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JNI implementation for Java
Normal vs
This commit is contained in:
charris
@@ -0,0 +1,61 @@
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// CANInterfacePlugin.h
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//
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// Defines the API for building a CAN Interface Plugin to support
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// PWM-cable-free CAN motor control on FRC robots. This allows you
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// to connect any CAN interface to the secure Jaguar CAN driver.
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//
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#ifndef __CANInterfacePlugin_h__
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#define __CANInterfacePlugin_h__
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#include <stdint.h>
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#define CAN_IS_FRAME_REMOTE 0x80000000
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#define CAN_MESSAGE_ID_MASK 0x1FFFFFFF
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class CANInterfacePlugin
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{
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public:
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CANInterfacePlugin() {}
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virtual ~CANInterfacePlugin() {}
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/**
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* This entry-point of the CANInterfacePlugin is passed a message that the driver needs to send to
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* a device on the CAN bus.
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*
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* This function may be called from multiple contexts and must therefore be reentrant.
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*
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* @param messageID The 29-bit CAN message ID in the lsbs. The msb can indicate a remote frame.
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* @param data A pointer to a buffer containing between 0 and 8 bytes to send with the message. May be NULL if dataSize is 0.
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* @param dataSize The number of bytes to send with the message.
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* @return Return any error code. On success return 0.
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*/
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virtual int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize) = 0;
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/**
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* This entry-point of the CANInterfacePlugin is passed buffers which should be populated with
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* any received messages from devices on the CAN bus.
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*
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* This function is always called by a single task in the Jaguar driver, so it need not be reentrant.
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*
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* This function is expected to block for some period of time waiting for a message from the CAN bus.
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* It may timeout periodically (returning non-zero to indicate no message was populated) to allow for
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* shutdown and unloading of the plugin.
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*
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* @param messageID A reference to be populated with a received 29-bit CAN message ID in the lsbs.
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* @param data A pointer to a buffer of 8 bytes to be populated with data received with the message.
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* @param dataSize A reference to be populated with the size of the data received (0 - 8 bytes).
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* @return This should return 0 if a message was populated, non-0 if no message was not populated.
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*/
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virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
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};
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/**
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* This function allows you to register a CANInterfacePlugin to provide access a CAN bus.
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*
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* @param interface A pointer to an object that inherits from CANInterfacePlugin and implements
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* the pure virtual interface. If NULL, unregister the current plugin.
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*/
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void FRC_NetworkCommunication_JaguarCANDriver_registerInterface(CANInterfacePlugin* interface);
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#endif // __CANInterfacePlugin_h__
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193
hal/Athena/src/main/native/NetworkCommunication/FRCComm.h
Normal file
193
hal/Athena/src/main/native/NetworkCommunication/FRCComm.h
Normal file
@@ -0,0 +1,193 @@
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/*************************************************************
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* NOTICE
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*
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* These are the only externally exposed functions to the
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* NetworkCommunication library
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*
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* This is an implementation of FRC Spec for Comm Protocol
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* Revision 4.5, June 30, 2008
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*
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* Copyright (c) National Instruments 2008. All Rights Reserved.
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*
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*************************************************************/
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#ifndef __FRC_COMM_H__
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#define __FRC_COMM_H__
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#ifdef SIMULATION
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#include <vxWorks_compat.h>
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#define EXPORT_FUNC __declspec(dllexport) __cdecl
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#else
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#if defined(__vxworks)
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#include <vxWorks.h>
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#define EXPORT_FUNC
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#else
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#include <stdint.h>
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#include <pthread.h>
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#define EXPORT_FUNC
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#endif
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#endif
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// Commandeer some bytes at the end for advanced I/O feedback.
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#define IO_CONFIG_DATA_SIZE 32
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#define SYS_STATUS_DATA_SIZE 44
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#define USER_STATUS_DATA_SIZE (984 - IO_CONFIG_DATA_SIZE - SYS_STATUS_DATA_SIZE)
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#define USER_DS_LCD_DATA_SIZE 128
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struct FRCCommonControlData{
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uint16_t packetIndex;
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union {
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uint8_t control;
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#ifndef __vxworks
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struct {
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uint8_t checkVersions :1;
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uint8_t test :1;
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uint8_t resync : 1;
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uint8_t fmsAttached:1;
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uint8_t autonomous : 1;
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uint8_t enabled : 1;
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uint8_t notEStop : 1;
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uint8_t reset : 1;
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};
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#else
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struct {
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uint8_t reset : 1;
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uint8_t notEStop : 1;
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uint8_t enabled : 1;
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uint8_t autonomous : 1;
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uint8_t fmsAttached:1;
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uint8_t resync : 1;
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uint8_t test :1;
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uint8_t checkVersions :1;
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};
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#endif
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};
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uint8_t dsDigitalIn;
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uint16_t teamID;
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char dsID_Alliance;
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char dsID_Position;
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union {
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int8_t stick0Axes[6];
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struct {
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int8_t stick0Axis1;
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int8_t stick0Axis2;
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int8_t stick0Axis3;
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int8_t stick0Axis4;
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int8_t stick0Axis5;
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int8_t stick0Axis6;
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};
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};
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uint16_t stick0Buttons; // Left-most 4 bits are unused
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union {
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int8_t stick1Axes[6];
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struct {
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int8_t stick1Axis1;
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int8_t stick1Axis2;
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int8_t stick1Axis3;
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int8_t stick1Axis4;
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int8_t stick1Axis5;
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int8_t stick1Axis6;
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};
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};
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uint16_t stick1Buttons; // Left-most 4 bits are unused
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union {
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int8_t stick2Axes[6];
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struct {
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int8_t stick2Axis1;
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int8_t stick2Axis2;
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int8_t stick2Axis3;
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int8_t stick2Axis4;
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int8_t stick2Axis5;
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int8_t stick2Axis6;
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};
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};
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uint16_t stick2Buttons; // Left-most 4 bits are unused
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union {
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int8_t stick3Axes[6];
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struct {
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int8_t stick3Axis1;
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int8_t stick3Axis2;
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int8_t stick3Axis3;
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int8_t stick3Axis4;
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int8_t stick3Axis5;
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int8_t stick3Axis6;
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};
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};
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uint16_t stick3Buttons; // Left-most 4 bits are unused
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//Analog inputs are 10 bit right-justified
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uint16_t analog1;
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uint16_t analog2;
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uint16_t analog3;
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uint16_t analog4;
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uint64_t cRIOChecksum;
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uint32_t FPGAChecksum0;
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uint32_t FPGAChecksum1;
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uint32_t FPGAChecksum2;
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uint32_t FPGAChecksum3;
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char versionData[8];
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};
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#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
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#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Header 19
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
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#define kFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
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extern "C" {
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#ifndef SIMULATION
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void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
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#endif
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int EXPORT_FUNC getCommonControlData(FRCCommonControlData *data, int wait_ms);
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int EXPORT_FUNC getRecentCommonControlData(FRCCommonControlData *commonData, int wait_ms);
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int EXPORT_FUNC getRecentStatusData(uint8_t *batteryInt, uint8_t *batteryDec, uint8_t *dsDigitalOut, int wait_ms);
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int EXPORT_FUNC getDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
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int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
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const char *userDataHigh, int userDataHighLength,
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const char *userDataLow, int userDataLowLength, int wait_ms);
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int EXPORT_FUNC setStatusDataFloatAsInt(int battery, uint8_t dsDigitalOut, uint8_t updateNumber,
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const char *userDataHigh, int userDataHighLength,
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const char *userDataLow, int userDataLowLength, int wait_ms);
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int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
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int EXPORT_FUNC setUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
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int EXPORT_FUNC overrideIOConfig(const char *ioConfig, int wait_ms);
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#ifdef SIMULATION
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void EXPORT_FUNC setNewDataSem(HANDLE);
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#else
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# if defined (__vxworks)
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void EXPORT_FUNC setNewDataSem(SEM_ID);
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void EXPORT_FUNC setResyncSem(SEM_ID);
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# else
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void EXPORT_FUNC setNewDataSem(pthread_mutex_t *);
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void EXPORT_FUNC setResyncSem(pthread_mutex_t *);
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# endif
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void EXPORT_FUNC signalResyncActionDone(void);
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#endif
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// this uint32_t is really a LVRefNum
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void EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
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#ifndef SIMULATION
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void EXPORT_FUNC setResyncOccurRef(uint32_t refnum);
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#endif
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void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
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void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
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};
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#endif
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@@ -0,0 +1,37 @@
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// JaguarCANDriver.h
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//
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// Defines the API for building a CAN Interface Plugin to support
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// PWM-cable-free CAN motor control on FRC robots. This allows you
|
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// to connect any CAN interface to the secure Jaguar CAN driver.
|
||||
//
|
||||
|
||||
#ifndef __JaguarCANDriver_h__
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#define __JaguarCANDriver_h__
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#if defined(__vxworks)
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#include <vxWorks.h>
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#else
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#include <stdint.h>
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#include <pthread.h>
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#endif
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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void FRC_NetworkCommunication_JaguarCANDriver_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
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void FRC_NetworkCommunication_JaguarCANDriver_receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
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int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
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#if defined (__vxworks)
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int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_sem(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
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#else
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int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_mutex(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
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#endif
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void FRC_NetworkCommunication_JaguarCANDriver_receiveMessageComplete(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
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||||
#endif
|
||||
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||||
#endif // __JaguarCANDriver_h__
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139
hal/Athena/src/main/native/NetworkCommunication/UsageReporting.h
Normal file
139
hal/Athena/src/main/native/NetworkCommunication/UsageReporting.h
Normal file
@@ -0,0 +1,139 @@
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||||
|
||||
#ifndef __UsageReporting_h__
|
||||
#define __UsageReporting_h__
|
||||
|
||||
#ifdef SIMULATION
|
||||
#include <vxWorks_compat.h>
|
||||
#define EXPORT_FUNC __declspec(dllexport) __cdecl
|
||||
#elif defined (__vxworks)
|
||||
#include <vxWorks.h>
|
||||
#define EXPORT_FUNC
|
||||
#else
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#define EXPORT_FUNC
|
||||
#endif
|
||||
|
||||
#define kUsageReporting_version 1
|
||||
|
||||
namespace nUsageReporting
|
||||
{
|
||||
typedef enum
|
||||
{
|
||||
kResourceType_Controller,
|
||||
kResourceType_Module,
|
||||
kResourceType_Language,
|
||||
kResourceType_CANPlugin,
|
||||
kResourceType_Accelerometer,
|
||||
kResourceType_ADXL345,
|
||||
kResourceType_AnalogChannel,
|
||||
kResourceType_AnalogTrigger,
|
||||
kResourceType_AnalogTriggerOutput,
|
||||
kResourceType_CANJaguar,
|
||||
kResourceType_Compressor,
|
||||
kResourceType_Counter,
|
||||
kResourceType_Dashboard,
|
||||
kResourceType_DigitalInput,
|
||||
kResourceType_DigitalOutput,
|
||||
kResourceType_DriverStationCIO,
|
||||
kResourceType_DriverStationEIO,
|
||||
kResourceType_DriverStationLCD,
|
||||
kResourceType_Encoder,
|
||||
kResourceType_GearTooth,
|
||||
kResourceType_Gyro,
|
||||
kResourceType_I2C,
|
||||
kResourceType_Framework,
|
||||
kResourceType_Jaguar,
|
||||
kResourceType_Joystick,
|
||||
kResourceType_Kinect,
|
||||
kResourceType_KinectStick,
|
||||
kResourceType_PIDController,
|
||||
kResourceType_Preferences,
|
||||
kResourceType_PWM,
|
||||
kResourceType_Relay,
|
||||
kResourceType_RobotDrive,
|
||||
kResourceType_SerialPort,
|
||||
kResourceType_Servo,
|
||||
kResourceType_Solenoid,
|
||||
kResourceType_SPI,
|
||||
kResourceType_Task,
|
||||
kResourceType_Ultrasonic,
|
||||
kResourceType_Victor,
|
||||
kResourceType_Button,
|
||||
kResourceType_Command,
|
||||
kResourceType_AxisCamera,
|
||||
kResourceType_PCVideoServer,
|
||||
kResourceType_SmartDashboard,
|
||||
kResourceType_Talon,
|
||||
kResourceType_HiTechnicColorSensor,
|
||||
kResourceType_HiTechnicAccel,
|
||||
kResourceType_HiTechnicCompass,
|
||||
kResourceType_SRF08,
|
||||
} tResourceType;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kLanguage_LabVIEW = 1,
|
||||
kLanguage_CPlusPlus = 2,
|
||||
kLanguage_Java = 3,
|
||||
kLanguage_Python = 4,
|
||||
|
||||
kCANPlugin_BlackJagBridge = 1,
|
||||
kCANPlugin_2CAN = 2,
|
||||
|
||||
kFramework_Iterative = 1,
|
||||
kFramework_Simple = 2,
|
||||
|
||||
kRobotDrive_ArcadeStandard = 1,
|
||||
kRobotDrive_ArcadeButtonSpin = 2,
|
||||
kRobotDrive_ArcadeRatioCurve = 3,
|
||||
kRobotDrive_Tank = 4,
|
||||
kRobotDrive_MecanumPolar = 5,
|
||||
kRobotDrive_MecanumCartesian = 6,
|
||||
|
||||
kDriverStationCIO_Analog = 1,
|
||||
kDriverStationCIO_DigitalIn = 2,
|
||||
kDriverStationCIO_DigitalOut = 3,
|
||||
|
||||
kDriverStationEIO_Acceleration = 1,
|
||||
kDriverStationEIO_AnalogIn = 2,
|
||||
kDriverStationEIO_AnalogOut = 3,
|
||||
kDriverStationEIO_Button = 4,
|
||||
kDriverStationEIO_LED = 5,
|
||||
kDriverStationEIO_DigitalIn = 6,
|
||||
kDriverStationEIO_DigitalOut = 7,
|
||||
kDriverStationEIO_FixedDigitalOut = 8,
|
||||
kDriverStationEIO_PWM = 9,
|
||||
kDriverStationEIO_Encoder = 10,
|
||||
kDriverStationEIO_TouchSlider = 11,
|
||||
|
||||
kADXL345_SPI = 1,
|
||||
kADXL345_I2C = 2,
|
||||
|
||||
kCommand_Scheduler = 1,
|
||||
|
||||
kSmartDashboard_Instance = 1,
|
||||
} tInstances;
|
||||
|
||||
/**
|
||||
* Report the usage of a resource of interest.
|
||||
*
|
||||
* @param resource one of the values in the tResourceType above (max value 51).
|
||||
* @param instanceNumber an index that identifies the resource instance.
|
||||
* @param context an optional additional context number for some cases (such as module number). Set to 0 to omit.
|
||||
* @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.
|
||||
*/
|
||||
uint32_t EXPORT_FUNC report(tResourceType resource, uint8_t instanceNumber, uint8_t context = 0, const char *feature = NULL);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
uint32_t EXPORT_FUNC FRC_NetworkCommunication_nUsageReporting_report(uint8_t resource, uint8_t instanceNumber, uint8_t context, const char *feature);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // __UsageReporting_h__
|
||||
10
hal/Athena/src/main/native/i2c-lib.h
Normal file
10
hal/Athena/src/main/native/i2c-lib.h
Normal file
@@ -0,0 +1,10 @@
|
||||
#ifndef __I2C_LIB_H__
|
||||
#define __I2C_LIB_H__
|
||||
|
||||
int i2clib_open(const char *device);
|
||||
void i2clib_close(int handle);
|
||||
int i2clib_read(int handle, uint8_t dev_addr, char *recv_buf, int32_t recv_size);
|
||||
int i2clib_write(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size);
|
||||
int i2clib_writeread(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size, char *recv_buf, int32_t recv_size);
|
||||
|
||||
#endif /* __I2C_LIB_H__ */
|
||||
13
hal/Athena/src/main/native/spi-lib.h
Normal file
13
hal/Athena/src/main/native/spi-lib.h
Normal file
@@ -0,0 +1,13 @@
|
||||
#ifndef __SPI_LIB_H__
|
||||
#define __SPI_LIB_H__
|
||||
|
||||
int spilib_open(const char *device);
|
||||
void spilib_close(int handle);
|
||||
int spilib_setspeed(int handle, uint32_t speed);
|
||||
int spilib_setbitsperword(int handle, uint8_t bpw);
|
||||
int spilib_setopts(int handle, int msb_first, int sample_on_trailing, int clk_idle_high);
|
||||
int spilib_read(int handle, char *recv_buf, int32_t size);
|
||||
int spilib_write(int handle, const char *send_buf, int32_t size);
|
||||
int spilib_writeread(int handle, const char *send_buf, char *recv_buf, int32_t size);
|
||||
|
||||
#endif /* __SPI_LIB_H__ */
|
||||
Reference in New Issue
Block a user