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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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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);
}
/**