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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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8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
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@@ -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);
}

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
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@@ -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

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java
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@@ -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);
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
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@@ -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);
}

7
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
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@@ -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);
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java
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@@ -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);
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java
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@@ -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);
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java
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@@ -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);
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java
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@@ -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());
}
/**

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
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@@ -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);
}
/**

7
wpilibj/src/athena/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
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@@ -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);
}

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
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@@ -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) {

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
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@@ -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);
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java
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@@ -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);
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
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@@ -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);
}
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
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@@ -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);
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
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@@ -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);
}
/**

10
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
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@@ -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);
}

77
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -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);
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -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);
}

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/GearTooth.java
View File

@@ -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);
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java
View File

@@ -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);
}
/**

20
wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java
View File

@@ -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();
}
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java
View File

@@ -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);
}
}

17
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java
View File

@@ -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);
}
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java
View File

@@ -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);
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Preferences.java
View File

@@ -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);
}
/**

8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
View File

@@ -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);

12
wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java
View File

@@ -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<URL> resources = null;

16
wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java
View File

@@ -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;
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java
View File

@@ -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());
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java
View File

@@ -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);
}
/**

12
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SampleRobot.java
View File

@@ -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) {

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java
View File

@@ -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);
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java
View File

@@ -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());
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java
View File

@@ -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);
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java
View File

@@ -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());
}
/**

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java
View File

@@ -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());
}
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java
View File

@@ -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());
}
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java
View File

@@ -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);
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java
View File

@@ -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());
}
}

6
wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java
View File

@@ -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());
}
}

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/can/CANJNI.java
View File

@@ -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);
}

25
wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/UsageReporting.java
View File

@@ -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);
}
}

4
wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java → wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AllianceStationID.java
View File

@@ -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
}

10
wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALControlWord.java → wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ControlWord.java
View File

@@ -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;
}
}

119
wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java → wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java
View File

@@ -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 <b>FRC_NetworkCommunications</b><br>.
* JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
*/
@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. <br>
*
* <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
* char*)</code>
*
* @param resource one of the values in the tResourceType above (max value 51). <br>
* @param instanceNumber an index that identifies the resource instance. <br>
* @param context an optional additional context number for some cases (such as module
* number). Set to 0 to omit. <br>
* @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);
}

119
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HAL.java Normal file
View File

@@ -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<br>.
*/
@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. <br>
*
* <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
* char*)</code>
*
* @param resource one of the values in the tResourceType above (max value 51). <br>
* @param instanceNumber an index that identifies the resource instance. <br>
* @param context an optional additional context number for some cases (such as module
* number). Set to 0 to omit. <br>
* @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);
}

12
wpilibj/src/athena/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java
View File

@@ -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);
}
}