From fdfedd12fc89086742ae5906118685052cfbc41e Mon Sep 17 00:00:00 2001 From: Joe Ross Date: Sun, 31 Jan 2016 17:47:57 -0800 Subject: [PATCH] artf4818: Fix CAN Talon JNI references with underscores. Add test to verify bindings are correct Change-Id: I766f2d7ff32a1bee2289974e331a4d8d5d563a35 --- wpilibcIntegrationTests/src/CANTalonTest.cpp | 6 +++ wpilibj/src/athena/cpp/lib/CanTalonJNI.cpp | 38 +++++++++---------- .../edu/wpi/first/wpilibj/CANTalonTest.java | 22 +++++++++++ 3 files changed, 47 insertions(+), 19 deletions(-) diff --git a/wpilibcIntegrationTests/src/CANTalonTest.cpp b/wpilibcIntegrationTests/src/CANTalonTest.cpp index 72d135c314..515c840242 100644 --- a/wpilibcIntegrationTests/src/CANTalonTest.cpp +++ b/wpilibcIntegrationTests/src/CANTalonTest.cpp @@ -68,3 +68,9 @@ TEST(CANTalonTest, DISABLED_PositionModeWorks) { talon.Disable(); EXPECT_NEAR(talon.Get(), 500, 1000); } + +TEST(CANTalonTest, GetFaults) { + CANTalon talon(deviceId); + EXPECT_EQ(talon.GetFaults(),0); + EXPECT_EQ(talon.GetStickyFaults(),0); +} diff --git a/wpilibj/src/athena/cpp/lib/CanTalonJNI.cpp b/wpilibj/src/athena/cpp/lib/CanTalonJNI.cpp index fd8560b9c6..5773863ce4 100644 --- a/wpilibj/src/athena/cpp/lib/CanTalonJNI.cpp +++ b/wpilibj/src/athena/cpp/lib/CanTalonJNI.cpp @@ -363,7 +363,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_ProcessMotionP { return ((CanTalonSRX*)handle)->ProcessMotionProfileBuffer(); } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_OverTemp +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_1OverTemp (JNIEnv * env, jclass, jlong handle) { int retval; @@ -371,7 +371,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_OverT CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_UnderVoltage +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_1UnderVoltage (JNIEnv * env, jclass, jlong handle) { int retval; @@ -379,7 +379,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_Under CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_ForLim +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_1ForLim (JNIEnv * env, jclass, jlong handle) { int retval; @@ -387,7 +387,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_ForLi CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_RevLim +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_1RevLim (JNIEnv * env, jclass, jlong handle) { int retval; @@ -395,7 +395,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_RevLi CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_HardwareFailure +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_1HardwareFailure (JNIEnv * env, jclass, jlong handle) { int retval; @@ -403,7 +403,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_Hardw CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_ForSoftLim +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_1ForSoftLim (JNIEnv * env, jclass, jlong handle) { int retval; @@ -411,7 +411,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_ForSo CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_RevSoftLim +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_1RevSoftLim (JNIEnv * env, jclass, jlong handle) { int retval; @@ -419,7 +419,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_RevSo CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_OverTemp +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_1OverTemp (JNIEnv * env, jclass, jlong handle) { int retval; @@ -427,7 +427,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_ CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_UnderVoltage +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_1UnderVoltage (JNIEnv * env, jclass, jlong handle) { int retval; @@ -435,7 +435,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_ CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_ForLim +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_1ForLim (JNIEnv * env, jclass, jlong handle) { int retval; @@ -443,7 +443,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_ CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_RevLim +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_1RevLim (JNIEnv * env, jclass, jlong handle) { int retval; @@ -451,7 +451,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_ CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_ForSoftLim +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_1ForSoftLim (JNIEnv * env, jclass, jlong handle) { int retval; @@ -459,7 +459,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_ CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_RevSoftLim +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_1RevSoftLim (JNIEnv * env, jclass, jlong handle) { int retval; @@ -683,7 +683,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetPulseWidthR CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_IsValid +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_1IsValid (JNIEnv * env, jclass, jlong handle) { int retval; @@ -691,7 +691,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_IsV CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_ProfileSlotSelect +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_1ProfileSlotSelect (JNIEnv * env, jclass, jlong handle) { int retval; @@ -699,7 +699,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_Pro CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_VelOnly +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_1VelOnly (JNIEnv * env, jclass, jlong handle) { int retval; @@ -707,7 +707,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_Vel CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_IsLast +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_1IsLast (JNIEnv * env, jclass, jlong handle) { int retval; @@ -763,7 +763,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetCount CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_Velocity +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_1Velocity (JNIEnv * env, jclass, jlong handle) { int retval; @@ -771,7 +771,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_Vel CheckCTRStatus(env, status); return retval; } -JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_Position +JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetActTraj_1Position (JNIEnv * env, jclass, jlong handle) { int retval; diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANTalonTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANTalonTest.java index f6108b73f4..af52f0cfb9 100644 --- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANTalonTest.java +++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANTalonTest.java @@ -131,4 +131,26 @@ public class CANTalonTest extends AbstractComsSetup { } } + //Test Get Fault methods (artf4814) + @Test + public void testGetFaults() { + CANTalon talon = new CANTalon(0); + talon.clearStickyFaults(); + + assertTrue(talon.getFaultOverTemp()==0); + assertTrue(talon.getFaultUnderVoltage()==0); + assertTrue(talon.getFaultForLim()==0); + assertTrue(talon.getFaultRevLim()==0); + assertTrue(talon.getFaultHardwareFailure()==0); + assertTrue(talon.getFaultForSoftLim()==0); + assertTrue(talon.getFaultRevSoftLim()==0); + + assertTrue(talon.getStickyFaultOverTemp()==0); +// assertTrue(talon.getStickyFaultUnderVoltage()==0); + assertTrue(talon.getStickyFaultForLim()==0); + assertTrue(talon.getStickyFaultRevLim()==0); + assertTrue(talon.getStickyFaultForSoftLim()==0); + assertTrue(talon.getStickyFaultRevSoftLim()==0); + } + }