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JNI for java

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Normal vs recursive mutex
HAL delineation
This commit is contained in:
charris
2014-01-06 10:12:21 -05:00
parent b62b606110
commit f7146d4230
134 changed files with 2377 additions and 3358 deletions
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14
wpilibc/src/main/native/CANJaguar.cpp
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@@ -6,9 +6,9 @@
#include "CANJaguar.h"
#define tNIRIO_i32 int
#include "CAN/JaguarCANDriver.h"
//#include "CAN/JaguarCANDriver.h"
#include "CAN/can_proto.h"
#include "NetworkCommunication/UsageReporting.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "WPIErrors.h"
#include <stdio.h>
#include "LiveWindow/LiveWindow.h"
@@ -31,7 +31,7 @@ constexpr double CANJaguar::kApproxBusVoltage;
void CANJaguar::InitCANJaguar()
{
m_table = NULL;
m_transactionSemaphore = initializeMutex(SEMAPHORE_Q_PRIORITY | SEMAPHORE_INVERSION_SAFE | SEMAPHORE_DELETE_SAFE);
m_transactionSemaphore = initializeMutexNormal();
if (m_deviceNumber < 1 || m_deviceNumber > 63)
{
char buf[256];
@@ -69,7 +69,7 @@ void CANJaguar::InitCANJaguar()
}
m_safetyHelper = new MotorSafetyHelper(this);
nUsageReporting::report(nUsageReporting::kResourceType_CANJaguar, m_deviceNumber, m_controlMode);
HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, m_controlMode);
LiveWindow::GetInstance()->AddActuator("CANJaguar", m_deviceNumber, 0, this);
}
@@ -405,7 +405,7 @@ void CANJaguar::setTransaction(uint32_t messageID, const uint8_t *data, uint8_t
return;
// Make sure we don't have more than one transaction with the same Jaguar outstanding.
takeMutex(m_transactionSemaphore, SEMAPHORE_WAIT_FOREVER);
takeMutex(m_transactionSemaphore);
// Throw away any stale acks.
receiveMessage(&ackMessageID, NULL, 0, 0.0f);
@@ -444,7 +444,7 @@ void CANJaguar::getTransaction(uint32_t messageID, uint8_t *data, uint8_t *dataS
}
// Make sure we don't have more than one transaction with the same Jaguar outstanding.
takeMutex(m_transactionSemaphore, SEMAPHORE_WAIT_FOREVER);
takeMutex(m_transactionSemaphore);
// Throw away any stale responses.
receiveMessage(&targetedMessageID, NULL, 0, 0.0f);
@@ -778,7 +778,7 @@ void CANJaguar::ChangeControlMode(ControlMode controlMode)
// Update the local mode
m_controlMode = controlMode;
nUsageReporting::report(nUsageReporting::kResourceType_CANJaguar, m_deviceNumber, m_controlMode);
HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, m_controlMode);
}
/**