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[hal, wpilib] Incorporate pneumatic control type into wpilibc/j (#3728)

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This commit is contained in:
Thad House
2021-11-23 20:32:02 -08:00
committed by GitHub
parent 9aba2b7583
commit b156db400d
35 changed files with 693 additions and 216 deletions
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101
hal/src/main/native/cpp/jni/REVPHJNI.cpp
View File

@@ -12,6 +12,19 @@
#include "hal/REVPH.h"
#include "hal/handles/HandlesInternal.h"
static_assert(
edu_wpi_first_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_DISABLED ==
HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDisabled);
static_assert(
edu_wpi_first_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_DIGITAL ==
HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDigital);
static_assert(
edu_wpi_first_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_ANALOG ==
HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kAnalog);
static_assert(
edu_wpi_first_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_HYBRID ==
HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kHybrid);
using namespace hal;
extern "C" {
@@ -73,31 +86,97 @@ Java_edu_wpi_first_hal_REVPHJNI_getCompressor
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: setClosedLoopControl
* Signature: (IZ)V
* Method: setCompressorConfig
* Signature: (IDDZZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControl
(JNIEnv* env, jclass, jint handle, jboolean enabled)
Java_edu_wpi_first_hal_REVPHJNI_setCompressorConfig
(JNIEnv* env, jclass, jint handle, jdouble minAnalogVoltage,
jdouble maxAnalogVoltage, jboolean forceDisable, jboolean useDigital)
{
int32_t status = 0;
HAL_SetREVPHClosedLoopControl(handle, enabled, &status);
HAL_REVPHCompressorConfig config;
config.minAnalogVoltage = minAnalogVoltage;
config.maxAnalogVoltage = maxAnalogVoltage;
config.useDigital = useDigital;
config.forceDisable = forceDisable;
HAL_SetREVPHCompressorConfig(handle, &config, &status);
CheckStatus(env, status, false);
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getClosedLoopControl
* Signature: (I)Z
* Method: setClosedLoopControlDisabled
* Signature: (I)V
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getClosedLoopControl
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControlDisabled
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto result = HAL_GetREVPHClosedLoopControl(handle, &status);
HAL_SetREVPHClosedLoopControlDisabled(handle, &status);
CheckStatus(env, status, false);
return result;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: setClosedLoopControlDigital
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControlDigital
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_SetREVPHClosedLoopControlDigital(handle, &status);
CheckStatus(env, status, false);
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: setClosedLoopControlAnalog
* Signature: (IDD)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControlAnalog
(JNIEnv* env, jclass, jint handle, jdouble minAnalogVoltage,
jdouble maxAnalogVoltage)
{
int32_t status = 0;
HAL_SetREVPHClosedLoopControlAnalog(handle, minAnalogVoltage,
maxAnalogVoltage, &status);
CheckStatus(env, status, false);
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: setClosedLoopControlHybrid
* Signature: (IDD)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControlHybrid
(JNIEnv* env, jclass, jint handle, jdouble minAnalogVoltage,
jdouble maxAnalogVoltage)
{
int32_t status = 0;
HAL_SetREVPHClosedLoopControlHybrid(handle, minAnalogVoltage,
maxAnalogVoltage, &status);
CheckStatus(env, status, false);
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getCompressorConfig
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getCompressorConfig
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto config = HAL_GetREVPHCompressorConfig(handle, &status);
CheckStatus(env, status, false);
return static_cast<jint>(config);
}
/*

36
hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
View File

@@ -166,52 +166,54 @@ Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setCompressorOn
/*
* Class: edu_wpi_first_hal_simulation_REVPHDataJNI
* Method: registerClosedLoopEnabledCallback
* Method: registerCompressorConfigTypeCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerClosedLoopEnabledCallback
Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerCompressorConfigTypeCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterREVPHClosedLoopEnabledCallback);
return sim::AllocateCallback(
env, index, callback, initialNotify,
&HALSIM_RegisterREVPHCompressorConfigTypeCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_REVPHDataJNI
* Method: cancelClosedLoopEnabledCallback
* Method: cancelCompressorConfigTypeCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelClosedLoopEnabledCallback
Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelCompressorConfigTypeCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelREVPHClosedLoopEnabledCallback);
&HALSIM_CancelREVPHCompressorConfigTypeCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_REVPHDataJNI
* Method: getClosedLoopEnabled
* Signature: (I)Z
* Method: getCompressorConfigType
* Signature: (I)I
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getClosedLoopEnabled
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getCompressorConfigType
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetREVPHClosedLoopEnabled(index);
return static_cast<jint>(HALSIM_GetREVPHCompressorConfigType(index));
}
/*
* Class: edu_wpi_first_hal_simulation_REVPHDataJNI
* Method: setClosedLoopEnabled
* Signature: (IZ)V
* Method: setCompressorConfigType
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setClosedLoopEnabled
(JNIEnv*, jclass, jint index, jboolean value)
Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setCompressorConfigType
(JNIEnv*, jclass, jint index, jint value)
{
HALSIM_SetREVPHClosedLoopEnabled(index, value);
HALSIM_SetREVPHCompressorConfigType(
index, static_cast<HAL_REVPHCompressorConfigType>(value));
}
/*