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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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126
wpilibj/src/main/native/cpp/I2CJNI.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_I2CJNI.h"
#include "HAL/I2C.h"
#include "HALUtil.h"
using namespace frc;
// set the logging level
TLogLevel i2cJNILogLevel = logWARNING;
#define I2CJNI_LOG(level) \
if (level > i2cJNILogLevel) \
; \
else \
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2cInitialize
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize(
JNIEnv* env, jclass, jint port) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
I2CJNI_LOG(logDEBUG) << "Port: " << port;
int32_t status = 0;
HAL_InitializeI2C(static_cast<HAL_I2CPort>(port), &status);
I2CJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatusForceThrow(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CTransaction
* Signature: (IBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize, jobject dataReceived, jbyte receiveSize) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransaction";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
}
I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
uint8_t* dataReceivedPtr =
(uint8_t*)env->GetDirectBufferAddress(dataReceived);
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
jint returnValue = HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize,
dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CWrite
* Signature: (IBLjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
}
I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
jint returnValue = HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CRead
* Signature: (IBLjava/nio/ByteBuffer;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
JNIEnv* env, jclass, jint port, jbyte address, jobject dataReceived,
jbyte receiveSize) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << address;
uint8_t* dataReceivedPtr =
(uint8_t*)env->GetDirectBufferAddress(dataReceived);
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address, dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CClose
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose(JNIEnv*, jclass, jint port) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CClose";
HAL_CloseI2C(static_cast<HAL_I2CPort>(port));
}
} // extern "C"