI.createRawSource(name,
mode.pixelFormat.getValue(),
mode.width, mode.height,
mode.fps));
super(
CameraServerJNI.createRawSource(
name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
}
/**
@@ -37,10 +36,7 @@ public class RawSource extends ImageSource {
* @param fps fps
*/
public RawSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
super(CameraServerJNI.createRawSource(name,
pixelFormat.getValue(),
width, height,
fps));
super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
}
/**
@@ -74,9 +70,9 @@ public class RawSource extends ImageSource {
* @param pixelFormat pixel format
* @param totalData length of data in total
*/
protected void putFrame(long data, int width, int height, VideoMode.PixelFormat pixelFormat,
int totalData) {
CameraServerJNI.putRawSourceFrame(m_handle, data, width, height, pixelFormat.getValue(),
totalData);
protected void putFrame(
long data, int width, int height, VideoMode.PixelFormat pixelFormat, int totalData) {
CameraServerJNI.putRawSourceFrame(
m_handle, data, width, height, pixelFormat.getValue(), totalData);
}
}

21
cscore/src/test/java/edu/wpi/cscore/UsbCameraTest.java
View File

@@ -4,21 +4,20 @@
package edu.wpi.cscore;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively;
import static org.junit.jupiter.api.Assertions.assertTrue;
import java.time.Duration;
import java.util.Arrays;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.TimeoutException;
import org.junit.jupiter.api.Nested;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.condition.EnabledOnOs;
import org.junit.jupiter.api.condition.OS;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively;
import static org.junit.jupiter.api.Assertions.assertTrue;
class UsbCameraTest {
@Nested
@EnabledOnOs(OS.LINUX)
@@ -31,7 +30,8 @@ class UsbCameraTest {
CompletableFuture<String> result = new CompletableFuture<>();
CameraServerJNI.setLogger((level, file, line, message) -> result.complete(message), 20);
assertTimeoutPreemptively(Duration.ofSeconds(5),
assertTimeoutPreemptively(
Duration.ofSeconds(5),
() -> assertTrue(result.get().contains("Connecting to USB camera on ")));
}
}
@@ -44,15 +44,16 @@ class UsbCameraTest {
CompletableFuture<String> result = new CompletableFuture<>();
CameraServerJNI.setLogger((level, file, line, message) -> result.complete(message), 20);
assertThrows(TimeoutException.class,
() -> result.get(3, TimeUnit.SECONDS));
assertThrows(TimeoutException.class, () -> result.get(3, TimeUnit.SECONDS));
}
}
}
private static int getNonexistentCameraDev() {
return Arrays.stream(CameraServerJNI.enumerateUsbCameras())
.mapToInt(info -> info.dev)
.max().orElse(-1) + 20;
.mapToInt(info -> info.dev)
.max()
.orElse(-1)
+ 20;
}
}

7
hal/src/dev/java/edu/wpi/first/hal/DevMain.java
View File

@@ -5,10 +5,7 @@
package edu.wpi.first.hal;
public final class DevMain {
public static void main(String[] args) {
public static void main(String[] args) {}
}
private DevMain() {
}
private DevMain() {}
}

16
hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
View File

@@ -4,24 +4,16 @@
package edu.wpi.first.hal;
/**
* Structure for holding the values stored in an accumulator.
*/
/** Structure for holding the values stored in an accumulator. */
public class AccumulatorResult {
/**
* The total value accumulated.
*/
/** The total value accumulated. */
@SuppressWarnings("MemberName")
public long value;
/**
* The number of sample value was accumulated over.
*/
/** The number of sample value was accumulated over. */
@SuppressWarnings("MemberName")
public long count;
/**
* Set the value and count.
*/
/** Set the value and count. */
public void set(long value, long count) {
this.value = value;
this.count = count;

7
hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
View File

@@ -7,14 +7,19 @@ package edu.wpi.first.hal;
@SuppressWarnings("AbbreviationAsWordInName")
public class AddressableLEDJNI extends JNIWrapper {
public static native int initialize(int pwmHandle);
public static native void free(int handle);
public static native void setLength(int handle, int length);
public static native void setData(int handle, byte[] data);
public static native void setBitTiming(int handle, int lowTime0, int highTime0, int lowTime1, int highTime1);
public static native void setBitTiming(
int handle, int lowTime0, int highTime0, int lowTime1, int highTime1);
public static native void setSyncTime(int handle, int syncTime);
public static native void start(int handle);
public static native void stop(int handle);
}

7
hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
View File

@@ -5,5 +5,10 @@
package edu.wpi.first.hal;
public enum AllianceStationID {
Red1, Red2, Red3, Blue1, Blue2, Blue3
Red1,
Red2,
Red3,
Blue1,
Blue2,
Blue3
}

9
hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
View File

@@ -11,12 +11,11 @@ public class AnalogGyroJNI extends JNIWrapper {
public static native void freeAnalogGyro(int handle);
public static native void setAnalogGyroParameters(int handle,
double voltsPerDegreePerSecond,
double offset, int center);
public static native void setAnalogGyroParameters(
int handle, double voltsPerDegreePerSecond, double offset, int center);
public static native void setAnalogGyroVoltsPerDegreePerSecond(int handle,
double voltsPerDegreePerSecond);
public static native void setAnalogGyroVoltsPerDegreePerSecond(
int handle, double voltsPerDegreePerSecond);
public static native void resetAnalogGyro(int handle);

39
hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
View File

@@ -6,24 +6,17 @@ package edu.wpi.first.hal;
public class AnalogJNI extends JNIWrapper {
/**
* <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br> enum values
* <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br>
* enum values
*/
public interface AnalogTriggerType {
/**
* <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i>
*/
/** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i> */
int kInWindow = 0;
/**
* <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i>
*/
/** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i> */
int kState = 1;
/**
* <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i>
*/
/** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i> */
int kRisingPulse = 2;
/**
* <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i>
*/
/** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i> */
int kFallingPulse = 3;
}
@@ -95,20 +88,20 @@ public class AnalogJNI extends JNIWrapper {
public static native void cleanAnalogTrigger(int analogTriggerHandle);
public static native void setAnalogTriggerLimitsRaw(int analogTriggerHandle, int lower,
int upper);
public static native void setAnalogTriggerLimitsRaw(
int analogTriggerHandle, int lower, int upper);
public static native void setAnalogTriggerLimitsDutyCycle(int analogTriggerHandle, double lower,
double higher);
public static native void setAnalogTriggerLimitsDutyCycle(
int analogTriggerHandle, double lower, double higher);
public static native void setAnalogTriggerLimitsVoltage(int analogTriggerHandle,
double lower, double upper);
public static native void setAnalogTriggerLimitsVoltage(
int analogTriggerHandle, double lower, double upper);
public static native void setAnalogTriggerAveraged(int analogTriggerHandle,
boolean useAveragedValue);
public static native void setAnalogTriggerAveraged(
int analogTriggerHandle, boolean useAveragedValue);
public static native void setAnalogTriggerFiltered(int analogTriggerHandle,
boolean useFilteredValue);
public static native void setAnalogTriggerFiltered(
int analogTriggerHandle, boolean useFilteredValue);
public static native boolean getAnalogTriggerInWindow(int analogTriggerHandle);

12
hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
View File

@@ -12,15 +12,15 @@ public class CANAPIJNI extends JNIWrapper {
public static native void writeCANPacket(int handle, byte[] data, int apiId);
public static native void writeCANPacketRepeating(int handle, byte[] data, int apiId,
int repeatMs);
public static native void writeCANPacketRepeating(
int handle, byte[] data, int apiId, int repeatMs);
public static native void writeCANRTRFrame(int handle, int length, int apiId);
public static native int writeCANPacketNoThrow(int handle, byte[] data, int apiId);
public static native int writeCANPacketRepeatingNoThrow(int handle, byte[] data, int apiId,
int repeatMs);
public static native int writeCANPacketRepeatingNoThrow(
int handle, byte[] data, int apiId, int repeatMs);
public static native int writeCANRTRFrameNoThrow(int handle, int length, int apiId);
@@ -30,6 +30,6 @@ public class CANAPIJNI extends JNIWrapper {
public static native boolean readCANPacketLatest(int handle, int apiId, CANData data);
public static native boolean readCANPacketTimeout(int handle, int apiId, int timeoutMs,
CANData data);
public static native boolean readCANPacketTimeout(
int handle, int apiId, int timeoutMs, CANData data);
}

6
hal/src/main/java/edu/wpi/first/hal/CANData.java
View File

@@ -7,14 +7,14 @@ package edu.wpi.first.hal;
public class CANData {
@SuppressWarnings("MemberName")
public final byte[] data = new byte[8];
@SuppressWarnings("MemberName")
public int length;
@SuppressWarnings("MemberName")
public long timestamp;
/**
* API used from JNI to set the data.
*/
/** API used from JNI to set the data. */
@SuppressWarnings("PMD.MethodReturnsInternalArray")
public byte[] setData(int length, long timestamp) {
this.length = length;

13
hal/src/main/java/edu/wpi/first/hal/ControlWord.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal;
/**
* A wrapper for the HALControlWord bitfield.
*/
/** A wrapper for the HALControlWord bitfield. */
public class ControlWord {
private boolean m_enabled;
private boolean m_autonomous;
@@ -15,8 +13,13 @@ public class ControlWord {
private boolean m_fmsAttached;
private boolean m_dsAttached;
void update(boolean enabled, boolean autonomous, boolean test, boolean emergencyStop,
boolean fmsAttached, boolean dsAttached) {
void update(
boolean enabled,
boolean autonomous,
boolean test,
boolean emergencyStop,
boolean fmsAttached,
boolean dsAttached) {
m_enabled = enabled;
m_autonomous = autonomous;
m_test = test;

25
hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
View File

@@ -13,19 +13,19 @@ public class CounterJNI extends JNIWrapper {
public static native void setCounterAverageSize(int counterHandle, int size);
public static native void setCounterUpSource(int counterHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void setCounterUpSource(
int counterHandle, int digitalSourceHandle, int analogTriggerType);
public static native void setCounterUpSourceEdge(int counterHandle, boolean risingEdge,
boolean fallingEdge);
public static native void setCounterUpSourceEdge(
int counterHandle, boolean risingEdge, boolean fallingEdge);
public static native void clearCounterUpSource(int counterHandle);
public static native void setCounterDownSource(int counterHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void setCounterDownSource(
int counterHandle, int digitalSourceHandle, int analogTriggerType);
public static native void setCounterDownSourceEdge(int counterHandle, boolean risingEdge,
boolean fallingEdge);
public static native void setCounterDownSourceEdge(
int counterHandle, boolean risingEdge, boolean fallingEdge);
public static native void clearCounterDownSource(int counterHandle);
@@ -33,15 +33,13 @@ public class CounterJNI extends JNIWrapper {
public static native void setCounterExternalDirectionMode(int counterHandle);
public static native void setCounterSemiPeriodMode(int counterHandle,
boolean highSemiPeriod);
public static native void setCounterSemiPeriodMode(int counterHandle, boolean highSemiPeriod);
public static native void setCounterPulseLengthMode(int counterHandle, double threshold);
public static native int getCounterSamplesToAverage(int counterHandle);
public static native void setCounterSamplesToAverage(int counterHandle,
int samplesToAverage);
public static native void setCounterSamplesToAverage(int counterHandle, int samplesToAverage);
public static native void resetCounter(int counterHandle);
@@ -57,6 +55,5 @@ public class CounterJNI extends JNIWrapper {
public static native boolean getCounterDirection(int counterHandle);
public static native void setCounterReverseDirection(int counterHandle,
boolean reverseDirection);
public static native void setCounterReverseDirection(int counterHandle, boolean reverseDirection);
}

4
hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
View File

@@ -6,11 +6,15 @@ package edu.wpi.first.hal;
public class DutyCycleJNI extends JNIWrapper {
public static native int initialize(int digitalSourceHandle, int analogTriggerType);
public static native void free(int handle);
public static native int getFrequency(int handle);
public static native double getOutput(int handle);
public static native int getOutputRaw(int handle);
public static native int getOutputScaleFactor(int handle);
@SuppressWarnings("AbbreviationAsWordInName")

20
hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
View File

@@ -5,9 +5,13 @@
package edu.wpi.first.hal;
public class EncoderJNI extends JNIWrapper {
public static native int initializeEncoder(int digitalSourceHandleA, int analogTriggerTypeA,
int digitalSourceHandleB, int analogTriggerTypeB,
boolean reverseDirection, int encodingType);
public static native int initializeEncoder(
int digitalSourceHandleA,
int analogTriggerTypeA,
int digitalSourceHandleB,
int analogTriggerTypeB,
boolean reverseDirection,
int encodingType);
public static native void freeEncoder(int encoderHandle);
@@ -37,16 +41,14 @@ public class EncoderJNI extends JNIWrapper {
public static native void setEncoderDistancePerPulse(int encoderHandle, double distancePerPulse);
public static native void setEncoderReverseDirection(int encoderHandle,
boolean reverseDirection);
public static native void setEncoderReverseDirection(int encoderHandle, boolean reverseDirection);
public static native void setEncoderSamplesToAverage(int encoderHandle,
int samplesToAverage);
public static native void setEncoderSamplesToAverage(int encoderHandle, int samplesToAverage);
public static native int getEncoderSamplesToAverage(int encoderHandle);
public static native void setEncoderIndexSource(int encoderHandle, int digitalSourceHandle,
int analogTriggerType, int indexingType);
public static native void setEncoderIndexSource(
int encoderHandle, int digitalSourceHandle, int analogTriggerType, int indexingType);
@SuppressWarnings("AbbreviationAsWordInName")
public static native int getEncoderFPGAIndex(int encoderHandle);

50
hal/src/main/java/edu/wpi/first/hal/HAL.java
View File

@@ -9,7 +9,8 @@ import java.util.ArrayList;
import java.util.List;
/**
* JNI Wrapper for HAL<br>.
* JNI Wrapper for HAL<br>
* .
*/
@SuppressWarnings({"AbbreviationAsWordInName", "MethodName"})
public final class HAL extends JNIWrapper {
@@ -30,8 +31,8 @@ public final class HAL extends JNIWrapper {
public static final List<Runnable> s_simPeriodicBefore = new ArrayList<>();
/**
* Runs SimPeriodicBefore callbacks. IterativeRobotBase calls this prior
* to the user's simulationPeriodic code.
* Runs SimPeriodicBefore callbacks. IterativeRobotBase calls this prior to the user's
* simulationPeriodic code.
*/
public static void simPeriodicBefore() {
simPeriodicBeforeNative();
@@ -47,8 +48,8 @@ public final class HAL extends JNIWrapper {
public static final List<Runnable> s_simPeriodicAfter = new ArrayList<>();
/**
* Runs SimPeriodicAfter callbacks. IterativeRobotBase calls this after
* the user's simulationPeriodic code.
* Runs SimPeriodicAfter callbacks. IterativeRobotBase calls this after the user's
* simulationPeriodic code.
*/
public static void simPeriodicAfter() {
simPeriodicAfterNative();
@@ -83,13 +84,12 @@ public final class HAL extends JNIWrapper {
* <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
* char*)</code>
*
* @param resource one of the values in the tResourceType above (max value 51). <br>
* @param resource one of the values in the tResourceType above (max value 51). <br>
* @param instanceNumber an index that identifies the resource instance. <br>
* @param context an optional additional context number for some cases (such as module
* number). Set to 0 to omit. <br>
* @param feature a string to be included describing features in use on a specific
* resource. Setting the same resource more than once allows you to change
* the feature string.
* @param context an optional additional context number for some cases (such as module number).
* Set to 0 to omit. <br>
* @param feature a string to be included describing features in use on a specific resource.
* Setting the same resource more than once allows you to change the feature string.
*/
public static native int report(int resource, int instanceNumber, int context, String feature);
@@ -98,8 +98,13 @@ public final class HAL extends JNIWrapper {
@SuppressWarnings("MissingJavadocMethod")
public static void getControlWord(ControlWord controlWord) {
int word = nativeGetControlWord();
controlWord.update((word & 1) != 0, ((word >> 1) & 1) != 0, ((word >> 2) & 1) != 0,
((word >> 3) & 1) != 0, ((word >> 4) & 1) != 0, ((word >> 5) & 1) != 0);
controlWord.update(
(word & 1) != 0,
((word >> 1) & 1) != 0,
((word >> 2) & 1) != 0,
((word >> 3) & 1) != 0,
((word >> 4) & 1) != 0,
((word >> 5) & 1) != 0);
}
private static native int nativeGetAllianceStation();
@@ -142,8 +147,8 @@ public final class HAL extends JNIWrapper {
public static native int getJoystickButtons(byte joystickNum, ByteBuffer count);
public static native int setJoystickOutputs(byte joystickNum, int outputs, short leftRumble,
short rightRumble);
public static native int setJoystickOutputs(
byte joystickNum, int outputs, short leftRumble, short rightRumble);
public static native int getJoystickIsXbox(byte joystickNum);
@@ -161,9 +166,14 @@ public final class HAL extends JNIWrapper {
public static native int getMatchInfo(MatchInfoData info);
public static native int sendError(boolean isError, int errorCode, boolean isLVCode,
String details, String location, String callStack,
boolean printMsg);
public static native int sendError(
boolean isError,
int errorCode,
boolean isLVCode,
String details,
String location,
String callStack,
boolean printMsg);
public static native int sendConsoleLine(String line);
@@ -171,7 +181,5 @@ public final class HAL extends JNIWrapper {
public static native int getPort(byte channel);
private HAL() {
}
private HAL() {}
}

4
hal/src/main/java/edu/wpi/first/hal/HALUtil.java
View File

@@ -35,7 +35,5 @@ public final class HALUtil extends JNIWrapper {
return getHALstrerror(getHALErrno());
}
private HALUtil() {
}
private HALUtil() {}
}

14
hal/src/main/java/edu/wpi/first/hal/HALValue.java
View File

@@ -27,9 +27,7 @@ public final class HALValue {
m_long = value;
}
private HALValue() {
}
private HALValue() {}
/**
* Get the type of the value.
@@ -41,7 +39,7 @@ public final class HALValue {
}
/**
* Get the value as a boolean. Does not perform type checking.
* Get the value as a boolean. Does not perform type checking.
*
* @return value contents
*/
@@ -50,7 +48,7 @@ public final class HALValue {
}
/**
* Get the value as a long. Does not perform type checking.
* Get the value as a long. Does not perform type checking.
*
* @return value contents
*/
@@ -59,7 +57,7 @@ public final class HALValue {
}
/**
* Get the value as a double. Does not perform type checking.
* Get the value as a double. Does not perform type checking.
*
* @return value contents
*/
@@ -68,7 +66,7 @@ public final class HALValue {
}
/**
* Get the native long value. Does not perform type checking.
* Get the native long value. Does not perform type checking.
*
* @return value contents
*/
@@ -77,7 +75,7 @@ public final class HALValue {
}
/**
* Get the native double value. Does not perform type checking.
* Get the native double value. Does not perform type checking.
*
* @return value contents
*/

25
hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
View File

@@ -10,21 +10,30 @@ import java.nio.ByteBuffer;
public class I2CJNI extends JNIWrapper {
public static native void i2CInitialize(int port);
public static native int i2CTransaction(int port, byte address, ByteBuffer dataToSend,
byte sendSize, ByteBuffer dataReceived, byte receiveSize);
public static native int i2CTransaction(
int port,
byte address,
ByteBuffer dataToSend,
byte sendSize,
ByteBuffer dataReceived,
byte receiveSize);
public static native int i2CTransactionB(int port, byte address, byte[] dataToSend,
byte sendSize, byte[] dataReceived, byte receiveSize);
public static native int i2CTransactionB(
int port,
byte address,
byte[] dataToSend,
byte sendSize,
byte[] dataReceived,
byte receiveSize);
public static native int i2CWrite(int port, byte address, ByteBuffer dataToSend, byte sendSize);
public static native int i2CWriteB(int port, byte address, byte[] dataToSend, byte sendSize);
public static native int i2CRead(int port, byte address, ByteBuffer dataReceived,
byte receiveSize);
public static native int i2CRead(
int port, byte address, ByteBuffer dataReceived, byte receiveSize);
public static native int i2CReadB(int port, byte address, byte[] dataReceived,
byte receiveSize);
public static native int i2CReadB(int port, byte address, byte[] dataReceived, byte receiveSize);
public static native void i2CClose(int port);
}

17
hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
View File

@@ -15,8 +15,8 @@ public class InterruptJNI extends JNIWrapper {
public static native void cleanInterrupts(int interruptHandle);
public static native int waitForInterrupt(int interruptHandle, double timeout,
boolean ignorePrevious);
public static native int waitForInterrupt(
int interruptHandle, double timeout, boolean ignorePrevious);
public static native void enableInterrupts(int interruptHandle);
@@ -26,15 +26,14 @@ public class InterruptJNI extends JNIWrapper {
public static native long readInterruptFallingTimestamp(int interruptHandle);
public static native void requestInterrupts(int interruptHandle, int digitalSourceHandle,
int analogTriggerType);
public static native void requestInterrupts(
int interruptHandle, int digitalSourceHandle, int analogTriggerType);
public static native void attachInterruptHandler(int interruptHandle,
InterruptJNIHandlerFunction handler,
Object param);
public static native void attachInterruptHandler(
int interruptHandle, InterruptJNIHandlerFunction handler, Object param);
public static native void setInterruptUpSourceEdge(int interruptHandle, boolean risingEdge,
boolean fallingEdge);
public static native void setInterruptUpSourceEdge(
int interruptHandle, boolean risingEdge, boolean fallingEdge);
public static native void releaseWaitingInterrupt(int interruptHandle);
}

19
hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
View File

@@ -4,14 +4,11 @@
package edu.wpi.first.hal;
import edu.wpi.first.wpiutil.RuntimeLoader;
import java.io.IOException;
import java.util.concurrent.atomic.AtomicBoolean;
import edu.wpi.first.wpiutil.RuntimeLoader;
/**
* Base class for all JNI wrappers.
*/
/** Base class for all JNI wrappers. */
public class JNIWrapper {
static boolean libraryLoaded = false;
static RuntimeLoader<JNIWrapper> loader = null;
@@ -31,7 +28,9 @@ public class JNIWrapper {
static {
if (Helper.getExtractOnStaticLoad()) {
try {
loader = new RuntimeLoader<>("wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
loader =
new RuntimeLoader<>(
"wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
loader.loadLibrary();
} catch (IOException ex) {
ex.printStackTrace();
@@ -41,14 +40,14 @@ public class JNIWrapper {
}
}
/**
* Force load the library.
*/
/** Force load the library. */
public static synchronized void forceLoad() throws IOException {
if (libraryLoaded) {
return;
}
loader = new RuntimeLoader<>("wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
loader =
new RuntimeLoader<>(
"wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
loader.loadLibrary();
libraryLoaded = true;
}

36
hal/src/main/java/edu/wpi/first/hal/MatchInfoData.java
View File

@@ -4,46 +4,36 @@
package edu.wpi.first.hal;
/**
* Structure for holding the match info data request.
*/
/** Structure for holding the match info data request. */
public class MatchInfoData {
/**
* Stores the event name.
*/
/** Stores the event name. */
@SuppressWarnings("MemberName")
public String eventName = "";
/**
* Stores the game specific message.
*/
/** Stores the game specific message. */
@SuppressWarnings("MemberName")
public String gameSpecificMessage = "";
/**
* Stores the match number.
*/
/** Stores the match number. */
@SuppressWarnings("MemberName")
public int matchNumber;
/**
* Stores the replay number.
*/
/** Stores the replay number. */
@SuppressWarnings("MemberName")
public int replayNumber;
/**
* Stores the match type.
*/
/** Stores the match type. */
@SuppressWarnings("MemberName")
public int matchType;
/**
* Called from JNI to set the structure data.
*/
/** Called from JNI to set the structure data. */
@SuppressWarnings("MissingJavadocMethod")
public void setData(String eventName, String gameSpecificMessage,
int matchNumber, int replayNumber, int matchType) {
public void setData(
String eventName,
String gameSpecificMessage,
int matchNumber,
int replayNumber,
int matchType) {
this.eventName = eventName;
this.gameSpecificMessage = gameSpecificMessage;
this.matchNumber = matchNumber;

26
hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
View File

@@ -11,40 +11,30 @@ package edu.wpi.first.hal;
* class, which corresponds to the C++ Notifier class, should be used.
*/
public class NotifierJNI extends JNIWrapper {
/**
* Initializes the notifier.
*/
/** Initializes the notifier. */
public static native int initializeNotifier();
/**
* Sets the name of the notifier.
*/
/** Sets the name of the notifier. */
public static native void setNotifierName(int notifierHandle, String name);
/**
* Wakes up the waiter with time=0. Note: after this function is called, all
* calls to waitForNotifierAlarm() will immediately start returning 0.
* Wakes up the waiter with time=0. Note: after this function is called, all calls to
* waitForNotifierAlarm() will immediately start returning 0.
*/
public static native void stopNotifier(int notifierHandle);
/**
* Deletes the notifier object when we are done with it.
*/
/** Deletes the notifier object when we are done with it. */
public static native void cleanNotifier(int notifierHandle);
/**
* Sets the notifier to wakeup the waiter in another triggerTime microseconds.
*/
/** Sets the notifier to wakeup the waiter in another triggerTime microseconds. */
public static native void updateNotifierAlarm(int notifierHandle, long triggerTime);
/**
* Cancels any pending wakeups set by updateNotifierAlarm(). Does NOT wake
* up any waiters.
*/
/** Cancels any pending wakeups set by updateNotifierAlarm(). Does NOT wake up any waiters. */
public static native void cancelNotifierAlarm(int notifierHandle);
/**
* Block until woken up by an alarm (or stop).
*
* @return Time when woken up.
*/
public static native long waitForNotifierAlarm(int notifierHandle);

24
hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal;
/**
* Structure for holding the config data result for PWM.
*/
/** Structure for holding the config data result for PWM. */
public class PWMConfigDataResult {
PWMConfigDataResult(int max, int deadbandMax, int center, int deadbandMin, int min) {
this.max = max;
@@ -16,33 +14,23 @@ public class PWMConfigDataResult {
this.min = min;
}
/**
* The maximum PWM value.
*/
/** The maximum PWM value. */
@SuppressWarnings("MemberName")
public int max;
/**
* The deadband maximum PWM value.
*/
/** The deadband maximum PWM value. */
@SuppressWarnings("MemberName")
public int deadbandMax;
/**
* The center PWM value.
*/
/** The center PWM value. */
@SuppressWarnings("MemberName")
public int center;
/**
* The deadband minimum PWM value.
*/
/** The deadband minimum PWM value. */
@SuppressWarnings("MemberName")
public int deadbandMin;
/**
* The minimum PWM value.
*/
/** The minimum PWM value. */
@SuppressWarnings("MemberName")
public int min;
}

22
hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
View File

@@ -12,13 +12,21 @@ public class PWMJNI extends DIOJNI {
public static native void freePWMPort(int pwmPortHandle);
public static native void setPWMConfigRaw(int pwmPortHandle, int maxPwm,
int deadbandMaxPwm, int centerPwm,
int deadbandMinPwm, int minPwm);
public static native void setPWMConfigRaw(
int pwmPortHandle,
int maxPwm,
int deadbandMaxPwm,
int centerPwm,
int deadbandMinPwm,
int minPwm);
public static native void setPWMConfig(int pwmPortHandle, double maxPwm,
double deadbandMaxPwm, double centerPwm,
double deadbandMinPwm, double minPwm);
public static native void setPWMConfig(
int pwmPortHandle,
double maxPwm,
double deadbandMaxPwm,
double centerPwm,
double deadbandMinPwm,
double minPwm);
public static native PWMConfigDataResult getPWMConfigRaw(int pwmPortHandle);
@@ -38,7 +46,7 @@ public class PWMJNI extends DIOJNI {
public static native double getPWMPosition(int pwmPortHandle);
public static native void setPWMDisabled(int pwmPortHandle);
public static native void setPWMDisabled(int pwmPortHandle);
public static native void latchPWMZero(int pwmPortHandle);

32
hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
View File

@@ -10,11 +10,11 @@ import java.nio.ByteBuffer;
public class SPIJNI extends JNIWrapper {
public static native void spiInitialize(int port);
public static native int spiTransaction(int port, ByteBuffer dataToSend,
ByteBuffer dataReceived, byte size);
public static native int spiTransaction(
int port, ByteBuffer dataToSend, ByteBuffer dataReceived, byte size);
public static native int spiTransactionB(int port, byte[] dataToSend,
byte[] dataReceived, byte size);
public static native int spiTransactionB(
int port, byte[] dataToSend, byte[] dataReceived, byte size);
public static native int spiWrite(int port, ByteBuffer dataToSend, byte sendSize);
@@ -28,8 +28,8 @@ public class SPIJNI extends JNIWrapper {
public static native void spiSetSpeed(int port, int speed);
public static native void spiSetOpts(int port, int msbFirst, int sampleOnTrailing,
int clkIdleHigh);
public static native void spiSetOpts(
int port, int msbFirst, int sampleOnTrailing, int clkIdleHigh);
public static native void spiSetChipSelectActiveHigh(int port);
@@ -41,9 +41,12 @@ public class SPIJNI extends JNIWrapper {
public static native void spiStartAutoRate(int port, double period);
public static native void spiStartAutoTrigger(int port, int digitalSourceHandle,
int analogTriggerType, boolean triggerRising,
boolean triggerFalling);
public static native void spiStartAutoTrigger(
int port,
int digitalSourceHandle,
int analogTriggerType,
boolean triggerRising,
boolean triggerFalling);
public static native void spiStopAuto(int port);
@@ -51,13 +54,14 @@ public class SPIJNI extends JNIWrapper {
public static native void spiForceAutoRead(int port);
public static native int spiReadAutoReceivedData(int port, ByteBuffer buffer, int numToRead,
double timeout);
public static native int spiReadAutoReceivedData(
int port, ByteBuffer buffer, int numToRead, double timeout);
public static native int spiReadAutoReceivedData(int port, int[] buffer, int numToRead,
double timeout);
public static native int spiReadAutoReceivedData(
int port, int[] buffer, int numToRead, double timeout);
public static native int spiGetAutoDroppedCount(int port);
public static native void spiConfigureAutoStall(int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
public static native void spiConfigureAutoStall(
int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
}

4
hal/src/main/java/edu/wpi/first/hal/SimBoolean.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal;
/**
* A wrapper around a simulator boolean value handle.
*/
/** A wrapper around a simulator boolean value handle. */
public class SimBoolean extends SimValue {
/**
* Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueBoolean().

46
hal/src/main/java/edu/wpi/first/hal/SimDevice.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal;
/**
* A wrapper around a simulator device handle.
*/
/** A wrapper around a simulator device handle. */
public class SimDevice implements AutoCloseable {
public enum Direction {
kInput(SimDeviceJNI.kInput),
@@ -23,10 +21,9 @@ public class SimDevice implements AutoCloseable {
/**
* Creates a simulated device.
*
* <p>The device name must be unique. Returns null if the device name
* already exists. If multiple instances of the same device are desired,
* recommend appending the instance/unique identifer in brackets to the base
* name, e.g. "device[1]".
* <p>The device name must be unique. Returns null if the device name already exists. If multiple
* instances of the same device are desired, recommend appending the instance/unique identifer in
* brackets to the base name, e.g. "device[1]".
*
* <p>null is returned if not in simulation.
*
@@ -44,10 +41,9 @@ public class SimDevice implements AutoCloseable {
/**
* Creates a simulated device.
*
* <p>The device name must be unique. Returns null if the device name
* already exists. This is a convenience method that appends index in
* brackets to the device name, e.g. passing index=1 results in "device[1]"
* for the device name.
* <p>The device name must be unique. Returns null if the device name already exists. This is a
* convenience method that appends index in brackets to the device name, e.g. passing index=1
* results in "device[1]" for the device name.
*
* <p>null is returned if not in simulation.
*
@@ -62,10 +58,9 @@ public class SimDevice implements AutoCloseable {
/**
* Creates a simulated device.
*
* <p>The device name must be unique. Returns null if the device name
* already exists. This is a convenience method that appends index and
* channel in brackets to the device name, e.g. passing index=1 and channel=2
* results in "device[1,2]" for the device name.
* <p>The device name must be unique. Returns null if the device name already exists. This is a
* convenience method that appends index and channel in brackets to the device name, e.g. passing
* index=1 and channel=2 results in "device[1,2]" for the device name.
*
* <p>null is returned if not in simulation.
*
@@ -110,7 +105,6 @@ public class SimDevice implements AutoCloseable {
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated value object
*
* @deprecated Use direction function instead
*/
@Deprecated
@@ -145,7 +139,6 @@ public class SimDevice implements AutoCloseable {
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated double value object
*
* @deprecated Use direction function instead
*/
@Deprecated
@@ -183,7 +176,6 @@ public class SimDevice implements AutoCloseable {
* @param options array of option descriptions
* @param initialValue initial value (selection)
* @return simulated enum value object
*
* @deprecated Use direction function instead
*/
@Deprecated
@@ -205,8 +197,8 @@ public class SimDevice implements AutoCloseable {
* @return simulated enum value object
*/
public SimEnum createEnum(String name, Direction direction, String[] options, int initialValue) {
int handle = SimDeviceJNI.createSimValueEnum(m_handle, name, direction.m_value, options,
initialValue);
int handle =
SimDeviceJNI.createSimValueEnum(m_handle, name, direction.m_value, options, initialValue);
if (handle <= 0) {
return null;
}
@@ -227,10 +219,11 @@ public class SimDevice implements AutoCloseable {
* @param initialValue initial value (selection)
* @return simulated enum value object
*/
public SimEnum createEnumDouble(String name, Direction direction, String[] options,
double[] optionValues, int initialValue) {
int handle = SimDeviceJNI.createSimValueEnumDouble(m_handle, name, direction.m_value, options,
optionValues, initialValue);
public SimEnum createEnumDouble(
String name, Direction direction, String[] options, double[] optionValues, int initialValue) {
int handle =
SimDeviceJNI.createSimValueEnumDouble(
m_handle, name, direction.m_value, options, optionValues, initialValue);
if (handle <= 0) {
return null;
}
@@ -246,7 +239,6 @@ public class SimDevice implements AutoCloseable {
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated boolean value object
*
* @deprecated Use direction function instead
*/
@Deprecated
@@ -265,8 +257,8 @@ public class SimDevice implements AutoCloseable {
* @return simulated boolean value object
*/
public SimBoolean createBoolean(String name, Direction direction, boolean initialValue) {
int handle = SimDeviceJNI.createSimValueBoolean(m_handle, name, direction.m_value,
initialValue);
int handle =
SimDeviceJNI.createSimValueBoolean(m_handle, name, direction.m_value, initialValue);
if (handle <= 0) {
return null;
}

115
hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
View File

@@ -12,10 +12,9 @@ public class SimDeviceJNI extends JNIWrapper {
/**
* Creates a simulated device.
*
* <p>The device name must be unique. 0 is returned if the device name
* already exists. If multiple instances of the same device are desired,
* recommend appending the instance/unique identifer in brackets to the base
* name, e.g. "device[1]".
* <p>The device name must be unique. 0 is returned if the device name already exists. If multiple
* instances of the same device are desired, recommend appending the instance/unique identifer in
* brackets to the base name, e.g. "device[1]".
*
* <p>0 is returned if not in simulation.
*
@@ -27,42 +26,44 @@ public class SimDeviceJNI extends JNIWrapper {
/**
* Frees a simulated device.
*
* <p>This also allows the same device name to be used again.
* This also frees all the simulated values created on the device.
* <p>This also allows the same device name to be used again. This also frees all the simulated
* values created on the device.
*
* @param handle simulated device handle
*/
public static native void freeSimDevice(int handle);
private static native int createSimValueNative(int device, String name, int direction,
int type, long value1, double value2);
private static native int createSimValueNative(
int device, String name, int direction, int type, long value1, double value2);
/**
* Creates a value on a simulated device.
*
* <p>Returns 0 if not in simulation; this can be used to avoid calls
* to Set/Get functions.
* <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated value handle
*
* @deprecated Use direction-taking function instead
*/
@Deprecated
public static int createSimValue(int device, String name, boolean readonly,
HALValue initialValue) {
return createSimValueNative(device, name, readonly ? kOutput : kInput, initialValue.getType(),
initialValue.getNativeLong(), initialValue.getNativeDouble());
public static int createSimValue(
int device, String name, boolean readonly, HALValue initialValue) {
return createSimValueNative(
device,
name,
readonly ? kOutput : kInput,
initialValue.getType(),
initialValue.getNativeLong(),
initialValue.getNativeDouble());
}
/**
* Creates a value on a simulated device.
*
* <p>Returns 0 if not in simulation; this can be used to avoid calls
* to Set/Get functions.
* <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
@@ -70,37 +71,39 @@ public class SimDeviceJNI extends JNIWrapper {
* @param initialValue initial value
* @return simulated value handle
*/
public static int createSimValue(int device, String name, int direction,
HALValue initialValue) {
return createSimValueNative(device, name, direction, initialValue.getType(),
initialValue.getNativeLong(), initialValue.getNativeDouble());
public static int createSimValue(int device, String name, int direction, HALValue initialValue) {
return createSimValueNative(
device,
name,
direction,
initialValue.getType(),
initialValue.getNativeLong(),
initialValue.getNativeDouble());
}
/**
* Creates a double value on a simulated device.
*
* <p>Returns 0 if not in simulation; this can be used to avoid calls
* to Set/Get functions.
* <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated value handle
*
* @deprecated Use direction-taking function instead
*/
@Deprecated
public static int createSimValueDouble(int device, String name, boolean readonly,
double initialValue) {
return createSimValueNative(device, name, readonly ? kOutput : kInput, HALValue.kDouble, 0, initialValue);
public static int createSimValueDouble(
int device, String name, boolean readonly, double initialValue) {
return createSimValueNative(
device, name, readonly ? kOutput : kInput, HALValue.kDouble, 0, initialValue);
}
/**
* Creates a double value on a simulated device.
*
* <p>Returns 0 if not in simulation; this can be used to avoid calls
* to Set/Get functions.
* <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
@@ -108,8 +111,8 @@ public class SimDeviceJNI extends JNIWrapper {
* @param initialValue initial value
* @return simulated value handle
*/
public static int createSimValueDouble(int device, String name, int direction,
double initialValue) {
public static int createSimValueDouble(
int device, String name, int direction, double initialValue) {
return createSimValueNative(device, name, direction, HALValue.kDouble, 0, initialValue);
}
@@ -118,8 +121,7 @@ public class SimDeviceJNI extends JNIWrapper {
*
* <p>Enumerated values are always in the range 0 to numOptions-1.
*
* <p>Returns 0 if not in simulation; this can be used to avoid calls
* to Set/Get functions.
* <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
@@ -127,12 +129,11 @@ public class SimDeviceJNI extends JNIWrapper {
* @param options array of option descriptions
* @param initialValue initial value (selection)
* @return simulated value handle
*
* @deprecated Use direction-taking function instead
*/
@Deprecated
public static int createSimValueEnum(int device, String name, boolean readonly,
String[] options, int initialValue) {
public static int createSimValueEnum(
int device, String name, boolean readonly, String[] options, int initialValue) {
return createSimValueEnum(device, name, readonly ? kOutput : kInput, options, initialValue);
}
@@ -141,8 +142,7 @@ public class SimDeviceJNI extends JNIWrapper {
*
* <p>Enumerated values are always in the range 0 to numOptions-1.
*
* <p>Returns 0 if not in simulation; this can be used to avoid calls
* to Set/Get functions.
* <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
@@ -151,16 +151,15 @@ public class SimDeviceJNI extends JNIWrapper {
* @param initialValue initial value (selection)
* @return simulated value handle
*/
public static native int createSimValueEnum(int device, String name, int direction,
String[] options, int initialValue);
public static native int createSimValueEnum(
int device, String name, int direction, String[] options, int initialValue);
/**
* Creates an enumerated value on a simulated device with double values.
*
* <p>Enumerated values are always in the range 0 to numOptions-1.
*
* <p>Returns 0 if not in simulation; this can be used to avoid calls
* to Set/Get functions.
* <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
@@ -170,35 +169,37 @@ public class SimDeviceJNI extends JNIWrapper {
* @param initialValue initial value (selection)
* @return simulated value handle
*/
public static native int createSimValueEnumDouble(int device, String name, int direction,
String[] options, double[] optionValues, int initialValue);
public static native int createSimValueEnumDouble(
int device,
String name,
int direction,
String[] options,
double[] optionValues,
int initialValue);
/**
* Creates a boolean value on a simulated device.
*
* <p>Returns 0 if not in simulation; this can be used to avoid calls
* to Set/Get functions.
* <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
* @param readonly if the value should not be written from simulation side
* @param initialValue initial value
* @return simulated value handle
*
* @deprecated Use direction-taking function instead
*/
@Deprecated
public static int createSimValueBoolean(int device, String name, boolean readonly,
boolean initialValue) {
return createSimValueNative(device, name, readonly ? kOutput : kInput, HALValue.kBoolean,
initialValue ? 1 : 0, 0.0);
public static int createSimValueBoolean(
int device, String name, boolean readonly, boolean initialValue) {
return createSimValueNative(
device, name, readonly ? kOutput : kInput, HALValue.kBoolean, initialValue ? 1 : 0, 0.0);
}
/**
* Creates a boolean value on a simulated device.
*
* <p>Returns 0 if not in simulation; this can be used to avoid calls
* to Set/Get functions.
* <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
*
* @param device simulated device handle
* @param name value name
@@ -206,10 +207,10 @@ public class SimDeviceJNI extends JNIWrapper {
* @param initialValue initial value
* @return simulated value handle
*/
public static int createSimValueBoolean(int device, String name, int direction,
boolean initialValue) {
return createSimValueNative(device, name, direction, HALValue.kBoolean,
initialValue ? 1 : 0, 0.0);
public static int createSimValueBoolean(
int device, String name, int direction, boolean initialValue) {
return createSimValueNative(
device, name, direction, HALValue.kBoolean, initialValue ? 1 : 0, 0.0);
}
/**

4
hal/src/main/java/edu/wpi/first/hal/SimDouble.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal;
/**
* A wrapper around a simulator double value handle.
*/
/** A wrapper around a simulator double value handle. */
public class SimDouble extends SimValue {
/**
* Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueDouble().

4
hal/src/main/java/edu/wpi/first/hal/SimEnum.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal;
/**
* A wrapper around a simulator enum value handle.
*/
/** A wrapper around a simulator enum value handle. */
public class SimEnum extends SimValue {
/**
* Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueEnum().

4
hal/src/main/java/edu/wpi/first/hal/SimValue.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal;
/**
* A wrapper around a simulator value handle.
*/
/** A wrapper around a simulator value handle. */
public class SimValue {
/**
* Wraps a simulated value handle as returned by SimDeviceJNI.createSimValue().

9
hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
View File

@@ -15,8 +15,9 @@ public final class CANExceptionFactory {
static final int ERR_CANSessionMux_NotInitialized = -44089;
@SuppressWarnings({"MissingJavadocMethod", "PMD.CyclomaticComplexity"})
public static void checkStatus(int status, int messageID) throws CANInvalidBufferException,
CANMessageNotAllowedException, CANNotInitializedException, UncleanStatusException {
public static void checkStatus(int status, int messageID)
throws CANInvalidBufferException, CANMessageNotAllowedException, CANNotInitializedException,
UncleanStatusException {
switch (status) {
case NIRioStatus.kRioStatusSuccess:
// Everything is ok... don't throw.
@@ -38,7 +39,5 @@ public final class CANExceptionFactory {
}
}
private CANExceptionFactory() {
}
private CANExceptionFactory() {}
}

9
hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java
View File

@@ -4,11 +4,10 @@
package edu.wpi.first.hal.can;
import edu.wpi.first.hal.JNIWrapper;
import java.nio.ByteBuffer;
import java.nio.IntBuffer;
import edu.wpi.first.hal.JNIWrapper;
@SuppressWarnings("AbbreviationAsWordInName")
public class CANJNI extends JNIWrapper {
public static final int CAN_SEND_PERIOD_NO_REPEAT = 0;
@@ -19,15 +18,13 @@ public class CANJNI extends JNIWrapper {
public static final int CAN_IS_FRAME_11BIT = 0x40000000;
@SuppressWarnings("MethodName")
public static native void FRCNetCommCANSessionMuxSendMessage(int messageID,
byte[] data,
int periodMs);
public static native void FRCNetCommCANSessionMuxSendMessage(
int messageID, byte[] data, int periodMs);
@SuppressWarnings("MethodName")
public static native byte[] FRCNetCommCANSessionMuxReceiveMessage(
IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp);
@SuppressWarnings("MethodName")
public static native void GetCANStatus(CANStatus status);
}

32
hal/src/main/java/edu/wpi/first/hal/can/CANStatus.java
View File

@@ -4,43 +4,35 @@
package edu.wpi.first.hal.can;
/**
* Structure for holding the result of a CAN Status request.
*/
/** Structure for holding the result of a CAN Status request. */
public class CANStatus {
/**
* The utilization of the CAN Bus.
*/
/** The utilization of the CAN Bus. */
@SuppressWarnings("MemberName")
public double percentBusUtilization;
/**
* The CAN Bus off count.
*/
/** The CAN Bus off count. */
@SuppressWarnings("MemberName")
public int busOffCount;
/**
* The CAN Bus TX full count.
*/
/** The CAN Bus TX full count. */
@SuppressWarnings("MemberName")
public int txFullCount;
/**
* The CAN Bus receive error count.
*/
/** The CAN Bus receive error count. */
@SuppressWarnings("MemberName")
public int receiveErrorCount;
/**
* The CAN Bus transmit error count.
*/
/** The CAN Bus transmit error count. */
@SuppressWarnings("MemberName")
public int transmitErrorCount;
@SuppressWarnings("MissingJavadocMethod")
public void setStatus(double percentBusUtilization, int busOffCount, int txFullCount,
int receiveErrorCount, int transmitErrorCount) {
public void setStatus(
double percentBusUtilization,
int busOffCount,
int txFullCount,
int receiveErrorCount,
int transmitErrorCount) {
this.percentBusUtilization = percentBusUtilization;
this.busOffCount = busOffCount;
this.txFullCount = txFullCount;

30
hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
View File

@@ -7,29 +7,49 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AccelerometerDataJNI extends JNIWrapper {
public static native int registerActiveCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerActiveCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelActiveCallback(int index, int uid);
public static native boolean getActive(int index);
public static native void setActive(int index, boolean active);
public static native int registerRangeCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerRangeCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelRangeCallback(int index, int uid);
public static native int getRange(int index);
public static native void setRange(int index, int range);
public static native int registerXCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerXCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelXCallback(int index, int uid);
public static native double getX(int index);
public static native void setX(int index, double x);
public static native int registerYCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerYCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelYCallback(int index, int uid);
public static native double getY(int index);
public static native void setY(int index, double y);
public static native int registerZCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerZCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelZCallback(int index, int uid);
public static native double getZ(int index);
public static native void setZ(int index, double z);
public static native void resetData(int index);

27
hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
View File

@@ -7,29 +7,48 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AddressableLEDDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerOutputPortCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerOutputPortCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelOutputPortCallback(int index, int uid);
public static native int getOutputPort(int index);
public static native void setOutputPort(int index, int outputPort);
public static native int registerLengthCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerLengthCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelLengthCallback(int index, int uid);
public static native int getLength(int index);
public static native void setLength(int index, int length);
public static native int registerRunningCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerRunningCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelRunningCallback(int index, int uid);
public static native boolean getRunning(int index);
public static native void setRunning(int index, boolean running);
public static native int registerDataCallback(int index, ConstBufferCallback callback);
public static native void cancelDataCallback(int index, int uid);
public static native byte[] getData(int index);
public static native void setData(int index, byte[] data);
public static native void resetData(int index);

18
hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
View File

@@ -7,19 +7,31 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AnalogGyroDataJNI extends JNIWrapper {
public static native int registerAngleCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerAngleCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelAngleCallback(int index, int uid);
public static native double getAngle(int index);
public static native void setAngle(int index, double angle);
public static native int registerRateCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerRateCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelRateCallback(int index, int uid);
public static native double getRate(int index);
public static native void setRate(int index, double rate);
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native void resetData(int index);

54
hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
View File

@@ -7,49 +7,85 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AnalogInDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerAverageBitsCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerAverageBitsCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelAverageBitsCallback(int index, int uid);
public static native int getAverageBits(int index);
public static native void setAverageBits(int index, int averageBits);
public static native int registerOversampleBitsCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerOversampleBitsCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelOversampleBitsCallback(int index, int uid);
public static native int getOversampleBits(int index);
public static native void setOversampleBits(int index, int oversampleBits);
public static native int registerVoltageCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerVoltageCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelVoltageCallback(int index, int uid);
public static native double getVoltage(int index);
public static native void setVoltage(int index, double voltage);
public static native int registerAccumulatorInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerAccumulatorInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelAccumulatorInitializedCallback(int index, int uid);
public static native boolean getAccumulatorInitialized(int index);
public static native void setAccumulatorInitialized(int index, boolean accumulatorInitialized);
public static native int registerAccumulatorValueCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerAccumulatorValueCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelAccumulatorValueCallback(int index, int uid);
public static native long getAccumulatorValue(int index);
public static native void setAccumulatorValue(int index, long accumulatorValue);
public static native int registerAccumulatorCountCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerAccumulatorCountCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelAccumulatorCountCallback(int index, int uid);
public static native long getAccumulatorCount(int index);
public static native void setAccumulatorCount(int index, long accumulatorCount);
public static native int registerAccumulatorCenterCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerAccumulatorCenterCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelAccumulatorCenterCallback(int index, int uid);
public static native int getAccumulatorCenter(int index);
public static native void setAccumulatorCenter(int index, int AccumulatorCenter);
public static native int registerAccumulatorDeadbandCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerAccumulatorDeadbandCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelAccumulatorDeadbandCallback(int index, int uid);
public static native int getAccumulatorDeadband(int index);
public static native void setAccumulatorDeadband(int index, int AccumulatorDeadband);
public static native void resetData(int index);

12
hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
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@@ -7,14 +7,22 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AnalogOutDataJNI extends JNIWrapper {
public static native int registerVoltageCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerVoltageCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelVoltageCallback(int index, int uid);
public static native double getVoltage(int index);
public static native void setVoltage(int index, double voltage);
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native void resetData(int index);

18
hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
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@@ -7,19 +7,31 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class AnalogTriggerDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerTriggerLowerBoundCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerTriggerLowerBoundCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelTriggerLowerBoundCallback(int index, int uid);
public static native double getTriggerLowerBound(int index);
public static native void setTriggerLowerBound(int index, double triggerLowerBound);
public static native int registerTriggerUpperBoundCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerTriggerUpperBoundCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelTriggerUpperBoundCallback(int index, int uid);
public static native double getTriggerUpperBound(int index);
public static native void setTriggerUpperBound(int index, double triggerUpperBound);
public static native void resetData(int index);

30
hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
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@@ -7,29 +7,49 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class DIODataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerValueCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerValueCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelValueCallback(int index, int uid);
public static native boolean getValue(int index);
public static native void setValue(int index, boolean value);
public static native int registerPulseLengthCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerPulseLengthCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelPulseLengthCallback(int index, int uid);
public static native double getPulseLength(int index);
public static native void setPulseLength(int index, double pulseLength);
public static native int registerIsInputCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerIsInputCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelIsInputCallback(int index, int uid);
public static native boolean getIsInput(int index);
public static native void setIsInput(int index, boolean isInput);
public static native int registerFilterIndexCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerFilterIndexCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelFilterIndexCallback(int index, int uid);
public static native int getFilterIndex(int index);
public static native void setFilterIndex(int index, int filterIndex);
public static native void resetData(int index);

18
hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
View File

@@ -7,19 +7,31 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class DigitalPWMDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerDutyCycleCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerDutyCycleCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelDutyCycleCallback(int index, int uid);
public static native double getDutyCycle(int index);
public static native void setDutyCycle(int index, double dutyCycle);
public static native int registerPinCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerPinCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelPinCallback(int index, int uid);
public static native int getPin(int index);
public static native void setPin(int index, int pin);
public static native void resetData(int index);

65
hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
View File

@@ -8,76 +8,129 @@ import edu.wpi.first.hal.JNIWrapper;
public class DriverStationDataJNI extends JNIWrapper {
public static native int registerEnabledCallback(NotifyCallback callback, boolean initialNotify);
public static native void cancelEnabledCallback(int uid);
public static native boolean getEnabled();
public static native void setEnabled(boolean enabled);
public static native int registerAutonomousCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerAutonomousCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelAutonomousCallback(int uid);
public static native boolean getAutonomous();
public static native void setAutonomous(boolean autonomous);
public static native int registerTestCallback(NotifyCallback callback, boolean initialNotify);
public static native void cancelTestCallback(int uid);
public static native boolean getTest();
public static native void setTest(boolean test);
public static native int registerEStopCallback(NotifyCallback callback, boolean initialNotify);
public static native void cancelEStopCallback(int uid);
public static native boolean getEStop();
public static native void setEStop(boolean eStop);
public static native int registerFmsAttachedCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerFmsAttachedCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelFmsAttachedCallback(int uid);
public static native boolean getFmsAttached();
public static native void setFmsAttached(boolean fmsAttached);
public static native int registerDsAttachedCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerDsAttachedCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelDsAttachedCallback(int uid);
public static native boolean getDsAttached();
public static native void setDsAttached(boolean dsAttached);
public static native int registerAllianceStationIdCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerAllianceStationIdCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelAllianceStationIdCallback(int uid);
public static native int getAllianceStationId();
public static native void setAllianceStationId(int allianceStationId);
public static native int registerMatchTimeCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerMatchTimeCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelMatchTimeCallback(int uid);
public static native double getMatchTime();
public static native void setMatchTime(double matchTime);
public static native void setJoystickAxes(byte joystickNum, float[] axesArray);
public static native void setJoystickPOVs(byte joystickNum, short[] povsArray);
public static native void setJoystickButtons(byte joystickNum, int buttons, int count);
public static native long getJoystickOutputs(int stick);
public static native int getJoystickRumble(int stick, int rumbleNum);
public static native void setMatchInfo(String eventName, String gameSpecificMessage, int matchNumber, int replayNumber, int matchType);
public static native void setMatchInfo(
String eventName,
String gameSpecificMessage,
int matchNumber,
int replayNumber,
int matchType);
public static native void registerAllCallbacks(NotifyCallback callback, boolean initialNotify);
public static native void notifyNewData();
public static native void setSendError(boolean shouldSend);
public static native void setSendConsoleLine(boolean shouldSend);
public static native void setJoystickButton(int stick, int button, boolean state);
public static native void setJoystickAxis(int stick, int axis, double value);
public static native void setJoystickPOV(int stick, int pov, int value);
public static native void setJoystickButtonsValue(int stick, int buttons);
public static native void setJoystickAxisCount(int stick, int count);
public static native void setJoystickPOVCount(int stick, int count);
public static native void setJoystickButtonCount(int stick, int count);
public static native void setJoystickIsXbox(int stick, boolean isXbox);
public static native void setJoystickType(int stick, int type);
public static native void setJoystickName(int stick, String name);
public static native void setJoystickAxisType(int stick, int axis, int type);
public static native void setGameSpecificMessage(String message);
public static native void setEventName(String name);
public static native void setMatchType(int type);
public static native void setMatchNumber(int matchNumber);
public static native void setReplayNumber(int replayNumber);
public static native void resetData();

18
hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
View File

@@ -7,19 +7,31 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class DutyCycleDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerFrequencyCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerFrequencyCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelFrequencyCallback(int index, int uid);
public static native int getFrequency(int index);
public static native void setFrequency(int index, int frequency);
public static native int registerOutputCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerOutputCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelOutputCallback(int index, int uid);
public static native double getOutput(int index);
public static native void setOutput(int index, double output);
public static native void resetData(int index);

51
hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
View File

@@ -7,49 +7,84 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class EncoderDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerCountCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerCountCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelCountCallback(int index, int uid);
public static native int getCount(int index);
public static native void setCount(int index, int count);
public static native int registerPeriodCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerPeriodCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelPeriodCallback(int index, int uid);
public static native double getPeriod(int index);
public static native void setPeriod(int index, double period);
public static native int registerResetCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerResetCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelResetCallback(int index, int uid);
public static native boolean getReset(int index);
public static native void setReset(int index, boolean reset);
public static native int registerMaxPeriodCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerMaxPeriodCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelMaxPeriodCallback(int index, int uid);
public static native double getMaxPeriod(int index);
public static native void setMaxPeriod(int index, double maxPeriod);
public static native int registerDirectionCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerDirectionCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelDirectionCallback(int index, int uid);
public static native boolean getDirection(int index);
public static native void setDirection(int index, boolean direction);
public static native int registerReverseDirectionCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerReverseDirectionCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelReverseDirectionCallback(int index, int uid);
public static native boolean getReverseDirection(int index);
public static native void setReverseDirection(int index, boolean reverseDirection);
public static native int registerSamplesToAverageCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerSamplesToAverageCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelSamplesToAverageCallback(int index, int uid);
public static native int getSamplesToAverage(int index);
public static native void setSamplesToAverage(int index, int samplesToAverage);
public static native void setDistance(int index, double distance);
public static native double getDistance(int index);
public static native void setRate(int index, double rate);
public static native double getRate(int index);
public static native void resetData(int index);

8
hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
View File

@@ -7,15 +7,21 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class I2CDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerReadCallback(int index, BufferCallback callback);
public static native void cancelReadCallback(int index, int uid);
public static native int registerWriteCallback(int index, ConstBufferCallback callback);
public static native void cancelWriteCallback(int index, int uid);
public static native void resetData(int index);

1
hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
View File

@@ -8,5 +8,6 @@ import edu.wpi.first.hal.JNIWrapper;
public class NotifierDataJNI extends JNIWrapper {
public static native long getNextTimeout();
public static native int getNumNotifiers();
}

56
hal/src/main/java/edu/wpi/first/hal/simulation/PCMDataJNI.java
View File

@@ -7,43 +7,75 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class PCMDataJNI extends JNIWrapper {
public static native int registerSolenoidInitializedCallback(int index, int channel, NotifyCallback callback, boolean initialNotify);
public static native void cancelSolenoidInitializedCallback(int index, int channel, int uid);
public static native boolean getSolenoidInitialized(int index, int channel);
public static native void setSolenoidInitialized(int index, int channel, boolean solenoidInitialized);
public static native int registerSolenoidInitializedCallback(
int index, int channel, NotifyCallback callback, boolean initialNotify);
public static native void cancelSolenoidInitializedCallback(int index, int channel, int uid);
public static native boolean getSolenoidInitialized(int index, int channel);
public static native void setSolenoidInitialized(
int index, int channel, boolean solenoidInitialized);
public static native int registerSolenoidOutputCallback(
int index, int channel, NotifyCallback callback, boolean initialNotify);
public static native int registerSolenoidOutputCallback(int index, int channel, NotifyCallback callback, boolean initialNotify);
public static native void cancelSolenoidOutputCallback(int index, int channel, int uid);
public static native boolean getSolenoidOutput(int index, int channel);
public static native void setSolenoidOutput(int index, int channel, boolean solenoidOutput);
public static native int registerCompressorInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerCompressorInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelCompressorInitializedCallback(int index, int uid);
public static native boolean getCompressorInitialized(int index);
public static native void setCompressorInitialized(int index, boolean compressorInitialized);
public static native int registerCompressorOnCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerCompressorOnCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelCompressorOnCallback(int index, int uid);
public static native boolean getCompressorOn(int index);
public static native void setCompressorOn(int index, boolean compressorOn);
public static native int registerClosedLoopEnabledCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerClosedLoopEnabledCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelClosedLoopEnabledCallback(int index, int uid);
public static native boolean getClosedLoopEnabled(int index);
public static native void setClosedLoopEnabled(int index, boolean closeLoopEnabled);
public static native int registerPressureSwitchCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerPressureSwitchCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelPressureSwitchCallback(int index, int uid);
public static native boolean getPressureSwitch(int index);
public static native void setPressureSwitch(int index, boolean pressureSwitch);
public static native int registerCompressorCurrentCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerCompressorCurrentCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelCompressorCurrentCallback(int index, int uid);
public static native double getCompressorCurrent(int index);
public static native void setCompressorCurrent(int index, double compressorCurrent);
public static native void registerAllNonSolenoidCallbacks(int index, NotifyCallback callback, boolean initialNotify);
public static native void registerAllSolenoidCallbacks(int index, int channel, NotifyCallback callback, boolean initialNotify);
public static native void registerAllNonSolenoidCallbacks(
int index, NotifyCallback callback, boolean initialNotify);
public static native void registerAllSolenoidCallbacks(
int index, int channel, NotifyCallback callback, boolean initialNotify);
public static native void resetData(int index);
}

23
hal/src/main/java/edu/wpi/first/hal/simulation/PDPDataJNI.java
View File

@@ -7,25 +7,40 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class PDPDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerTemperatureCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerTemperatureCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelTemperatureCallback(int index, int uid);
public static native double getTemperature(int index);
public static native void setTemperature(int index, double temperature);
public static native int registerVoltageCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerVoltageCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelVoltageCallback(int index, int uid);
public static native double getVoltage(int index);
public static native void setVoltage(int index, double voltage);
public static native int registerCurrentCallback(
int index, int channel, NotifyCallback callback, boolean initialNotify);
public static native int registerCurrentCallback(int index, int channel, NotifyCallback callback, boolean initialNotify);
public static native void cancelCurrentCallback(int index, int channel, int uid);
public static native double getCurrent(int index, int channel);
public static native void setCurrent(int index, int channel, double current);
public static native void resetData(int index);

36
hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
View File

@@ -7,34 +7,58 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class PWMDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerRawValueCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerRawValueCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelRawValueCallback(int index, int uid);
public static native int getRawValue(int index);
public static native void setRawValue(int index, int rawValue);
public static native int registerSpeedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerSpeedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelSpeedCallback(int index, int uid);
public static native double getSpeed(int index);
public static native void setSpeed(int index, double speed);
public static native int registerPositionCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerPositionCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelPositionCallback(int index, int uid);
public static native double getPosition(int index);
public static native void setPosition(int index, double position);
public static native int registerPeriodScaleCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerPeriodScaleCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelPeriodScaleCallback(int index, int uid);
public static native int getPeriodScale(int index);
public static native void setPeriodScale(int index, int periodScale);
public static native int registerZeroLatchCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerZeroLatchCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelZeroLatchCallback(int index, int uid);
public static native boolean getZeroLatch(int index);
public static native void setZeroLatch(int index, boolean zeroLatch);
public static native void resetData(int index);

24
hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
View File

@@ -7,24 +7,40 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class RelayDataJNI extends JNIWrapper {
public static native int registerInitializedForwardCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedForwardCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedForwardCallback(int index, int uid);
public static native boolean getInitializedForward(int index);
public static native void setInitializedForward(int index, boolean initializedForward);
public static native int registerInitializedReverseCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedReverseCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedReverseCallback(int index, int uid);
public static native boolean getInitializedReverse(int index);
public static native void setInitializedReverse(int index, boolean initializedReverse);
public static native int registerForwardCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerForwardCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelForwardCallback(int index, int uid);
public static native boolean getForward(int index);
public static native void setForward(int index, boolean forward);
public static native int registerReverseCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerReverseCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelReverseCallback(int index, int uid);
public static native boolean getReverse(int index);
public static native void setReverse(int index, boolean reverse);
public static native void resetData(int index);

90
hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
View File

@@ -7,79 +7,139 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class RoboRioDataJNI extends JNIWrapper {
public static native int registerFPGAButtonCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerFPGAButtonCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelFPGAButtonCallback(int uid);
public static native boolean getFPGAButton();
public static native void setFPGAButton(boolean fPGAButton);
public static native int registerVInVoltageCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerVInVoltageCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelVInVoltageCallback(int uid);
public static native double getVInVoltage();
public static native void setVInVoltage(double vInVoltage);
public static native int registerVInCurrentCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerVInCurrentCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelVInCurrentCallback(int uid);
public static native double getVInCurrent();
public static native void setVInCurrent(double vInCurrent);
public static native int registerUserVoltage6VCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserVoltage6VCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserVoltage6VCallback(int uid);
public static native double getUserVoltage6V();
public static native void setUserVoltage6V(double userVoltage6V);
public static native int registerUserCurrent6VCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserCurrent6VCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserCurrent6VCallback(int uid);
public static native double getUserCurrent6V();
public static native void setUserCurrent6V(double userCurrent6V);
public static native int registerUserActive6VCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserActive6VCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserActive6VCallback(int uid);
public static native boolean getUserActive6V();
public static native void setUserActive6V(boolean userActive6V);
public static native int registerUserVoltage5VCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserVoltage5VCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserVoltage5VCallback(int uid);
public static native double getUserVoltage5V();
public static native void setUserVoltage5V(double userVoltage5V);
public static native int registerUserCurrent5VCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserCurrent5VCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserCurrent5VCallback(int uid);
public static native double getUserCurrent5V();
public static native void setUserCurrent5V(double userCurrent5V);
public static native int registerUserActive5VCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserActive5VCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserActive5VCallback(int uid);
public static native boolean getUserActive5V();
public static native void setUserActive5V(boolean userActive5V);
public static native int registerUserVoltage3V3Callback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserVoltage3V3Callback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserVoltage3V3Callback(int uid);
public static native double getUserVoltage3V3();
public static native void setUserVoltage3V3(double userVoltage3V3);
public static native int registerUserCurrent3V3Callback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserCurrent3V3Callback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserCurrent3V3Callback(int uid);
public static native double getUserCurrent3V3();
public static native void setUserCurrent3V3(double userCurrent3V3);
public static native int registerUserActive3V3Callback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserActive3V3Callback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserActive3V3Callback(int uid);
public static native boolean getUserActive3V3();
public static native void setUserActive3V3(boolean userActive3V3);
public static native int registerUserFaults6VCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserFaults6VCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserFaults6VCallback(int uid);
public static native int getUserFaults6V();
public static native void setUserFaults6V(int userFaults6V);
public static native int registerUserFaults5VCallback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserFaults5VCallback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserFaults5VCallback(int uid);
public static native int getUserFaults5V();
public static native void setUserFaults5V(int userFaults5V);
public static native int registerUserFaults3V3Callback(NotifyCallback callback, boolean initialNotify);
public static native int registerUserFaults3V3Callback(
NotifyCallback callback, boolean initialNotify);
public static native void cancelUserFaults3V3Callback(int uid);
public static native int getUserFaults3V3();
public static native void setUserFaults3V3(int userFaults3V3);
public static native void resetData();

30
hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
View File

@@ -7,29 +7,49 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class SPIAccelerometerDataJNI extends JNIWrapper {
public static native int registerActiveCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerActiveCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelActiveCallback(int index, int uid);
public static native boolean getActive(int index);
public static native void setActive(int index, boolean active);
public static native int registerRangeCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerRangeCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelRangeCallback(int index, int uid);
public static native int getRange(int index);
public static native void setRange(int index, int range);
public static native int registerXCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerXCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelXCallback(int index, int uid);
public static native double getX(int index);
public static native void setX(int index, double x);
public static native int registerYCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerYCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelYCallback(int index, int uid);
public static native double getY(int index);
public static native void setY(int index, double y);
public static native int registerZCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerZCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelZCallback(int index, int uid);
public static native double getZ(int index);
public static native void setZ(int index, double z);
public static native void resetData(int index);

12
hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
View File

@@ -7,18 +7,26 @@ package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
public class SPIDataJNI extends JNIWrapper {
public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native int registerReadCallback(int index, BufferCallback callback);
public static native void cancelReadCallback(int index, int uid);
public static native int registerWriteCallback(int index, ConstBufferCallback callback);
public static native void cancelWriteCallback(int index, int uid);
public static native int registerReadAutoReceiveBufferCallback(int index, SpiReadAutoReceiveBufferCallback callback);
public static native int registerReadAutoReceiveBufferCallback(
int index, SpiReadAutoReceiveBufferCallback callback);
public static native void cancelReadAutoReceiveBufferCallback(int index, int uid);
public static native void resetData(int index);

30
hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
View File

@@ -9,12 +9,17 @@ import edu.wpi.first.hal.JNIWrapper;
public class SimDeviceDataJNI extends JNIWrapper {
public static native void setSimDeviceEnabled(String prefix, boolean enabled);
public static native boolean isSimDeviceEnabled(String name);
public static native int registerSimDeviceCreatedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify);
public static native int registerSimDeviceCreatedCallback(
String prefix, SimDeviceCallback callback, boolean initialNotify);
public static native void cancelSimDeviceCreatedCallback(int uid);
public static native int registerSimDeviceFreedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify);
public static native int registerSimDeviceFreedCallback(
String prefix, SimDeviceCallback callback, boolean initialNotify);
public static native void cancelSimDeviceFreedCallback(int uid);
public static native int getSimDeviceHandle(String name);
@@ -35,20 +40,30 @@ public class SimDeviceDataJNI extends JNIWrapper {
@SuppressWarnings("MemberName")
public int handle;
}
public static native SimDeviceInfo[] enumerateSimDevices(String prefix);
public static native int registerSimValueCreatedCallback(int device, SimValueCallback callback, boolean initialNotify);
public static native int registerSimValueCreatedCallback2(int device, SimValueCallback2 callback, boolean initialNotify);
public static native int registerSimValueCreatedCallback(
int device, SimValueCallback callback, boolean initialNotify);
public static native int registerSimValueCreatedCallback2(
int device, SimValueCallback2 callback, boolean initialNotify);
public static native void cancelSimValueCreatedCallback(int uid);
public static native int registerSimValueChangedCallback(int handle, SimValueCallback callback, boolean initialNotify);
public static native int registerSimValueChangedCallback2(int handle, SimValueCallback2 callback, boolean initialNotify);
public static native int registerSimValueChangedCallback(
int handle, SimValueCallback callback, boolean initialNotify);
public static native int registerSimValueChangedCallback2(
int handle, SimValueCallback2 callback, boolean initialNotify);
public static native void cancelSimValueChangedCallback(int uid);
public static native int getSimValueHandle(int device, String name);
public static class SimValueInfo {
public SimValueInfo(String name, int handle, int direction, int type, long value1, double value2) {
public SimValueInfo(
String name, int handle, int direction, int type, long value1, double value2) {
this.name = name;
this.handle = handle;
this.readonly = direction == 1;
@@ -72,6 +87,7 @@ public class SimDeviceDataJNI extends JNIWrapper {
@SuppressWarnings("MemberName")
public HALValue value;
}
public static native SimValueInfo[] enumerateSimValues(int device);
public static native String[] getSimValueEnumOptions(int handle);

3
hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback.java
View File

@@ -10,7 +10,8 @@ import edu.wpi.first.hal.HALValue;
public interface SimValueCallback {
void callback(String name, int handle, boolean readonly, HALValue value);
default void callbackNative(String name, int handle, boolean readonly, int type, long value1, double value2) {
default void callbackNative(
String name, int handle, boolean readonly, int type, long value1, double value2) {
callback(name, handle, readonly, HALValue.fromNative(type, value1, value2));
}
}

3
hal/src/main/java/edu/wpi/first/hal/simulation/SimValueCallback2.java
View File

@@ -10,7 +10,8 @@ import edu.wpi.first.hal.HALValue;
public interface SimValueCallback2 {
void callback(String name, int handle, int direction, HALValue value);
default void callbackNative(String name, int handle, int direction, int type, long value1, double value2) {
default void callbackNative(
String name, int handle, int direction, int type, long value1, double value2) {
callback(name, handle, direction, HALValue.fromNative(type, value1, value2));
}
}

10
hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
View File

@@ -9,15 +9,25 @@ import edu.wpi.first.hal.JNIWrapper;
public class SimulatorJNI extends JNIWrapper {
public static native void setRuntimeType(int type);
public static native void waitForProgramStart();
public static native void setProgramStarted();
public static native boolean getProgramStarted();
public static native void restartTiming();
public static native void pauseTiming();
public static native void resumeTiming();
public static native boolean isTimingPaused();
public static native void stepTiming(long delta);
public static native void stepTimingAsync(long delta);
public static native void resetHandles();
public static class SimPeriodicBeforeCallback implements AutoCloseable {

4
hal/src/main/java/edu/wpi/first/hal/util/AllocationException.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal.util;
/**
* Exception indicating that the resource is already allocated.
*/
/** Exception indicating that the resource is already allocated. */
@SuppressWarnings("serial")
public class AllocationException extends RuntimeException {
/**

4
hal/src/main/java/edu/wpi/first/hal/util/BoundaryException.java
View File

@@ -28,8 +28,8 @@ public class BoundaryException extends RuntimeException {
*/
public static void assertWithinBounds(double value, double lower, double upper) {
if (value < lower || value > upper) {
throw new BoundaryException("Value must be between " + lower + " and " + upper + ", " + value
+ " given");
throw new BoundaryException(
"Value must be between " + lower + " and " + upper + ", " + value + " given");
}
}

4
hal/src/main/java/edu/wpi/first/hal/util/HalHandleException.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal.util;
/**
* Exception indicating that an error has occurred with a HAL Handle.
*/
/** Exception indicating that an error has occurred with a HAL Handle. */
@SuppressWarnings("serial")
public class HalHandleException extends RuntimeException {
/**

10
hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
View File

@@ -4,9 +4,7 @@
package edu.wpi.first.hal.util;
/**
* Exception for bad status codes from the chip object.
*/
/** Exception for bad status codes from the chip object. */
@SuppressWarnings("serial")
public final class UncleanStatusException extends IllegalStateException {
private final int m_statusCode;
@@ -14,7 +12,7 @@ public final class UncleanStatusException extends IllegalStateException {
/**
* Create a new UncleanStatusException.
*
* @param status the status code that caused the exception
* @param status the status code that caused the exception
* @param message A message describing the exception
*/
public UncleanStatusException(int status, String message) {
@@ -40,9 +38,7 @@ public final class UncleanStatusException extends IllegalStateException {
this(-1, message);
}
/**
* Create a new UncleanStatusException.
*/
/** Create a new UncleanStatusException. */
public UncleanStatusException() {
this(-1, "Status code was non-zero");
}

3
myRobot/src/main/java/frc/robot/Main.java
View File

@@ -7,8 +7,7 @@ package frc.robot;
import edu.wpi.first.wpilibj.RobotBase;
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

28
myRobot/src/main/java/frc/robot/MyRobot.java
View File

@@ -9,45 +9,33 @@ import edu.wpi.first.wpilibj.TimedRobot;
@SuppressWarnings("all")
public class MyRobot extends TimedRobot {
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {}
/**
* This function is run once each time the robot enters autonomous mode
*/
/** This function is run once each time the robot enters autonomous mode */
@Override
public void autonomousInit() {}
/**
* This function is called periodically during autonomous
*/
/** This function is called periodically during autonomous */
@Override
public void autonomousPeriodic() {}
/**
* This function is called once each time the robot enters tele-operated mode
*/
/** This function is called once each time the robot enters tele-operated mode */
@Override
public void teleopInit() {}
/**
* This function is called periodically during operator control
*/
/** This function is called periodically during operator control */
@Override
public void teleopPeriodic() {}
/**
* This function is called periodically during test mode
*/
/** This function is called periodically during test mode */
@Override
public void testPeriodic() {}
/**
* This function is called periodically during all modes
*/
/** This function is called periodically during all modes */
@Override
public void robotPeriodic() {}
}

7
ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java
View File

@@ -8,15 +8,12 @@ import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.wpiutil.RuntimeDetector;
public final class DevMain {
/**
* Main method.
*/
/** Main method. */
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
NetworkTablesJNI.flush(NetworkTablesJNI.getDefaultInstance());
}
private DevMain() {
}
private DevMain() {}
}

32
ntcore/src/main/java/edu/wpi/first/networktables/ConnectionInfo.java
View File

@@ -4,45 +4,39 @@
package edu.wpi.first.networktables;
/**
* NetworkTables Connection information.
*/
/** NetworkTables Connection information. */
public final class ConnectionInfo {
/**
* The remote identifier (as set on the remote node by
* {@link NetworkTableInstance#setNetworkIdentity(String)}).
* The remote identifier (as set on the remote node by {@link
* NetworkTableInstance#setNetworkIdentity(String)}).
*/
@SuppressWarnings("MemberName")
public final String remote_id;
/**
* The IP address of the remote node.
*/
/** The IP address of the remote node. */
@SuppressWarnings("MemberName")
public final String remote_ip;
/**
* The port number of the remote node.
*/
/** The port number of the remote node. */
@SuppressWarnings("MemberName")
public final int remote_port;
/**
* The last time any update was received from the remote node (same scale as
* returned by {@link NetworkTablesJNI#now()}).
* The last time any update was received from the remote node (same scale as returned by {@link
* NetworkTablesJNI#now()}).
*/
@SuppressWarnings("MemberName")
public final long last_update;
/**
* The protocol version being used for this connection. This is in protocol
* layer format, so 0x0200 = 2.0, 0x0300 = 3.0).
* The protocol version being used for this connection. This is in protocol layer format, so
* 0x0200 = 2.0, 0x0300 = 3.0).
*/
@SuppressWarnings("MemberName")
public final int protocol_version;
/** Constructor.
* This should generally only be used internally to NetworkTables.
/**
* Constructor. This should generally only be used internally to NetworkTables.
*
* @param remoteId Remote identifier
* @param remoteIp Remote IP address
@@ -50,8 +44,8 @@ public final class ConnectionInfo {
* @param lastUpdate Last time an update was received
* @param protocolVersion The protocol version used for the connection
*/
public ConnectionInfo(String remoteId, String remoteIp, int remotePort, long lastUpdate,
int protocolVersion) {
public ConnectionInfo(
String remoteId, String remoteIp, int remotePort, long lastUpdate, int protocolVersion) {
remote_id = remoteId;
remote_ip = remoteIp;
remote_port = remotePort;

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