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[hal, wpilib] PWM Rewrite (#7845)

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The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.
This commit is contained in:
Thad House
2025-03-20 19:23:22 -07:00
committed by GitHub
parent 2e21a41f87
commit e2cc9e0059
96 changed files with 1037 additions and 2453 deletions
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15
hal/src/main/native/cpp/jni/DIOJNI.cpp
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@@ -190,21 +190,6 @@ Java_edu_wpi_first_hal_DIOJNI_isAnyPulsing
return returnValue;
}
/*
* Class: edu_wpi_first_hal_DIOJNI
* Method: getLoopTiming
* Signature: ()S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_hal_DIOJNI_getLoopTiming
(JNIEnv* env, jclass)
{
int32_t status = 0;
jshort returnValue = HAL_GetPWMLoopTiming(&status);
CheckStatus(env, status);
return returnValue;
}
/*
* Class: edu_wpi_first_hal_DIOJNI
* Method: allocateDigitalPWM

13
hal/src/main/native/cpp/jni/HALUtil.cpp
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@@ -44,7 +44,6 @@ static JException halHandleExCls;
static JException uncleanStatusExCls;
static JException nullPointerEx;
static JClass powerDistributionVersionCls;
static JClass pwmConfigDataResultCls;
static JClass canStatusCls;
static JClass matchInfoDataCls;
static JClass canReceiveMessageCls;
@@ -56,7 +55,6 @@ static JClass canStreamOverflowExCls;
static const JClassInit classes[] = {
{"edu/wpi/first/hal/PowerDistributionVersion",
&powerDistributionVersionCls},
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
{"edu/wpi/first/hal/can/CANStatus", &canStatusCls},
{"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
{"edu/wpi/first/hal/can/CANReceiveMessage", &canReceiveMessageCls},
@@ -180,17 +178,6 @@ void ThrowBoundaryException(JNIEnv* env, double value, double lower,
env->Throw(static_cast<jthrowable>(ex));
}
jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm) {
static jmethodID constructor =
env->GetMethodID(pwmConfigDataResultCls, "<init>", "(IIIII)V");
return env->NewObject(
pwmConfigDataResultCls, constructor, static_cast<jint>(maxPwm),
static_cast<jint>(deadbandMaxPwm), static_cast<jint>(centerPwm),
static_cast<jint>(deadbandMinPwm), static_cast<jint>(minPwm));
}
jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
uint32_t firmwareMinor, uint32_t firmwareFix,
uint32_t hardwareMinor, uint32_t hardwareMajor,

4
hal/src/main/native/cpp/jni/HALUtil.h
View File

@@ -49,10 +49,6 @@ void ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg);
void ThrowBoundaryException(JNIEnv* env, double value, double lower,
double upper);
jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm);
jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
uint32_t firmwareMinor, uint32_t firmwareFix,
uint32_t hardwareMinor, uint32_t hardwareMajor,

171
hal/src/main/native/cpp/jni/PWMJNI.cpp
View File

@@ -63,69 +63,14 @@ Java_edu_wpi_first_hal_PWMJNI_freePWMPort
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMConfigMicroseconds
* Signature: (IIIIII)V
* Method: setPWMSimDevice
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setPWMConfigMicroseconds
(JNIEnv* env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
jint centerPwm, jint deadbandMinPwm, jint minPwm)
Java_edu_wpi_first_hal_PWMJNI_setPWMSimDevice
(JNIEnv* env, jclass, jint handle, jint device)
{
int32_t status = 0;
HAL_SetPWMConfigMicroseconds((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm,
centerPwm, deadbandMinPwm, minPwm, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: getPWMConfigMicroseconds
* Signature: (I)Ljava/lang/Object;
*/
JNIEXPORT jobject JNICALL
Java_edu_wpi_first_hal_PWMJNI_getPWMConfigMicroseconds
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
int32_t maxPwm = 0;
int32_t deadbandMaxPwm = 0;
int32_t centerPwm = 0;
int32_t deadbandMinPwm = 0;
int32_t minPwm = 0;
HAL_GetPWMConfigMicroseconds((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm,
&centerPwm, &deadbandMinPwm, &minPwm, &status);
CheckStatus(env, status);
return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMEliminateDeadband
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setPWMEliminateDeadband
(JNIEnv* env, jclass, jint id, jboolean value)
{
int32_t status = 0;
HAL_SetPWMEliminateDeadband((HAL_DigitalHandle)id, value, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: getPWMEliminateDeadband
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_PWMJNI_getPWMEliminateDeadband
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
auto val = HAL_GetPWMEliminateDeadband((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
return (jboolean)val;
HAL_SetPWMSimDevice((HAL_DigitalHandle)handle, (HAL_SimDeviceHandle)device);
}
/*
@@ -142,34 +87,6 @@ Java_edu_wpi_first_hal_PWMJNI_setPulseTimeMicroseconds
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMSpeed
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setPWMSpeed
(JNIEnv* env, jclass, jint id, jdouble value)
{
int32_t status = 0;
HAL_SetPWMSpeed((HAL_DigitalHandle)id, value, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMPosition
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setPWMPosition
(JNIEnv* env, jclass, jint id, jdouble value)
{
int32_t status = 0;
HAL_SetPWMPosition((HAL_DigitalHandle)id, value, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: getPulseTimeMicroseconds
@@ -188,87 +105,15 @@ Java_edu_wpi_first_hal_PWMJNI_getPulseTimeMicroseconds
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: getPWMSpeed
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_PWMJNI_getPWMSpeed
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jdouble returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: getPWMPosition
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_PWMJNI_getPWMPosition
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jdouble returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMDisabled
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setPWMDisabled
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
HAL_SetPWMDisabled((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: latchPWMZero
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_latchPWMZero
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
HAL_LatchPWMZero((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setAlwaysHighMode
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setAlwaysHighMode
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
HAL_SetPWMAlwaysHighMode((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMPeriodScale
* Method: setPWMOutputPeriod
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setPWMPeriodScale
Java_edu_wpi_first_hal_PWMJNI_setPWMOutputPeriod
(JNIEnv* env, jclass, jint id, jint value)
{
int32_t status = 0;
HAL_SetPWMPeriodScale((HAL_DigitalHandle)id, value, &status);
HAL_SetPWMOutputPeriod((HAL_DigitalHandle)id, value, &status);
CheckStatus(env, status);
}

173
hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
View File

@@ -114,201 +114,52 @@ Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPulseMicrosecond
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: registerSpeedCallback
* Method: registerOutputPeriodCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerSpeedCallback
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerOutputPeriodCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterPWMSpeedCallback);
&HALSIM_RegisterPWMOutputPeriodCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: cancelSpeedCallback
* Method: cancelOutputPeriodCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelSpeedCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index, &HALSIM_CancelPWMSpeedCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: getSpeed
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getSpeed
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetPWMSpeed(index);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: setSpeed
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setSpeed
(JNIEnv*, jclass, jint index, jdouble value)
{
HALSIM_SetPWMSpeed(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: registerPositionCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerPositionCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterPWMPositionCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: cancelPositionCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelPositionCallback
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelOutputPeriodCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelPWMPositionCallback);
&HALSIM_CancelPWMOutputPeriodCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: getPosition
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getPosition
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetPWMPosition(index);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: setPosition
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPosition
(JNIEnv*, jclass, jint index, jdouble value)
{
HALSIM_SetPWMPosition(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: registerPeriodScaleCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerPeriodScaleCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterPWMPeriodScaleCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: cancelPeriodScaleCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelPeriodScaleCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelPWMPeriodScaleCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: getPeriodScale
* Method: getOutputPeriod
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getPeriodScale
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getOutputPeriod
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetPWMPeriodScale(index);
return HALSIM_GetPWMOutputPeriod(index);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: setPeriodScale
* Method: setOutputPeriod
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPeriodScale
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setOutputPeriod
(JNIEnv*, jclass, jint index, jint value)
{
HALSIM_SetPWMPeriodScale(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: registerZeroLatchCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerZeroLatchCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterPWMZeroLatchCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: cancelZeroLatchCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelZeroLatchCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelPWMZeroLatchCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: getZeroLatch
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getZeroLatch
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetPWMZeroLatch(index);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: setZeroLatch
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setZeroLatch
(JNIEnv*, jclass, jint index, jboolean value)
{
HALSIM_SetPWMZeroLatch(index, value);
HALSIM_SetPWMOutputPeriod(index, value);
}
/*