diff --git a/gen/wpilibj_frcnetcomm.py b/gen/wpilibj_frcnetcomm.py new file mode 100755 index 0000000000..cb353cb693 --- /dev/null +++ b/gen/wpilibj_frcnetcomm.py @@ -0,0 +1,178 @@ +#!/usr/bin/env python3 + +# This script generates the network communication interface for wpilibj. +# +# This script takes no arguments and should be invoked from either the gen +# directory or the root directory of the project. + +from datetime import date +import os +import re +import subprocess + +# Check that the current directory is part of a Git repository +def inGitRepo(directory): + ret = subprocess.run(["git", "rev-parse"], stderr = subprocess.DEVNULL) + return ret.returncode == 0 + +def main(): + if not inGitRepo("."): + print("Error: not invoked within a Git repository", file = sys.stderr) + sys.exit(1) + + # Handle running in either the root or gen directories + configPath = "." + if os.getcwd().rpartition(os.sep)[2] == "gen": + configPath = ".." + + outputName = configPath + \ + "/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java" + + # Set initial copyright year and get current year + year = "2016" + currentYear = str(date.today().year) + + # Start writing output file + with open(outputName + ".tmp", "w") as temp: + # Write first line of comment + temp.write("/*") + for i in range(0, 76): + temp.write("-") + temp.write("*/\n") + + # Write second line of comment + temp.write("/* Copyright (c) FIRST ") + if year != currentYear: + temp.write(year) + temp.write("-") + temp.write(currentYear) + temp.write(". All Rights Reserved.") + for i in range(0, 24): + temp.write(" ") + if year == currentYear: + for i in range(0, 5): + temp.write(" ") + temp.write("*/\n") + + # Write rest of lines of comment + temp.write("""\ +/* 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. */ +/*""") + for i in range(0, 76): + temp.write("-") + temp.write("*/\n") + + # Write preamble + temp.write(""" +package edu.wpi.first.wpilibj.hal; + +import edu.wpi.first.wpilibj.hal.JNIWrapper; + +/** + * JNI wrapper for library FRC_NetworkCommunication
. + */ +@SuppressWarnings(\"MethodName\") +public class FRCNetComm extends JNIWrapper { +""") + + # Read enums from C++ source files + firstEnum = True + for fileName in ["LoadOut.h", "UsageReporting.h"]: + with open(configPath + "/hal/include/FRC_NetworkCommunication/" + \ + fileName, "r") as cppSource: + while True: + # Read until an enum is encountered + line = "" + pos = -1 + while line.find("enum") == -1: + line = cppSource.readline() + if line == "": + break + + if line == "": + break + + # If "{" is on next line, read next line + if line.find("{") == -1: + line = cppSource.readline() + + # Write enum to output file as interface + values = [] + line = cppSource.readline() + while line.find("}") == -1: + if line == "\n": + values.append("") + else: + if line[0] != "#": + line = line.strip() + if line[len(line) - 1] == ",": + values.append(line[0:len(line) - 1]) + else: + values.append(line) + line = cppSource.readline() + + # Extract enum name + nameStart = 0 + for i, c in enumerate(line): + if c != " " and c != "}": + nameStart = i + break + enumName = line[nameStart:len(line) - 2] + + # Write comment for interface name + # Only add newline if not the first enum + if firstEnum == True: + firstEnum = False + else: + temp.write("\n") + temp.write(" /**\n" + " * ") + + # Splits camelcase string into words + enumCamel = re.findall(r'[A-Z](?:[a-z]+|[A-Z]*(?=[A-Z]|$))', + enumName) + temp.write(enumCamel[0] + " ") + for i in range(1, len(enumCamel)): + temp.write(enumCamel[i][0].lower() + \ + enumCamel[i][1:len(enumCamel[i])] + " ") + temp.write("from " + fileName + "\n" + " */\n" + " @SuppressWarnings(\"TypeName\")\n" + " public interface " + enumName + " {\n") + + # Write enum values + count = 0 + for value in values: + # Pass through empty lines + if value == "": + temp.write("\n") + continue + + if value.find("=") == -1: + value = value + " = " + str(count) + count += 1 + + # Add scoping for values from a different enum + if enumName != "tModuleType" and \ + value.find("kModuleType") != -1: + value = value.replace("kModuleType", + "tModuleType.kModuleType") + temp.write(" int " + value[0:len(value)] + ";\n") + + # Write end of enum + temp.write(" }\n") + + # Write closing brace for file + temp.write("}\n") + + # Replace old output file + try: + os.remove(outputName) + except OSError: + pass + os.rename(outputName + ".tmp", outputName) + +if __name__ == "__main__": + main() diff --git a/hal/include/HAL/HAL.h b/hal/include/HAL/HAL.h index 1885c5c10f..f314fd9cf2 100644 --- a/hal/include/HAL/HAL.h +++ b/hal/include/HAL/HAL.h @@ -120,8 +120,8 @@ int HAL_SendError(int isError, int32_t errorCode, int isLVCode, const char* details, const char* location, const char* callStack, int printMsg); -int HAL_GetControlWord(HAL_ControlWord* data); -int HAL_GetAllianceStation(enum HAL_AllianceStationID* allianceStation); +int HAL_GetControlWord(HAL_ControlWord* controlWord); +HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status); int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes); int HAL_GetJoystickPOVs(uint8_t joystickNum, HAL_JoystickPOVs* povs); int HAL_GetJoystickButtons(uint8_t joystickNum, HAL_JoystickButtons* buttons); @@ -133,7 +133,7 @@ char* HAL_GetJoystickName(uint8_t joystickNum); int HAL_GetJoystickAxisType(uint8_t joystickNum, uint8_t axis); int HAL_SetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble); -int HAL_GetMatchTime(float* matchTime); +float HAL_GetMatchTime(int32_t* status); void HAL_SetNewDataSem(MULTIWAIT_ID sem); @@ -141,11 +141,11 @@ bool HAL_GetSystemActive(int32_t* status); bool HAL_GetBrownedOut(int32_t* status); int HAL_Initialize(int mode = 0); -void HAL_NetworkCommunicationObserveUserProgramStarting(); -void HAL_NetworkCommunicationObserveUserProgramDisabled(); -void HAL_NetworkCommunicationObserveUserProgramAutonomous(); -void HAL_NetworkCommunicationObserveUserProgramTeleop(); -void HAL_NetworkCommunicationObserveUserProgramTest(); +void HAL_ObserveUserProgramStarting(); +void HAL_ObserveUserProgramDisabled(); +void HAL_ObserveUserProgramAutonomous(); +void HAL_ObserveUserProgramTeleop(); +void HAL_ObserveUserProgramTest(); uint32_t HAL_Report(uint8_t resource, uint8_t instanceNumber, uint8_t context = 0, const char* feature = nullptr); diff --git a/hal/lib/shared/HAL.cpp b/hal/lib/shared/HAL.cpp index 7ac95ceea6..11d38bfae2 100644 --- a/hal/lib/shared/HAL.cpp +++ b/hal/lib/shared/HAL.cpp @@ -18,17 +18,21 @@ struct HAL_JoystickAxesInt { extern "C" { -int HAL_GetControlWord(HAL_ControlWord* data) { - return FRC_NetworkCommunication_getControlWord((ControlWord_t*)data); +int HAL_GetControlWord(HAL_ControlWord* controlWord) { + std::memset(controlWord, 0, sizeof(HAL_ControlWord)); + return FRC_NetworkCommunication_getControlWord( + reinterpret_cast(controlWord)); } void HAL_SetNewDataSem(MULTIWAIT_ID sem) { setNewDataSem(sem->native_handle()); } -int HAL_GetAllianceStation(enum HAL_AllianceStationID* allianceStation) { - return FRC_NetworkCommunication_getAllianceStation( - (AllianceStationID_t*)allianceStation); +HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) { + HAL_AllianceStationID allianceStation; + *status = FRC_NetworkCommunication_getAllianceStation( + reinterpret_cast(&allianceStation)); + return allianceStation; } int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes) { @@ -142,27 +146,29 @@ int HAL_SetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, leftRumble, rightRumble); } -int HAL_GetMatchTime(float* matchTime) { - return FRC_NetworkCommunication_getMatchTime(matchTime); +float HAL_GetMatchTime(int32_t* status) { + float matchTime; + *status = FRC_NetworkCommunication_getMatchTime(&matchTime); + return matchTime; } -void HAL_NetworkCommunicationObserveUserProgramStarting(void) { +void HAL_ObserveUserProgramStarting(void) { FRC_NetworkCommunication_observeUserProgramStarting(); } -void HAL_NetworkCommunicationObserveUserProgramDisabled(void) { +void HAL_ObserveUserProgramDisabled(void) { FRC_NetworkCommunication_observeUserProgramDisabled(); } -void HAL_NetworkCommunicationObserveUserProgramAutonomous(void) { +void HAL_ObserveUserProgramAutonomous(void) { FRC_NetworkCommunication_observeUserProgramAutonomous(); } -void HAL_NetworkCommunicationObserveUserProgramTeleop(void) { +void HAL_ObserveUserProgramTeleop(void) { FRC_NetworkCommunication_observeUserProgramTeleop(); } -void HAL_NetworkCommunicationObserveUserProgramTest(void) { +void HAL_ObserveUserProgramTest(void) { FRC_NetworkCommunication_observeUserProgramTest(); } diff --git a/wpilibc/athena/src/DriverStation.cpp b/wpilibc/athena/src/DriverStation.cpp index 60415a3b3b..2aac7c663b 100644 --- a/wpilibc/athena/src/DriverStation.cpp +++ b/wpilibc/athena/src/DriverStation.cpp @@ -88,11 +88,10 @@ void DriverStation::Run() { MotorSafetyHelper::CheckMotors(); period = 0; } - if (m_userInDisabled) HAL_NetworkCommunicationObserveUserProgramDisabled(); - if (m_userInAutonomous) - HAL_NetworkCommunicationObserveUserProgramAutonomous(); - if (m_userInTeleop) HAL_NetworkCommunicationObserveUserProgramTeleop(); - if (m_userInTest) HAL_NetworkCommunicationObserveUserProgramTest(); + if (m_userInDisabled) HAL_ObserveUserProgramDisabled(); + if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous(); + if (m_userInTeleop) HAL_ObserveUserProgramTeleop(); + if (m_userInTest) HAL_ObserveUserProgramTest(); } } @@ -381,7 +380,6 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button) { */ bool DriverStation::IsEnabled() const { HAL_ControlWord controlWord; - std::memset(&controlWord, 0, sizeof(controlWord)); HAL_GetControlWord(&controlWord); return controlWord.enabled && controlWord.dsAttached; } @@ -393,7 +391,6 @@ bool DriverStation::IsEnabled() const { */ bool DriverStation::IsDisabled() const { HAL_ControlWord controlWord; - std::memset(&controlWord, 0, sizeof(controlWord)); HAL_GetControlWord(&controlWord); return !(controlWord.enabled && controlWord.dsAttached); } @@ -405,7 +402,6 @@ bool DriverStation::IsDisabled() const { */ bool DriverStation::IsAutonomous() const { HAL_ControlWord controlWord; - std::memset(&controlWord, 0, sizeof(controlWord)); HAL_GetControlWord(&controlWord); return controlWord.autonomous; } @@ -417,7 +413,6 @@ bool DriverStation::IsAutonomous() const { */ bool DriverStation::IsOperatorControl() const { HAL_ControlWord controlWord; - std::memset(&controlWord, 0, sizeof(controlWord)); HAL_GetControlWord(&controlWord); return !(controlWord.autonomous || controlWord.test); } @@ -440,7 +435,6 @@ bool DriverStation::IsTest() const { */ bool DriverStation::IsDSAttached() const { HAL_ControlWord controlWord; - std::memset(&controlWord, 0, sizeof(controlWord)); HAL_GetControlWord(&controlWord); return controlWord.dsAttached; } @@ -505,8 +499,8 @@ bool DriverStation::IsFMSAttached() const { * @return The Alliance enum (kRed, kBlue or kInvalid) */ DriverStation::Alliance DriverStation::GetAlliance() const { - HAL_AllianceStationID allianceStationID; - HAL_GetAllianceStation(&allianceStationID); + int32_t status = 0; + auto allianceStationID = HAL_GetAllianceStation(&status); switch (allianceStationID) { case HAL_AllianceStationID_kRed1: case HAL_AllianceStationID_kRed2: @@ -529,8 +523,8 @@ DriverStation::Alliance DriverStation::GetAlliance() const { * @return The location of the driver station (1-3, 0 for invalid) */ uint32_t DriverStation::GetLocation() const { - HAL_AllianceStationID allianceStationID; - HAL_GetAllianceStation(&allianceStationID); + int32_t status = 0; + auto allianceStationID = HAL_GetAllianceStation(&status); switch (allianceStationID) { case HAL_AllianceStationID_kRed1: case HAL_AllianceStationID_kBlue1: @@ -578,9 +572,8 @@ void DriverStation::WaitForData() { * @return Time remaining in current match period (auto or teleop) */ double DriverStation::GetMatchTime() const { - float matchTime; - HAL_GetMatchTime(&matchTime); - return (double)matchTime; + int32_t status; + return HAL_GetMatchTime(&status); } /** diff --git a/wpilibc/athena/src/IterativeRobot.cpp b/wpilibc/athena/src/IterativeRobot.cpp index 1f551501a0..54d5d976f4 100644 --- a/wpilibc/athena/src/IterativeRobot.cpp +++ b/wpilibc/athena/src/IterativeRobot.cpp @@ -34,7 +34,7 @@ void IterativeRobot::StartCompetition() { RobotInit(); // Tell the DS that the robot is ready to be enabled - HAL_NetworkCommunicationObserveUserProgramStarting(); + HAL_ObserveUserProgramStarting(); // loop forever, calling the appropriate mode-dependent function lw->SetEnabled(false); @@ -52,7 +52,7 @@ void IterativeRobot::StartCompetition() { m_teleopInitialized = false; m_testInitialized = false; } - HAL_NetworkCommunicationObserveUserProgramDisabled(); + HAL_ObserveUserProgramDisabled(); DisabledPeriodic(); } else if (IsAutonomous()) { // call AutonomousInit() if we are now just entering autonomous mode from @@ -66,7 +66,7 @@ void IterativeRobot::StartCompetition() { m_teleopInitialized = false; m_testInitialized = false; } - HAL_NetworkCommunicationObserveUserProgramAutonomous(); + HAL_ObserveUserProgramAutonomous(); AutonomousPeriodic(); } else if (IsTest()) { // call TestInit() if we are now just entering test mode from @@ -80,7 +80,7 @@ void IterativeRobot::StartCompetition() { m_autonomousInitialized = false; m_teleopInitialized = false; } - HAL_NetworkCommunicationObserveUserProgramTest(); + HAL_ObserveUserProgramTest(); TestPeriodic(); } else { // call TeleopInit() if we are now just entering teleop mode from @@ -95,7 +95,7 @@ void IterativeRobot::StartCompetition() { m_testInitialized = false; Scheduler::GetInstance()->SetEnabled(true); } - HAL_NetworkCommunicationObserveUserProgramTeleop(); + HAL_ObserveUserProgramTeleop(); TeleopPeriodic(); } // wait for driver station data so the loop doesn't hog the CPU diff --git a/wpilibc/athena/src/SampleRobot.cpp b/wpilibc/athena/src/SampleRobot.cpp index 90215221a4..0067777c91 100644 --- a/wpilibc/athena/src/SampleRobot.cpp +++ b/wpilibc/athena/src/SampleRobot.cpp @@ -112,7 +112,7 @@ void SampleRobot::StartCompetition() { RobotInit(); // Tell the DS that the robot is ready to be enabled - HAL_NetworkCommunicationObserveUserProgramStarting(); + HAL_ObserveUserProgramStarting(); RobotMain(); diff --git a/wpilibcIntegrationTests/src/TestEnvironment.cpp b/wpilibcIntegrationTests/src/TestEnvironment.cpp index a01c6076ad..be51dee8fa 100644 --- a/wpilibcIntegrationTests/src/TestEnvironment.cpp +++ b/wpilibcIntegrationTests/src/TestEnvironment.cpp @@ -30,7 +30,7 @@ class TestEnvironment : public testing::Environment { station. After starting network coms, it will loop until the driver station returns that the robot is enabled, to ensure that tests will be able to run on the hardware. */ - HAL_NetworkCommunicationObserveUserProgramStarting(); + HAL_ObserveUserProgramStarting(); LiveWindow::GetInstance()->SetEnabled(false); std::cout << "Waiting for enable" << std::endl; diff --git a/wpilibj/athena.gradle b/wpilibj/athena.gradle index 17283d290b..b54a5811cf 100644 --- a/wpilibj/athena.gradle +++ b/wpilibj/athena.gradle @@ -153,7 +153,8 @@ task jniHeaders { args '-d', outputFolder args '-classpath', sourceSets.athena.output.classesDir args 'edu.wpi.first.wpilibj.can.CANJNI' - args 'edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary' + args 'edu.wpi.first.wpilibj.hal.FRCNetComm' + args 'edu.wpi.first.wpilibj.hal.HAL' args 'edu.wpi.first.wpilibj.hal.HALUtil' args 'edu.wpi.first.wpilibj.hal.JNIWrapper' args 'edu.wpi.first.wpilibj.hal.AccelerometerJNI' diff --git a/wpilibj/src/athena/cpp/lib/CANJNI.cpp b/wpilibj/src/athena/cpp/lib/CANJNI.cpp index 8a391eb220..2ba363cd01 100644 --- a/wpilibj/src/athena/cpp/lib/CANJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/CANJNI.cpp @@ -29,14 +29,14 @@ extern "C" { /* * Class: edu_wpi_first_wpilibj_can_CANJNI - * Method: FRCNetworkCommunicationCANSessionMuxSendMessage + * Method: FRCNetCommCANSessionMuxSendMessage * Signature: (ILjava/nio/ByteBuffer;I)V */ JNIEXPORT void JNICALL -Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxSendMessage( +Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage( JNIEnv *env, jclass, jint messageID, jobject data, jint periodMs) { CANJNI_LOG(logDEBUG) - << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxSendMessage"; + << "Calling CANJNI FRCNetCommCANSessionMuxSendMessage"; uint8_t *dataBuffer = (uint8_t *)(data ? env->GetDirectBufferAddress(data) : 0); @@ -72,15 +72,15 @@ static uint8_t buffer[8]; /* * Class: edu_wpi_first_wpilibj_can_CANJNI - * Method: FRCNetworkCommunicationCANSessionMuxReceiveMessage + * Method: FRCNetCommCANSessionMuxReceiveMessage * Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)Ljava/nio/ByteBuffer; */ JNIEXPORT jobject JNICALL -Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxReceiveMessage( +Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage( JNIEnv *env, jclass, jobject messageID, jint messageIDMask, jobject timeStamp) { CANJNI_LOG(logDEBUG) - << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxReceiveMessage"; + << "Calling CANJNI FRCNetCommCANSessionMuxReceiveMessage"; uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID); uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp); diff --git a/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp b/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp deleted file mode 100644 index afcb68e623..0000000000 --- a/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp +++ /dev/null @@ -1,368 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* 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 -#include -#include "Log.h" - -#include "HAL/HAL.h" -#include "edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary.h" -#include "HALUtil.h" - -// set the logging level -TLogLevel netCommLogLevel = logWARNING; - -#define NETCOMM_LOG(level) \ - if (level > netCommLogLevel) \ - ; \ - else \ - Log().Get(level) - -extern "C" { - -/* - * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary - * Method: FRC_NetworkCommunication_nUsageReporting_report - * Signature: (BBBLjava/lang/String;)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport( - JNIEnv *paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, - jbyte paramContext, jstring paramFeature) { - const char *featureStr = paramEnv->GetStringUTFChars(paramFeature, nullptr); - NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " - << "res:" << (unsigned int)paramResource - << " instance:" << (unsigned int)paramInstanceNumber - << " context:" << (unsigned int)paramContext - << " feature:" << featureStr; - jint returnValue = - HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr); - paramEnv->ReleaseStringUTFChars(paramFeature, featureStr); - return returnValue; -} -/* - * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary - * Method: FRC_NetworkCommunication_observeUserProgramStarting - * Signature: ()V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting( - JNIEnv *, jclass) { - HAL_NetworkCommunicationObserveUserProgramStarting(); -} -/* - * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary - * Method: FRC_NetworkCommunication_observeUserProgramDisabled - * Signature: ()V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled( - JNIEnv *, jclass) { - HAL_NetworkCommunicationObserveUserProgramDisabled(); -} -/* - * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary - * Method: FRC_NetworkCommunication_observeUserProgramAutonomous - * Signature: ()V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous( - JNIEnv *, jclass) { - HAL_NetworkCommunicationObserveUserProgramAutonomous(); -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary - * Method: FRC_NetworkCommunication_observeUserProgramTeleop - * Signature: ()V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop( - JNIEnv *, jclass) { - HAL_NetworkCommunicationObserveUserProgramTeleop(); -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary - * Method: FRC_NetworkCommunication_observeUserProgramTest - * Signature: ()V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest( - JNIEnv *, jclass) { - HAL_NetworkCommunicationObserveUserProgramTest(); -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: FRCNetworkCommunicationReserve - * Signature: ()V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve( - JNIEnv *, jclass) { - int rv = HAL_Initialize(0); - assert(1 == rv); -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: NativeHALGetControlWord - * Signature: ()I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord( - JNIEnv *, jclass) { - NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word"; - jint controlWord; - HAL_GetControlWord((HAL_ControlWord *)&controlWord); - return controlWord; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: NativeHALGetAllianceStation - * Signature: ()I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation( - JNIEnv *, jclass) { - NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station"; - jint allianceStation; - HAL_GetAllianceStation((HAL_AllianceStationID *)&allianceStation); - return allianceStation; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_GetJoystickAxes - * Signature: (B[S)B - */ -JNIEXPORT jbyte JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes( - JNIEnv * env, jclass, jbyte joystickNum, jfloatArray axesArray) { - NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes"; - HAL_JoystickAxes axes; - HAL_GetJoystickAxes(joystickNum, &axes); - - jsize javaSize = env->GetArrayLength(axesArray); - if (axes.count > javaSize) - { - ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size"); - } - - env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes); - - return axes.count; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_GetJoystickPOVs - * Signature: (B[S)B - */ -JNIEXPORT jbyte JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickPOVs( - JNIEnv * env, jclass, jbyte joystickNum, jshortArray povsArray) { - NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs"; - HAL_JoystickPOVs povs; - HAL_GetJoystickPOVs(joystickNum, &povs); - - jsize javaSize = env->GetArrayLength(povsArray); - if (povs.count > javaSize) - { - ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size"); - } - - env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs); - - return povs.count; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_GetJoystickButtons - * Signature: (B)S - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons( - JNIEnv *env, jclass, jbyte joystickNum, jobject count) { - NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons"; - HAL_JoystickButtons joystickButtons; - HAL_GetJoystickButtons(joystickNum, &joystickButtons); - jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count); - NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons; - NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count; - *countPtr = joystickButtons.count; - NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr; - return joystickButtons.buttons; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_SetJoystickOutputs - * Signature: (BISS)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs( - JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble, - jshort rightRumble) { - NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port; - NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs; - NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble - << " Right Rumble: " << rightRumble; - return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble); -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_GetJoystickIsXbox - * Signature: (B)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox( - JNIEnv *, jclass, jbyte port) { - NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox"; - return HAL_GetJoystickIsXbox(port); -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_GetJoystickType - * Signature: (B)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType( - JNIEnv *, jclass, jbyte port) { - NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType"; - return HAL_GetJoystickType(port); -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_GetJoystickName - * Signature: (B)Ljava/lang/String; - */ -JNIEXPORT jstring JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName( - JNIEnv *env, jclass, jbyte port) { - NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName"; - char *joystickName = HAL_GetJoystickName(port); - jstring str = env->NewStringUTF(joystickName); - std::free(joystickName); - return str; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_GetJoystickAxisType - * Signature: (BB)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxisType( - JNIEnv *, jclass, jbyte joystickNum, jbyte axis) { - NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType"; - return HAL_GetJoystickAxisType(joystickNum, axis); -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: setNewDataSem - * Signature: (J)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem( - JNIEnv *env, jclass, jlong id) { - NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void *)id; - HAL_SetNewDataSem((MULTIWAIT_ID)id); -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - - * Method: HAL_GetMatchTime - * Signature: ()F - */ -JNIEXPORT jfloat JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime( - JNIEnv *env, jclass) { - jfloat matchTime; - HAL_GetMatchTime((float *)&matchTime); - return matchTime; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_GetSystemActive - * Signature: ()Z - */ -JNIEXPORT jboolean JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive( - JNIEnv *env, jclass) { - int32_t status = 0; - bool val = HAL_GetSystemActive(&status); - CheckStatus(env, status); - return val; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_GetBrownedOut - * Signature: ()Z - */ -JNIEXPORT jboolean JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut( - JNIEnv *env, jclass) { - int32_t status = 0; - bool val = HAL_GetBrownedOut(&status); - CheckStatus(env, status); - return val; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_SetErrorData - * Signature: (Ljava/lang/String;)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetErrorData( - JNIEnv *env, jclass, jstring error) { - const char *errorStr = env->GetStringUTFChars(error, nullptr); - jsize length = env->GetStringUTFLength(error); - - NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr; - NETCOMM_LOG(logDEBUG) << "Length: " << length; - jint returnValue = HAL_SetErrorData(errorStr, (jint)length, 0); - env->ReleaseStringUTFChars(error, errorStr); - return returnValue; -} - -/* - * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary - * Method: HAL_SendError - * Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSendError( - JNIEnv *env, jclass, jboolean isError, jint errorCode, jboolean isLVCode, - jstring details, jstring location, jstring callStack, jboolean printMsg) { - const char *detailsStr = env->GetStringUTFChars(details, nullptr); - const char *locationStr = env->GetStringUTFChars(location, nullptr); - const char *callStackStr = env->GetStringUTFChars(callStack, nullptr); - - NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr; - NETCOMM_LOG(logDEBUG) << "Location: " << locationStr; - NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr; - jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr, - locationStr, callStackStr, printMsg); - env->ReleaseStringUTFChars(details, detailsStr); - env->ReleaseStringUTFChars(location, locationStr); - env->ReleaseStringUTFChars(callStack, callStackStr); - return returnValue; -} - -} // extern "C" diff --git a/wpilibj/src/athena/cpp/lib/HAL.cpp b/wpilibj/src/athena/cpp/lib/HAL.cpp new file mode 100644 index 0000000000..73a4fd20a2 --- /dev/null +++ b/wpilibj/src/athena/cpp/lib/HAL.cpp @@ -0,0 +1,369 @@ +/*----------------------------------------------------------------------------*/ +/* 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 + +#include +#include +#include "Log.h" + +#include "HAL/HAL.h" +#include "edu_wpi_first_wpilibj_hal_HAL.h" +#include "HALUtil.h" + +// set the logging level +static TLogLevel netCommLogLevel = logWARNING; + +#define NETCOMM_LOG(level) \ + if (level > netCommLogLevel) \ + ; \ + else \ + Log().Get(level) + +extern "C" { + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: Initialize + * Signature: (I)I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_initialize(JNIEnv*, jclass, jint mode) { + return HAL_Initialize(mode); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: observeUserProgramStarting + * Signature: ()V + */ +JNIEXPORT void JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramStarting(JNIEnv*, jclass) { + HAL_ObserveUserProgramStarting(); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: observeUserProgramDisabled + * Signature: ()V + */ +JNIEXPORT void JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramDisabled(JNIEnv*, jclass) { + HAL_ObserveUserProgramDisabled(); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: observeUserProgramAutonomous + * Signature: ()V + */ +JNIEXPORT void JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramAutonomous( + JNIEnv*, jclass) { + HAL_ObserveUserProgramAutonomous(); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: observeUserProgramTeleop + * Signature: ()V + */ +JNIEXPORT void JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTeleop(JNIEnv*, jclass) { + HAL_ObserveUserProgramTeleop(); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: observeUserProgramTest + * Signature: ()V + */ +JNIEXPORT void JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTest(JNIEnv*, jclass) { + HAL_ObserveUserProgramTest(); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_Report + * Signature: (IIILjava/lang/String;)I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_report( + JNIEnv* paramEnv, jclass, jint paramResource, jint paramInstanceNumber, + jint paramContext, jstring paramFeature) { + const char *featureStr = paramEnv->GetStringUTFChars(paramFeature, nullptr); + NETCOMM_LOG(logDEBUG) << "Calling HAL report " + << "res:" << paramResource + << " instance:" << paramInstanceNumber + << " context:" << paramContext + << " feature:" << featureStr; + jint returnValue = + HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr); + paramEnv->ReleaseStringUTFChars(paramFeature, featureStr); + return returnValue; +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: NativeGetControlWord + * Signature: ()I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord(JNIEnv*, jclass) { + NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word"; + HAL_ControlWord controlWord; + std::memset(&controlWord, 0, sizeof(HAL_ControlWord)); + HAL_GetControlWord(&controlWord); + return *reinterpret_cast(&controlWord); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: NativeGetAllianceStation + * Signature: ()I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation(JNIEnv*, jclass) { + NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station"; + int32_t status = 0; + auto allianceStation = HAL_GetAllianceStation(&status); + return *reinterpret_cast(&allianceStation); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetJoystickAxes + * Signature: (B[S)S + */ +JNIEXPORT jshort JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes(JNIEnv* env, jclass, + jbyte joystickNum, + jfloatArray axesArray) { + NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes"; + HAL_JoystickAxes axes; + HAL_GetJoystickAxes(joystickNum, &axes); + + jsize javaSize = env->GetArrayLength(axesArray); + if (axes.count > javaSize) + { + ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size"); + } + + env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes); + + return axes.count; +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetJoystickPOVs + * Signature: (B[S)S + */ +JNIEXPORT jshort JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs(JNIEnv* env, jclass, + jbyte joystickNum, + jshortArray povsArray) { + NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs"; + HAL_JoystickPOVs povs; + HAL_GetJoystickPOVs(joystickNum, &povs); + + jsize javaSize = env->GetArrayLength(povsArray); + if (povs.count > javaSize) + { + ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size"); + } + + env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs); + + return povs.count; +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetJoystickButtons + * Signature: (B)B + */ +JNIEXPORT jbyte JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons(JNIEnv* env, jclass, + jbyte joystickNum, + jobject count) { + NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons"; + HAL_JoystickButtons joystickButtons; + HAL_GetJoystickButtons(joystickNum, &joystickButtons); + jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count); + NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons; + NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count; + *countPtr = joystickButtons.count; + NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr; + return joystickButtons.buttons; +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_SetJoystickOutputs + * Signature: (BISS)I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_setJoystickOutputs(JNIEnv*, jclass, + jbyte port, jint outputs, + jshort leftRumble, + jshort rightRumble) { + NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port; + NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs; + NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble + << " Right Rumble: " << rightRumble; + return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetJoystickIsXbox + * Signature: (B)I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickIsXbox(JNIEnv*, jclass, + jbyte port) { + NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox"; + return HAL_GetJoystickIsXbox(port); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetJoystickType + * Signature: (B)I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickType(JNIEnv*, jclass, + jbyte port) { + NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType"; + return HAL_GetJoystickType(port); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetJoystickName + * Signature: (B)Ljava/lang/String; + */ +JNIEXPORT jstring JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickName(JNIEnv* env, jclass, + jbyte port) { + NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName"; + char *joystickName = HAL_GetJoystickName(port); + jstring str = env->NewStringUTF(joystickName); + std::free(joystickName); + return str; +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetJoystickAxisType + * Signature: (BB)I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType(JNIEnv*, jclass, + jbyte joystickNum, + jbyte axis) { + NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType"; + return HAL_GetJoystickAxisType(joystickNum, axis); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HALSetNewDataSem + * Signature: (J)V + */ +JNIEXPORT void JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_setNewDataSem(JNIEnv* env, jclass, + jlong id) { + NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void *)id; + HAL_SetNewDataSem((MULTIWAIT_ID)id); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetMatchTime + * Signature: ()F + */ +JNIEXPORT jfloat JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getMatchTime(JNIEnv* env, jclass) { + int32_t status = 0; + return HAL_GetMatchTime(&status); +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetSystemActive + * Signature: ()Z + */ +JNIEXPORT jboolean JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getSystemActive(JNIEnv* env, jclass) { + int32_t status = 0; + bool val = HAL_GetSystemActive(&status); + CheckStatus(env, status); + return val; +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_GetBrownedOut + * Signature: ()Z + */ +JNIEXPORT jboolean JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut(JNIEnv* env, jclass) { + int32_t status = 0; + bool val = HAL_GetBrownedOut(&status); + CheckStatus(env, status); + return val; +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_SetErrorData + * Signature: (Ljava/lang/String;)I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_setErrorData(JNIEnv* env, jclass, + jstring error) { + const char *errorStr = env->GetStringUTFChars(error, nullptr); + jsize length = env->GetStringUTFLength(error); + + NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr; + NETCOMM_LOG(logDEBUG) << "Length: " << length; + jint returnValue = HAL_SetErrorData(errorStr, (jint)length, 0); + env->ReleaseStringUTFChars(error, errorStr); + return returnValue; +} + +/* + * Class: edu_wpi_first_wpilibj_hal_HAL + * Method: HAL_SendError + * Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I + */ +JNIEXPORT jint JNICALL +Java_edu_wpi_first_wpilibj_hal_HAL_sendError(JNIEnv* env, jclass, + jboolean isError, jint errorCode, + jboolean isLVCode, jstring details, + jstring location, + jstring callStack, + jboolean printMsg) { + const char *detailsStr = env->GetStringUTFChars(details, nullptr); + const char *locationStr = env->GetStringUTFChars(location, nullptr); + const char *callStackStr = env->GetStringUTFChars(callStack, nullptr); + + NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr; + NETCOMM_LOG(logDEBUG) << "Location: " << locationStr; + NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr; + jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr, + locationStr, callStackStr, printMsg); + env->ReleaseStringUTFChars(details, detailsStr); + env->ReleaseStringUTFChars(location, locationStr); + env->ReleaseStringUTFChars(callStack, callStackStr); + return returnValue; +} + +} // extern "C" diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java index f6b99e2922..c6343890ea 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java @@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj; import java.nio.ByteBuffer; import java.nio.ByteOrder; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.interfaces.Accelerometer; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; @@ -91,7 +91,7 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer, LiveWindow setRange(range); - UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C); + HAL.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C); LiveWindow.addSensor("ADXL345_I2C", port.getValue(), this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java index 9b2d25ff74..5ff254944d 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java @@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj; import java.nio.ByteBuffer; import java.nio.ByteOrder; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.interfaces.Accelerometer; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; @@ -104,7 +104,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer, LiveWindow setRange(range); - UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_SPI); + HAL.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_SPI); } @Override diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java index 913a3cc6cf..6d5cda72b9 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java @@ -10,8 +10,8 @@ package edu.wpi.first.wpilibj; import java.nio.ByteBuffer; import java.nio.ByteOrder; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.interfaces.Accelerometer; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; @@ -110,7 +110,7 @@ public class ADXL362 extends SensorBase implements Accelerometer, LiveWindowSend transferBuffer.put(2, (byte) (kPowerCtl_Measure | kPowerCtl_UltraLowNoise)); m_spi.write(transferBuffer, 3); - UsageReporting.report(tResourceType.kResourceType_ADXL362, port.getValue()); + HAL.report(tResourceType.kResourceType_ADXL362, port.getValue()); LiveWindow.addSensor("ADXL362", port.getValue(), this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java index e7b8318d10..adeaa6815d 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java @@ -10,8 +10,8 @@ package edu.wpi.first.wpilibj; import java.nio.ByteBuffer; import java.nio.ByteOrder; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.interfaces.Gyro; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; @@ -77,7 +77,7 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, LiveWind calibrate(); - UsageReporting.report(tResourceType.kResourceType_ADXRS450, port.getValue()); + HAL.report(tResourceType.kResourceType_ADXRS450, port.getValue()); LiveWindow.addSensor("ADXRS450_Gyro", port.getValue(), this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java index e360eed490..f7b66bbd93 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; import edu.wpi.first.wpilibj.tables.ITable; @@ -31,7 +31,8 @@ public class AnalogAccelerometer extends SensorBase implements PIDSource, LiveWi * Common initialization. */ private void initAccelerometer() { - UsageReporting.report(tResourceType.kResourceType_Accelerometer, m_analogChannel.getChannel()); + HAL.report(tResourceType.kResourceType_Accelerometer, + m_analogChannel.getChannel()); LiveWindow.addSensor("Accelerometer", m_analogChannel.getChannel(), this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java index efac88cff0..57c986298b 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.AnalogGyroJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.interfaces.Gyro; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; @@ -42,7 +42,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS AnalogGyroJNI.setupAnalogGyro(m_gyroHandle); - UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel()); + HAL.report(tResourceType.kResourceType_Gyro, m_analog.getChannel()); LiveWindow.addSensor("AnalogGyro", m_analog.getChannel(), this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java index fcb6b76e32..0a2ad9cd59 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java @@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj; import java.nio.ByteBuffer; import java.nio.ByteOrder; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.AnalogJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; import edu.wpi.first.wpilibj.tables.ITable; @@ -56,7 +56,7 @@ public class AnalogInput extends SensorBase implements PIDSource, LiveWindowSend m_port = AnalogJNI.initializeAnalogInputPort(portHandle); LiveWindow.addSensor("AnalogInput", channel, this); - UsageReporting.report(tResourceType.kResourceType_AnalogChannel, channel); + HAL.report(tResourceType.kResourceType_AnalogChannel, channel); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java index b8478eaa9b..debec93fb9 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.AnalogJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; import edu.wpi.first.wpilibj.tables.ITable; @@ -39,7 +39,7 @@ public class AnalogOutput extends SensorBase implements LiveWindowSendable { m_port = AnalogJNI.initializeAnalogOutputPort(portHandle); LiveWindow.addSensor("AnalogOutput", channel, this); - UsageReporting.report(tResourceType.kResourceType_AnalogOutput, channel); + HAL.report(tResourceType.kResourceType_AnalogOutput, channel); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java index 3523652180..9247f77a1a 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java @@ -11,9 +11,9 @@ import java.nio.ByteBuffer; import java.nio.ByteOrder; import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.AnalogJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.util.BoundaryException; import static java.util.Objects.requireNonNull; @@ -72,7 +72,7 @@ public class AnalogTrigger { AnalogJNI.initializeAnalogTrigger(channel.m_port, index.asIntBuffer()); m_index = index.asIntBuffer().get(0); - UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel.getChannel()); + HAL.report(tResourceType.kResourceType_AnalogTrigger, channel.getChannel()); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java index a1c376642b..b32615696c 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.AnalogJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; /** * Class to represent a specific output from an analog trigger. This class is used to get the @@ -77,8 +77,8 @@ public class AnalogTriggerOutput extends DigitalSource { m_trigger = trigger; m_outputType = outputType; - UsageReporting.report(tResourceType.kResourceType_AnalogTriggerOutput, trigger.getIndex(), - outputType.m_value); + HAL.report(tResourceType.kResourceType_AnalogTriggerOutput, + trigger.getIndex(), outputType.m_value); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java index 2de08f2700..a60a06af5b 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.AccelerometerJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.interfaces.Accelerometer; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; @@ -28,8 +28,7 @@ public class BuiltInAccelerometer implements Accelerometer, LiveWindowSendable { */ public BuiltInAccelerometer(Range range) { setRange(range); - UsageReporting - .report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer"); + HAL.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer"); LiveWindow.addSensor("BuiltInAccel", 0, this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java index 81e82e1452..7d18711409 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java @@ -307,7 +307,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController { return; } - CANJNI.FRCNetworkCommunicationCANSessionMuxSendMessage(messageID, null, + CANJNI.FRCNetCommCANSessionMuxSendMessage(messageID, null, CANJNI.CAN_SEND_PERIOD_STOP_REPEATING); configMaxOutputVoltage(kApproxBusVoltage); @@ -1918,7 +1918,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController { trustedBuffer.put(j + 2, data[j]); } - CANJNI.FRCNetworkCommunicationCANSessionMuxSendMessage(messageID, trustedBuffer, period); + CANJNI.FRCNetCommCANSessionMuxSendMessage(messageID, trustedBuffer, period); return; } @@ -1935,7 +1935,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController { buffer = null; } - CANJNI.FRCNetworkCommunicationCANSessionMuxSendMessage(messageID, buffer, period); + CANJNI.FRCNetCommCANSessionMuxSendMessage(messageID, buffer, period); } /** @@ -2004,7 +2004,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController { // Get the data. ByteBuffer dataBuffer = - CANJNI.FRCNetworkCommunicationCANSessionMuxReceiveMessage(targetedMessageID.asIntBuffer(), + CANJNI.FRCNetCommCANSessionMuxReceiveMessage(targetedMessageID.asIntBuffer(), messageMask, timeStamp); if (data != null) { diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java index 0bb8d421a6..f7b035844c 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.CanTalonJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.tables.ITable; import edu.wpi.first.wpilibj.tables.ITableListener; @@ -872,7 +872,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont // Disable until set() is called. CanTalonJNI.SetModeSelect(m_handle, TalonControlMode.Disabled.value); - UsageReporting.report(tResourceType.kResourceType_CANTalonSRX, m_deviceNumber + 1, + HAL.report(tResourceType.kResourceType_CANTalonSRX, m_deviceNumber + 1, controlMode.value); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java index db72ef18ae..2e49b148f4 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java @@ -11,9 +11,9 @@ import java.nio.ByteBuffer; import java.nio.ByteOrder; import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.CounterJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; import edu.wpi.first.wpilibj.tables.ITable; import edu.wpi.first.wpilibj.util.BoundaryException; @@ -87,7 +87,7 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab setMaxPeriod(.5); - UsageReporting.report(tResourceType.kResourceType_Counter, m_index, mode.value); + HAL.report(tResourceType.kResourceType_Counter, m_index, mode.value); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java index 5aa7d2204c..a46e5817f6 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java @@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj; import java.util.concurrent.locks.Lock; import java.util.concurrent.locks.ReentrantLock; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.DigitalGlitchFilterJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; /** * Class to enable glitch filtering on a set of digital inputs. This class will manage adding and @@ -33,7 +33,7 @@ public class DigitalGlitchFilter extends SensorBase { if (index != m_filterAllocated.length) { m_channelIndex = index; m_filterAllocated[index] = true; - UsageReporting.report(tResourceType.kResourceType_DigitalFilter, + HAL.report(tResourceType.kResourceType_DigitalFilter, m_channelIndex, 0); } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java index dd87e1158f..fbde93da28 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.DIOJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; import edu.wpi.first.wpilibj.tables.ITable; @@ -36,7 +36,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable { m_handle = DIOJNI.initializeDIOPort(DIOJNI.getPort((byte)channel), true); LiveWindow.addSensor("DigitalInput", channel, this); - UsageReporting.report(tResourceType.kResourceType_DigitalInput, channel); + HAL.report(tResourceType.kResourceType_DigitalInput, channel); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java index 959d91e6b3..5c5cdaed90 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.DIOJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; import edu.wpi.first.wpilibj.tables.ITable; import edu.wpi.first.wpilibj.tables.ITableListener; @@ -39,7 +39,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable { m_handle = DIOJNI.initializeDIOPort(DIOJNI.getPort((byte)channel), false); - UsageReporting.report(tResourceType.kResourceType_DigitalOutput, channel); + HAL.report(tResourceType.kResourceType_DigitalOutput, channel); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java index 46ae634578..843dd9f038 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.hal.SolenoidJNI; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; @@ -85,8 +85,10 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable { m_forwardMask = (byte) (1 << m_forwardChannel); m_reverseMask = (byte) (1 << m_reverseChannel); - UsageReporting.report(tResourceType.kResourceType_Solenoid, m_forwardChannel, m_moduleNumber); - UsageReporting.report(tResourceType.kResourceType_Solenoid, m_reverseChannel, m_moduleNumber); + HAL.report(tResourceType.kResourceType_Solenoid, m_forwardChannel, + m_moduleNumber); + HAL.report(tResourceType.kResourceType_Solenoid, m_reverseChannel, + m_moduleNumber); LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java index a6f594c3f8..089a3d24e7 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java @@ -9,9 +9,9 @@ package edu.wpi.first.wpilibj; import java.nio.ByteBuffer; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary; -import edu.wpi.first.wpilibj.communication.HALAllianceStationID; -import edu.wpi.first.wpilibj.communication.HALControlWord; +import edu.wpi.first.wpilibj.hal.AllianceStationID; +import edu.wpi.first.wpilibj.hal.ControlWord; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.hal.HALUtil; import edu.wpi.first.wpilibj.hal.PowerJNI; @@ -32,7 +32,7 @@ public class DriverStation implements RobotState.Interface { private class HALJoystickAxes { public float[] m_axes; - public byte m_count; + public short m_count; public HALJoystickAxes(int count) { m_axes = new float[count]; @@ -41,7 +41,7 @@ public class DriverStation implements RobotState.Interface { private class HALJoystickPOVs { public short[] m_povs; - public byte m_count; + public short m_count; public HALJoystickPOVs(int count) { m_povs = new short[count]; @@ -86,8 +86,7 @@ public class DriverStation implements RobotState.Interface { private int[] m_joystickIsXbox = new int[kJoystickPorts]; private int[] m_joystickType = new int[kJoystickPorts]; private String[] m_joystickName = new String[kJoystickPorts]; - private int[][] m_joystickAxisType = - new int[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickAxes]; + private int[][] m_joystickAxisType = new int[kJoystickPorts][HAL.kMaxJoystickAxes]; private Thread m_thread; private final Object m_dataSem; @@ -125,19 +124,17 @@ public class DriverStation implements RobotState.Interface { m_newControlDataMutex = new Object(); for (int i = 0; i < kJoystickPorts; i++) { m_joystickButtons[i] = new HALJoystickButtons(); - m_joystickAxes[i] = new HALJoystickAxes(FRCNetworkCommunicationsLibrary.kMaxJoystickAxes); - m_joystickPOVs[i] = new HALJoystickPOVs(FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs); + m_joystickAxes[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes); + m_joystickPOVs[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs); m_joystickButtonsCache[i] = new HALJoystickButtons(); - m_joystickAxesCache[i] = - new HALJoystickAxes(FRCNetworkCommunicationsLibrary.kMaxJoystickAxes); - m_joystickPOVsCache[i] = - new HALJoystickPOVs(FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs); + m_joystickAxesCache[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes); + m_joystickPOVsCache[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs); } m_packetDataAvailableMutex = HALUtil.initializeMutexNormal(); m_packetDataAvailableSem = HALUtil.initializeMultiWait(); - FRCNetworkCommunicationsLibrary.setNewDataSem(m_packetDataAvailableSem); + HAL.setNewDataSem(m_packetDataAvailableSem); m_thread = new Thread(new DriverStationTask(this), "FRCDriverStation"); m_thread.setPriority((Thread.NORM_PRIORITY + Thread.MAX_PRIORITY) / 2); @@ -169,16 +166,16 @@ public class DriverStation implements RobotState.Interface { safetyCounter = 0; } if (m_userInDisabled) { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramDisabled(); + HAL.observeUserProgramDisabled(); } if (m_userInAutonomous) { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramAutonomous(); + HAL.observeUserProgramAutonomous(); } if (m_userInTeleop) { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTeleop(); + HAL.observeUserProgramTeleop(); } if (m_userInTest) { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTest(); + HAL.observeUserProgramTest(); } } } @@ -217,13 +214,10 @@ public class DriverStation implements RobotState.Interface { // Get the status of all of the joysticks for (byte stick = 0; stick < kJoystickPorts; stick++) { m_joystickAxesCache[stick].m_count = - FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick, - m_joystickAxesCache[stick].m_axes); + HAL.getJoystickAxes(stick, m_joystickAxesCache[stick].m_axes); m_joystickPOVsCache[stick].m_count = - FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs(stick, - m_joystickPOVsCache[stick].m_povs); - m_joystickButtonsCache[stick].m_buttons = - FRCNetworkCommunicationsLibrary.HALGetJoystickButtons(stick, m_buttonCountBuffer); + HAL.getJoystickPOVs(stick, m_joystickPOVsCache[stick].m_povs); + m_joystickButtonsCache[stick].m_buttons = HAL.getJoystickButtons(stick, m_buttonCountBuffer); m_joystickButtonsCache[stick].m_count = m_buttonCountBuffer.get(0); } // lock joystick mutex to swap cache data @@ -292,7 +286,7 @@ public class DriverStation implements RobotState.Interface { if (stick < 0 || stick >= kJoystickPorts) { throw new RuntimeException("Joystick index is out of range, should be 0-5"); } - if (axis < 0 || axis >= FRCNetworkCommunicationsLibrary.kMaxJoystickAxes) { + if (axis < 0 || axis >= HAL.kMaxJoystickAxes) { throw new RuntimeException("Joystick axis is out of range"); } @@ -338,7 +332,7 @@ public class DriverStation implements RobotState.Interface { if (stick < 0 || stick >= kJoystickPorts) { throw new RuntimeException("Joystick index is out of range, should be 0-5"); } - if (pov < 0 || pov >= FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs) { + if (pov < 0 || pov >= HAL.kMaxJoystickPOVs) { throw new RuntimeException("Joystick POV is out of range"); } boolean error = false; @@ -453,7 +447,7 @@ public class DriverStation implements RobotState.Interface { if (1 > m_joystickButtons[stick].m_count && 1 > m_joystickAxes[stick].m_count) { error = true; retVal = false; - } else if (FRCNetworkCommunicationsLibrary.HALGetJoystickIsXbox((byte) stick) == 1) { + } else if (HAL.getJoystickIsXbox((byte) stick) == 1) { retVal = true; } } @@ -483,7 +477,7 @@ public class DriverStation implements RobotState.Interface { error = true; retVal = -1; } else { - retVal = FRCNetworkCommunicationsLibrary.HALGetJoystickType((byte) stick); + retVal = HAL.getJoystickType((byte) stick); } } if (error) { @@ -512,7 +506,7 @@ public class DriverStation implements RobotState.Interface { error = true; retVal = ""; } else { - retVal = FRCNetworkCommunicationsLibrary.HALGetJoystickName((byte) stick); + retVal = HAL.getJoystickName((byte) stick); } } if (error) { @@ -528,7 +522,7 @@ public class DriverStation implements RobotState.Interface { * @return True if the robot is enabled, false otherwise. */ public boolean isEnabled() { - HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord(); + ControlWord controlWord = HAL.getControlWord(); return controlWord.getEnabled() && controlWord.getDSAttached(); } @@ -548,7 +542,7 @@ public class DriverStation implements RobotState.Interface { * @return True if autonomous mode should be enabled, false otherwise. */ public boolean isAutonomous() { - HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord(); + ControlWord controlWord = HAL.getControlWord(); return controlWord.getAutonomous(); } @@ -559,7 +553,7 @@ public class DriverStation implements RobotState.Interface { * @return True if test mode should be enabled, false otherwise. */ public boolean isTest() { - HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord(); + ControlWord controlWord = HAL.getControlWord(); return controlWord.getTest(); } @@ -580,7 +574,7 @@ public class DriverStation implements RobotState.Interface { * @return True if the FPGA outputs are enabled. */ public boolean isSysActive() { - return FRCNetworkCommunicationsLibrary.HALGetSystemActive(); + return HAL.getSystemActive(); } /** @@ -589,7 +583,7 @@ public class DriverStation implements RobotState.Interface { * @return True if the system is browned out */ public boolean isBrownedOut() { - return FRCNetworkCommunicationsLibrary.HALGetBrownedOut(); + return HAL.getBrownedOut(); } /** @@ -612,8 +606,7 @@ public class DriverStation implements RobotState.Interface { * @return the current alliance */ public Alliance getAlliance() { - HALAllianceStationID allianceStationID = - FRCNetworkCommunicationsLibrary.HALGetAllianceStation(); + AllianceStationID allianceStationID = HAL.getAllianceStation(); if (allianceStationID == null) { return Alliance.Invalid; } @@ -640,8 +633,7 @@ public class DriverStation implements RobotState.Interface { * @return the location of the team's driver station controls: 1, 2, or 3 */ public int getLocation() { - HALAllianceStationID allianceStationID = - FRCNetworkCommunicationsLibrary.HALGetAllianceStation(); + AllianceStationID allianceStationID = HAL.getAllianceStation(); if (allianceStationID == null) { return 0; } @@ -670,12 +662,12 @@ public class DriverStation implements RobotState.Interface { * @return True if the robot is competing on a field being controlled by a Field Management System */ public boolean isFMSAttached() { - HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord(); + ControlWord controlWord = HAL.getControlWord(); return controlWord.getFMSAttached(); } public boolean isDSAttached() { - HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord(); + ControlWord controlWord = HAL.getControlWord(); return controlWord.getDSAttached(); } @@ -689,7 +681,7 @@ public class DriverStation implements RobotState.Interface { * @return Time remaining in current match period (auto or teleop) in seconds */ public double getMatchTime() { - return FRCNetworkCommunicationsLibrary.HALGetMatchTime(); + return HAL.getMatchTime(); } /** @@ -732,8 +724,7 @@ public class DriverStation implements RobotState.Interface { haveLoc = true; } } - FRCNetworkCommunicationsLibrary.HALSendError(isError, code, false, error, locString, - printTrace ? traceString : "", true); + HAL.sendError(isError, code, false, error, locString, printTrace ? traceString : "", true); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java index be7db61c32..d5e4ac3f1c 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java @@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj; import java.nio.ByteBuffer; import java.nio.ByteOrder; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.EncoderJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; import edu.wpi.first.wpilibj.tables.ITable; @@ -79,7 +79,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW m_pidSource = PIDSourceType.kDisplacement; - UsageReporting.report(tResourceType.kResourceType_Encoder, getFPGAIndex(), type.value); + HAL.report(tResourceType.kResourceType_Encoder, getFPGAIndex(), type.value); LiveWindow.addSensor("Encoder", m_aSource.getChannel(), this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GearTooth.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GearTooth.java index b12188d31d..38b0d9a517 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GearTooth.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GearTooth.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -52,9 +52,9 @@ public class GearTooth extends Counter { super(channel); enableDirectionSensing(directionSensitive); if (directionSensitive) { - UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, 0, "D"); + HAL.report(tResourceType.kResourceType_GearTooth, channel, 0, "D"); } else { - UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, 0); + HAL.report(tResourceType.kResourceType_GearTooth, channel, 0); } LiveWindow.addSensor("GearTooth", channel, this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java index d84d81df09..c73fe5ec59 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java @@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj; import java.nio.ByteBuffer; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.hal.I2CJNI; import edu.wpi.first.wpilibj.util.BoundaryException; @@ -50,7 +50,7 @@ public class I2C extends SensorBase { I2CJNI.i2CInitialize((byte) port.getValue()); - UsageReporting.report(tResourceType.kResourceType_I2C, deviceAddress); + HAL.report(tResourceType.kResourceType_I2C, deviceAddress); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java index ae3d580d2c..c461e821f8 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java @@ -7,10 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -59,12 +58,13 @@ public class IterativeRobot extends RobotBase { * Provide an alternate "main loop" via startCompetition(). */ public void startCompetition() { - UsageReporting.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Iterative); + HAL.report(tResourceType.kResourceType_Framework, + tInstances.kFramework_Iterative); robotInit(); // Tell the DS that the robot is ready to be enabled - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting(); + HAL.observeUserProgramStarting(); // loop forever, calling the appropriate mode-dependent function LiveWindow.setEnabled(false); @@ -83,7 +83,7 @@ public class IterativeRobot extends RobotBase { m_testInitialized = false; } if (nextPeriodReady()) { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramDisabled(); + HAL.observeUserProgramDisabled(); disabledPeriodic(); } } else if (isTest()) { @@ -98,7 +98,7 @@ public class IterativeRobot extends RobotBase { m_disabledInitialized = false; } if (nextPeriodReady()) { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTest(); + HAL.observeUserProgramTest(); testPeriodic(); } } else if (isAutonomous()) { @@ -116,7 +116,7 @@ public class IterativeRobot extends RobotBase { m_disabledInitialized = false; } if (nextPeriodReady()) { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramAutonomous(); + HAL.observeUserProgramAutonomous(); autonomousPeriodic(); } } else { @@ -131,7 +131,7 @@ public class IterativeRobot extends RobotBase { m_disabledInitialized = false; } if (nextPeriodReady()) { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTeleop(); + HAL.observeUserProgramTeleop(); teleopPeriodic(); } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java index f0d28dc17b..bc7d35c44e 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -40,7 +40,7 @@ public class Jaguar extends PWMSpeedController { setSpeed(0.0); setZeroLatch(); - UsageReporting.report(tResourceType.kResourceType_Jaguar, getChannel()); + HAL.report(tResourceType.kResourceType_Jaguar, getChannel()); LiveWindow.addActuator("Jaguar", getChannel(), this); } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java index a6259f8847..bcee3457d4 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; +import edu.wpi.first.wpilibj.hal.HAL; /** * Handle input from standard Joysticks connected to the Driver Station. This class handles standard @@ -157,7 +157,7 @@ public class Joystick extends GenericHID { m_buttons[ButtonType.kTrigger.value] = kDefaultTriggerButton; m_buttons[ButtonType.kTop.value] = kDefaultTopButton; - UsageReporting.report(tResourceType.kResourceType_Joystick, port); + HAL.report(tResourceType.kResourceType_Joystick, port); } /** @@ -473,8 +473,7 @@ public class Joystick extends GenericHID { } else { m_rightRumble = (short) (value * 65535); } - FRCNetworkCommunicationsLibrary.HALSetJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, - m_rightRumble); + HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble); } /** @@ -486,8 +485,7 @@ public class Joystick extends GenericHID { public void setOutput(int outputNumber, boolean value) { m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1)); - FRCNetworkCommunicationsLibrary.HALSetJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, - m_rightRumble); + HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble); } /** @@ -497,7 +495,6 @@ public class Joystick extends GenericHID { */ public void setOutputs(int value) { m_outputs = value; - FRCNetworkCommunicationsLibrary.HALSetJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, - m_rightRumble); + HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble); } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java index 12b4ba55d6..a08d1ee7a6 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.DIOJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.hal.PWMJNI; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; import edu.wpi.first.wpilibj.tables.ITable; @@ -78,7 +78,7 @@ public class PWM extends SensorBase implements LiveWindowSendable { PWMJNI.setPWMEliminateDeadband(m_handle, false); - UsageReporting.report(tResourceType.kResourceType_PWM, channel); + HAL.report(tResourceType.kResourceType_PWM, channel); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Preferences.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Preferences.java index 1b032a3b23..19d6dda226 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Preferences.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Preferences.java @@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj; import java.util.Vector; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.networktables.NetworkTable; import edu.wpi.first.wpilibj.tables.ITable; import edu.wpi.first.wpilibj.tables.ITableListener; @@ -77,7 +77,7 @@ public class Preferences { private Preferences() { m_table = NetworkTable.getTable(TABLE_NAME); m_table.addTableListenerEx(m_listener, ITable.NOTIFY_NEW | ITable.NOTIFY_IMMEDIATE); - UsageReporting.report(tResourceType.kResourceType_Preferences, 0); + HAL.report(tResourceType.kResourceType_Preferences, 0); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java index 1b1e602ff9..5d37c04b9d 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; import edu.wpi.first.wpilibj.hal.DIOJNI; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.hal.RelayJNI; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; @@ -129,11 +129,11 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable int portHandle = RelayJNI.getPort((byte)m_channel); if (m_direction == Direction.kBoth || m_direction == Direction.kForward) { m_forwardHandle = RelayJNI.initializeRelayPort(portHandle, true); - UsageReporting.report(tResourceType.kResourceType_Relay, m_channel); + HAL.report(tResourceType.kResourceType_Relay, m_channel); } if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) { m_reverseHandle = RelayJNI.initializeRelayPort(portHandle, false); - UsageReporting.report(tResourceType.kResourceType_Relay, m_channel + 128); + HAL.report(tResourceType.kResourceType_Relay, m_channel + 128); } m_safetyHelper = new MotorSafetyHelper(this); diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java index 5fafa08ca5..cb3839235d 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java @@ -15,10 +15,9 @@ import java.util.Arrays; import java.util.Enumeration; import java.util.jar.Manifest; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.internal.HardwareHLUsageReporting; import edu.wpi.first.wpilibj.internal.HardwareTimer; import edu.wpi.first.wpilibj.networktables.NetworkTable; @@ -161,7 +160,8 @@ public abstract class RobotBase { * Common initialization for all robot programs. */ public static void initializeHardwareConfiguration() { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationReserve(); + int rv = HAL.initialize(0); + assert rv == 1; // Set some implementations so that the static methods work properly Timer.SetImplementation(new HardwareTimer()); @@ -175,7 +175,7 @@ public abstract class RobotBase { public static void main(String... args) { initializeHardwareConfiguration(); - UsageReporting.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java); + HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java); String robotName = ""; Enumeration resources = null; diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java index 912c891ff1..8c1acdad0c 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java @@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import static java.util.Objects.requireNonNull; @@ -191,7 +191,7 @@ public class RobotDrive implements MotorSafety { final double rightOutput; if (!kArcadeRatioCurve_Reported) { - UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), + HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), tInstances.kRobotDrive_ArcadeRatioCurve); kArcadeRatioCurve_Reported = true; } @@ -293,7 +293,7 @@ public class RobotDrive implements MotorSafety { public void tankDrive(double leftValue, double rightValue, boolean squaredInputs) { if (!kTank_Reported) { - UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), + HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), tInstances.kRobotDrive_Tank); kTank_Reported = true; } @@ -402,7 +402,7 @@ public class RobotDrive implements MotorSafety { public void arcadeDrive(double moveValue, double rotateValue, boolean squaredInputs) { // local variables to hold the computed PWM values for the motors if (!kArcadeStandard_Reported) { - UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), + HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), tInstances.kRobotDrive_ArcadeStandard); kArcadeStandard_Reported = true; } @@ -480,7 +480,7 @@ public class RobotDrive implements MotorSafety { @SuppressWarnings("ParameterName") public void mecanumDrive_Cartesian(double x, double y, double rotation, double gyroAngle) { if (!kMecanumCartesian_Reported) { - UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), + HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), tInstances.kRobotDrive_MecanumCartesian); kMecanumCartesian_Reported = true; } @@ -527,7 +527,7 @@ public class RobotDrive implements MotorSafety { */ public void mecanumDrive_Polar(double magnitude, double direction, double rotation) { if (!kMecanumPolar_Reported) { - UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), + HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), tInstances.kRobotDrive_MecanumPolar); kMecanumPolar_Reported = true; } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java index 7fc7f5c0f5..7c97f4f0b9 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -36,7 +36,7 @@ public class SD540 extends PWMSpeedController { setZeroLatch(); LiveWindow.addActuator("SD540", getChannel(), this); - UsageReporting.report(tResourceType.kResourceType_MindsensorsSD540, getChannel()); + HAL.report(tResourceType.kResourceType_MindsensorsSD540, getChannel()); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java index 2af7829b85..798fde2cb5 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java @@ -10,8 +10,8 @@ package edu.wpi.first.wpilibj; import java.nio.ByteBuffer; import java.nio.ByteOrder; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.hal.SPIJNI; /** @@ -51,7 +51,7 @@ public class SPI extends SensorBase { SPIJNI.spiInitialize(m_port); - UsageReporting.report(tResourceType.kResourceType_SPI, devices); + HAL.report(tResourceType.kResourceType_SPI, devices); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SampleRobot.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SampleRobot.java index a44d4af323..dd971a033c 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SampleRobot.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SampleRobot.java @@ -7,10 +7,9 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -111,12 +110,13 @@ public class SampleRobot extends RobotBase { * for the robot to be enabled again. */ public void startCompetition() { - UsageReporting.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Sample); + HAL.report(tResourceType.kResourceType_Framework, + tInstances.kFramework_Simple); robotInit(); // Tell the DS that the robot is ready to be enabled - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting(); + HAL.observeUserProgramStarting(); robotMain(); if (!m_robotMainOverridden) { diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java index b90f85865a..4daec70d71 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java @@ -10,8 +10,8 @@ package edu.wpi.first.wpilibj; import java.io.UnsupportedEncodingException; import java.nio.ByteBuffer; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.hal.SerialPortJNI; /** @@ -207,7 +207,7 @@ public class SerialPort { disableTermination(); - UsageReporting.report(tResourceType.kResourceType_SerialPort, 0); + HAL.report(tResourceType.kResourceType_SerialPort, 0); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java index b7049fbec9..5e5dcc8f2c 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.tables.ITable; import edu.wpi.first.wpilibj.tables.ITableListener; @@ -42,7 +42,7 @@ public class Servo extends PWM { setPeriodMultiplier(PeriodMultiplier.k4X); LiveWindow.addActuator("Servo", getChannel(), this); - UsageReporting.report(tResourceType.kResourceType_Servo, getChannel()); + HAL.report(tResourceType.kResourceType_Servo, getChannel()); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java index a45333dcd7..c1e0f6a31e 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.hal.SolenoidJNI; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; @@ -54,7 +54,7 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable { m_solenoidHandle = SolenoidJNI.initializeSolenoidPort(portHandle); LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this); - UsageReporting.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber); + HAL.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java index 5a277d52a8..87441cf37d 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -36,7 +36,7 @@ public class Spark extends PWMSpeedController { setZeroLatch(); LiveWindow.addActuator("Spark", getChannel(), this); - UsageReporting.report(tResourceType.kResourceType_RevSPARK, getChannel()); + HAL.report(tResourceType.kResourceType_RevSPARK, getChannel()); } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java index 80787604cf..eaadf431ff 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -41,6 +41,6 @@ public class Talon extends PWMSpeedController { setZeroLatch(); LiveWindow.addActuator("Talon", getChannel(), this); - UsageReporting.report(tResourceType.kResourceType_Talon, getChannel()); + HAL.report(tResourceType.kResourceType_Talon, getChannel()); } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java index 19e0be075c..b4be622f4e 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -44,6 +44,6 @@ public class TalonSRX extends PWMSpeedController { setZeroLatch(); LiveWindow.addActuator("TalonSRX", getChannel(), this); - UsageReporting.report(tResourceType.kResourceType_TalonSRX, getChannel()); + HAL.report(tResourceType.kResourceType_TalonSRX, getChannel()); } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java index 02aad4b761..77c184943a 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; import edu.wpi.first.wpilibj.tables.ITable; @@ -117,7 +117,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda setAutomaticMode(originalMode); m_instances++; - UsageReporting.report(tResourceType.kResourceType_Ultrasonic, m_instances); + HAL.report(tResourceType.kResourceType_Ultrasonic, m_instances); LiveWindow.addSensor("Ultrasonic", m_echoChannel.getChannel(), this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java index 9ae1c32198..5f22d48e44 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -43,6 +43,6 @@ public class Victor extends PWMSpeedController { setZeroLatch(); LiveWindow.addActuator("Victor", getChannel(), this); - UsageReporting.report(tResourceType.kResourceType_Victor, getChannel()); + HAL.report(tResourceType.kResourceType_Victor, getChannel()); } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java index 192c5c2b54..e645a252c4 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java @@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -41,6 +41,6 @@ public class VictorSP extends PWMSpeedController { setZeroLatch(); LiveWindow.addActuator("VictorSP", getChannel(), this); - UsageReporting.report(tResourceType.kResourceType_VictorSP, getChannel()); + HAL.report(tResourceType.kResourceType_VictorSP, getChannel()); } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/can/CANJNI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/can/CANJNI.java index e910e8bd5b..28c750c6c7 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/can/CANJNI.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/can/CANJNI.java @@ -927,11 +927,11 @@ public class CANJNI extends JNIWrapper { public static final int CAN_IS_FRAME_11BIT = 0x40000000; @SuppressWarnings("MethodName") - public static native void FRCNetworkCommunicationCANSessionMuxSendMessage(int messageID, + public static native void FRCNetCommCANSessionMuxSendMessage(int messageID, ByteBuffer data, int periodMs); @SuppressWarnings("MethodName") - public static native ByteBuffer FRCNetworkCommunicationCANSessionMuxReceiveMessage( + public static native ByteBuffer FRCNetCommCANSessionMuxReceiveMessage( IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/UsageReporting.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/UsageReporting.java deleted file mode 100644 index d95fbd7ee7..0000000000 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/UsageReporting.java +++ /dev/null @@ -1,25 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* 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. */ -/*----------------------------------------------------------------------------*/ - -package edu.wpi.first.wpilibj.communication; - -public class UsageReporting { - - public static void report(int resource, int instanceNumber, int context) { - report(resource, instanceNumber, context, ""); - } - - public static void report(int resource, int instanceNumber) { - report(resource, instanceNumber, 0, ""); - } - - public static void report(int resource, int instanceNumber, int context, String string) { - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationUsageReportingReport((byte) resource, - (byte) instanceNumber, (byte) context, string); - } - -} diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AllianceStationID.java similarity index 86% rename from wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java rename to wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AllianceStationID.java index 3fe84dd2a4..aeed270619 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AllianceStationID.java @@ -5,8 +5,8 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -package edu.wpi.first.wpilibj.communication; +package edu.wpi.first.wpilibj.hal; -public enum HALAllianceStationID { +public enum AllianceStationID { Red1, Red2, Red3, Blue1, Blue2, Blue3 } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALControlWord.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ControlWord.java similarity index 84% rename from wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALControlWord.java rename to wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ControlWord.java index cb55b9d96a..92452e25dc 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALControlWord.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ControlWord.java @@ -5,12 +5,12 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -package edu.wpi.first.wpilibj.communication; +package edu.wpi.first.wpilibj.hal; /** * A wrapper for the HALControlWord bitfield. */ -public class HALControlWord { +public class ControlWord { private final boolean m_enabled; private final boolean m_autonomous; private final boolean m_test; @@ -18,8 +18,8 @@ public class HALControlWord { private final boolean m_fmsAttached; private final boolean m_dsAttached; - protected HALControlWord(boolean enabled, boolean autonomous, boolean test, boolean emergencyStop, - boolean fmsAttached, boolean dsAttached) { + protected ControlWord(boolean enabled, boolean autonomous, boolean test, boolean emergencyStop, + boolean fmsAttached, boolean dsAttached) { m_enabled = enabled; m_autonomous = autonomous; m_test = test; @@ -51,6 +51,4 @@ public class HALControlWord { public boolean getDSAttached() { return m_dsAttached; } - - } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java similarity index 51% rename from wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java rename to wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java index 2f1ef7f1d4..bb01f2212a 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java @@ -5,17 +5,15 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -package edu.wpi.first.wpilibj.communication; - -import java.nio.ByteBuffer; +package edu.wpi.first.wpilibj.hal; import edu.wpi.first.wpilibj.hal.JNIWrapper; /** - * JNI Wrapper for library FRC_NetworkCommunications
. + * JNI wrapper for library FRC_NetworkCommunication
. */ @SuppressWarnings("MethodName") -public class FRCNetworkCommunicationsLibrary extends JNIWrapper { +public class FRCNetComm extends JNIWrapper { /** * Module type from LoadOut.h */ @@ -35,18 +33,17 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper { int kTargetClass_Unknown = 0x00; int kTargetClass_FRC1 = 0x10; int kTargetClass_FRC2 = 0x20; - int kTargetClass_FRC2_Analog = - kTargetClass_FRC2 | FRCNetworkCommunicationsLibrary.tModuleType.kModuleType_Analog; - int kTargetClass_FRC2_Digital = - kTargetClass_FRC2 | FRCNetworkCommunicationsLibrary.tModuleType.kModuleType_Digital; - int kTargetClass_FRC2_Solenoid = - kTargetClass_FRC2 | FRCNetworkCommunicationsLibrary.tModuleType.kModuleType_Solenoid; + int kTargetClass_FRC3 = 0x30; + int kTargetClass_RoboRIO = 0x40; + int kTargetClass_FRC2_Analog = kTargetClass_FRC2 | tModuleType.kModuleType_Analog; + int kTargetClass_FRC2_Digital = kTargetClass_FRC2 | tModuleType.kModuleType_Digital; + int kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | tModuleType.kModuleType_Solenoid; int kTargetClass_FamilyMask = 0xF0; int kTargetClass_ModuleMask = 0x0F; } /** - * Resource types from UsageReporting.h + * Resource type from UsageReporting.h */ @SuppressWarnings("TypeName") public interface tResourceType { @@ -124,7 +121,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper { int kCANPlugin_2CAN = 2; int kFramework_Iterative = 1; - int kFramework_Sample = 2; + int kFramework_Simple = 2; int kFramework_CommandControl = 3; int kRobotDrive_ArcadeStandard = 1; @@ -157,100 +154,4 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper { int kSmartDashboard_Instance = 1; } - - /** - * Report the usage of a resource of interest.
- * - *

Original signature: uint32_t report(tResourceType, uint8_t, uint8_t, const - * char*) - * - * @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. - */ - public static native int FRCNetworkCommunicationUsageReportingReport(byte resource, - byte instanceNumber, - byte context, - String feature); - - public static native void setNewDataSem(long mutexId); - - public static native void FRCNetworkCommunicationObserveUserProgramStarting(); - - public static native void FRCNetworkCommunicationObserveUserProgramDisabled(); - - public static native void FRCNetworkCommunicationObserveUserProgramAutonomous(); - - public static native void FRCNetworkCommunicationObserveUserProgramTeleop(); - - public static native void FRCNetworkCommunicationObserveUserProgramTest(); - - public static native void FRCNetworkCommunicationReserve(); - - private static native int NativeHALGetControlWord(); - - @SuppressWarnings("JavadocMethod") - public static HALControlWord HALGetControlWord() { - int word = NativeHALGetControlWord(); - return new HALControlWord((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 NativeHALGetAllianceStation(); - - @SuppressWarnings("JavadocMethod") - public static HALAllianceStationID HALGetAllianceStation() { - switch (NativeHALGetAllianceStation()) { - case 0: - return HALAllianceStationID.Red1; - case 1: - return HALAllianceStationID.Red2; - case 2: - return HALAllianceStationID.Red3; - case 3: - return HALAllianceStationID.Blue1; - case 4: - return HALAllianceStationID.Blue2; - case 5: - return HALAllianceStationID.Blue3; - default: - return null; - } - } - - public static int kMaxJoystickAxes = 12; - public static int kMaxJoystickPOVs = 12; - - public static native byte HALGetJoystickAxes(byte joystickNum, float[] axesArray); - - public static native byte HALGetJoystickPOVs(byte joystickNum, short[] povsArray); - - public static native int HALGetJoystickButtons(byte joystickNum, ByteBuffer count); - - public static native int HALSetJoystickOutputs(byte joystickNum, int outputs, short leftRumble, - short rightRumble); - - public static native int HALGetJoystickIsXbox(byte joystickNum); - - public static native int HALGetJoystickType(byte joystickNum); - - public static native String HALGetJoystickName(byte joystickNum); - - public static native int HALGetJoystickAxisType(byte joystickNum, byte axis); - - public static native float HALGetMatchTime(); - - public static native boolean HALGetSystemActive(); - - public static native boolean HALGetBrownedOut(); - - public static native int HALSetErrorData(String error); - - public static native int HALSendError(boolean isError, int errorCode, boolean isLVCode, - String details, String location, String callStack, - boolean printMsg); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HAL.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HAL.java new file mode 100644 index 0000000000..4ae19e763f --- /dev/null +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HAL.java @@ -0,0 +1,119 @@ +/*----------------------------------------------------------------------------*/ +/* 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. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.hal; + +import java.nio.ByteBuffer; + +import edu.wpi.first.wpilibj.hal.JNIWrapper; + +/** + * JNI Wrapper for HAL
. + */ +@SuppressWarnings({"AbbreviationAsWordInName", "MethodName"}) +public class HAL extends JNIWrapper { + public static native void setNewDataSem(long mutexId); + + public static native int initialize(int mode); + + public static native void observeUserProgramStarting(); + + public static native void observeUserProgramDisabled(); + + public static native void observeUserProgramAutonomous(); + + public static native void observeUserProgramTeleop(); + + public static native void observeUserProgramTest(); + + public static void report(int resource, int instanceNumber) { + report(resource, instanceNumber, 0, ""); + } + + public static void report(int resource, int instanceNumber, int context) { + report(resource, instanceNumber, context, ""); + } + + /** + * Report the usage of a resource of interest.
+ * + *

Original signature: uint32_t report(tResourceType, uint8_t, uint8_t, const + * char*) + * + * @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. + */ + public static native int report(int resource, int instanceNumber, int context, String feature); + + private static native int nativeGetControlWord(); + + @SuppressWarnings("JavadocMethod") + public static ControlWord getControlWord() { + int word = nativeGetControlWord(); + return new ControlWord((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(); + + @SuppressWarnings("JavadocMethod") + public static AllianceStationID getAllianceStation() { + switch (nativeGetAllianceStation()) { + case 0: + return AllianceStationID.Red1; + case 1: + return AllianceStationID.Red2; + case 2: + return AllianceStationID.Red3; + case 3: + return AllianceStationID.Blue1; + case 4: + return AllianceStationID.Blue2; + case 5: + return AllianceStationID.Blue3; + default: + return null; + } + } + + public static int kMaxJoystickAxes = 12; + public static int kMaxJoystickPOVs = 12; + + public static native short getJoystickAxes(byte joystickNum, float[] axesArray); + + public static native short getJoystickPOVs(byte joystickNum, short[] povsArray); + + public static native byte getJoystickButtons(byte joystickNum, ByteBuffer count); + + public static native int setJoystickOutputs(byte joystickNum, int outputs, short leftRumble, + short rightRumble); + + public static native int getJoystickIsXbox(byte joystickNum); + + public static native int getJoystickType(byte joystickNum); + + public static native String getJoystickName(byte joystickNum); + + public static native int getJoystickAxisType(byte joystickNum, byte axis); + + public static native float getMatchTime(); + + public static native boolean getSystemActive(); + + public static native boolean getBrownedOut(); + + public static native int setErrorData(String error); + + public static native int sendError(boolean isError, int errorCode, boolean isLVCode, + String details, String location, String callStack, + boolean printMsg); +} diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java index 68d0040952..032a89060f 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java @@ -8,23 +8,23 @@ package edu.wpi.first.wpilibj.internal; import edu.wpi.first.wpilibj.HLUsageReporting; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; -import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances; +import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType; +import edu.wpi.first.wpilibj.hal.HAL; public class HardwareHLUsageReporting implements HLUsageReporting.Interface { @Override public void reportScheduler() { - UsageReporting.report(tResourceType.kResourceType_Command, tInstances.kCommand_Scheduler); + HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand_Scheduler); } @Override public void reportPIDController(int num) { - UsageReporting.report(tResourceType.kResourceType_PIDController, num); + HAL.report(tResourceType.kResourceType_PIDController, num); } @Override public void reportSmartDashboard() { - UsageReporting.report(tResourceType.kResourceType_SmartDashboard, 0); + HAL.report(tResourceType.kResourceType_SmartDashboard, 0); } } diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java index 05a1cf9486..463aa8ae88 100644 --- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java +++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java @@ -19,7 +19,7 @@ import java.util.logging.Logger; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary; +import edu.wpi.first.wpilibj.hal.HAL; import edu.wpi.first.wpilibj.livewindow.LiveWindow; /** @@ -44,7 +44,7 @@ public abstract class AbstractComsSetup { if (!initialized) { // Set some implementations so that the static methods work properly RobotBase.initializeHardwareConfiguration(); - FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting(); + HAL.observeUserProgramStarting(); LiveWindow.setEnabled(false); TestBench.out().println("Started coms");