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Refactored wpilibj HAL JNI to simplify generating it from HAL headers (#109)

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wpilibj FRCNetworkCommunication.java is now generated from HAL headers and was renamed to FRCNetComm.java
This commit is contained in:
Tyler Veness
2016-07-10 16:24:57 -07:00
committed by Peter Johnson
parent aafca4ed7f
commit e44a6e227a
61 changed files with 932 additions and 770 deletions
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27
wpilibc/athena/src/DriverStation.cpp
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@@ -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);
}
/**