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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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41
wpilibc/src/main/native/DriverStationEnhancedIO.cpp
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@@ -5,7 +5,7 @@
/*----------------------------------------------------------------------------*/
#include "DriverStationEnhancedIO.h"
#include "NetworkCommunication/UsageReporting.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "HAL/cpp/Synchronized.h"
#include "WPIErrors.h"
#include <string.h>
@@ -27,8 +27,8 @@ DriverStationEnhancedIO::DriverStationEnhancedIO()
m_outputData.id = kOutputBlockID;
// Expected to be active low, so initialize inactive.
m_outputData.data.fixed_digital_out = 0x3;
m_inputDataSemaphore = initializeMutex(SEMAPHORE_Q_PRIORITY | SEMAPHORE_DELETE_SAFE | SEMAPHORE_INVERSION_SAFE);
m_outputDataSemaphore = initializeMutex(SEMAPHORE_Q_PRIORITY | SEMAPHORE_DELETE_SAFE | SEMAPHORE_INVERSION_SAFE);
m_inputDataSemaphore = initializeMutexNormal();
m_outputDataSemaphore = initializeMutexNormal();
m_encoderOffsets[0] = 0;
m_encoderOffsets[1] = 0;
}
@@ -72,9 +72,9 @@ void DriverStationEnhancedIO::UpdateData()
}
m_outputData.flags |= kStatusConfigChanged;
}
overrideIOConfig((char*)&m_outputData, 5);
HALOverrideIOConfig((char*)&m_outputData, 5);
}
retVal = getDynamicControlData(kOutputBlockID, (char*)&tempOutputData, sizeof(status_block_t), 5);
retVal = HALGetDynamicControlData(kOutputBlockID, (char*)&tempOutputData, sizeof(status_block_t), 5);
if (retVal == 0)
{
if (m_outputValid)
@@ -114,7 +114,7 @@ void DriverStationEnhancedIO::UpdateData()
{
Synchronized sync(m_inputDataSemaphore);
control_block_t tempInputData;
retVal = getDynamicControlData(kInputBlockID, (char*)&tempInputData, sizeof(control_block_t), 5);
retVal = HALGetDynamicControlData(kInputBlockID, (char*)&tempInputData, sizeof(control_block_t), 5);
if (retVal == 0 && tempInputData.data.api_version == kSupportedAPIVersion)
{
m_inputData = tempInputData;
@@ -179,7 +179,7 @@ double DriverStationEnhancedIO::GetAcceleration(tAccelChannel channel)
static uint8_t reported_mask = 0;
if (!(reported_mask & (1 >> channel)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, channel, nUsageReporting::kDriverStationEIO_Acceleration);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_Acceleration);
reported_mask |= (1 >> channel);
}
@@ -221,7 +221,7 @@ double DriverStationEnhancedIO::GetAnalogInRatio(uint32_t channel)
static uint16_t reported_mask = 0;
if (!(reported_mask & (1 >> channel)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, channel, nUsageReporting::kDriverStationEIO_AnalogIn);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_AnalogIn);
reported_mask |= (1 >> channel);
}
@@ -286,7 +286,7 @@ void DriverStationEnhancedIO::SetAnalogOut(uint32_t channel, double value)
static uint8_t reported_mask = 0;
if (!(reported_mask & (1 >> channel)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, channel, nUsageReporting::kDriverStationEIO_AnalogOut);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_AnalogOut);
reported_mask |= (1 >> channel);
}
@@ -320,7 +320,7 @@ bool DriverStationEnhancedIO::GetButton(uint32_t channel)
static uint8_t reported_mask = 0;
if (!(reported_mask & (1 >> channel)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, channel, nUsageReporting::kDriverStationEIO_Button);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_Button);
reported_mask |= (1 >> channel);
}
@@ -339,7 +339,7 @@ uint8_t DriverStationEnhancedIO::GetButtons()
wpi_setWPIError(EnhancedIOMissing);
return 0;
}
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, 0, nUsageReporting::kDriverStationEIO_Button);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, 0, HALUsageReporting::kDriverStationEIO_Button);
Synchronized sync(m_inputDataSemaphore);
return m_inputData.data.buttons;
}
@@ -366,7 +366,7 @@ void DriverStationEnhancedIO::SetLED(uint32_t channel, bool value)
static uint16_t reported_mask = 0;
if (!(reported_mask & (1 >> channel)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, channel, nUsageReporting::kDriverStationEIO_LED);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_LED);
reported_mask |= (1 >> channel);
}
@@ -392,7 +392,8 @@ void DriverStationEnhancedIO::SetLEDs(uint8_t value)
wpi_setWPIError(EnhancedIOMissing);
return;
}
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, 0, nUsageReporting::kDriverStationEIO_LED);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, 0, HALUsageReporting::kDriverStationEIO_LED);
Synchronized sync(m_outputDataSemaphore);
m_outputData.data.leds = value;
}
@@ -414,7 +415,7 @@ bool DriverStationEnhancedIO::GetDigital(uint32_t channel)
static uint32_t reported_mask = 0;
if (!(reported_mask & (1 >> channel)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, channel, nUsageReporting::kDriverStationEIO_DigitalIn);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_DigitalIn);
reported_mask |= (1 >> channel);
}
@@ -433,7 +434,7 @@ uint16_t DriverStationEnhancedIO::GetDigitals()
wpi_setWPIError(EnhancedIOMissing);
return 0;
}
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, 0, nUsageReporting::kDriverStationEIO_DigitalIn);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, 0, HALUsageReporting::kDriverStationEIO_DigitalIn);
Synchronized sync(m_inputDataSemaphore);
return m_inputData.data.digital;
}
@@ -460,7 +461,7 @@ void DriverStationEnhancedIO::SetDigitalOutput(uint32_t channel, bool value)
static uint32_t reported_mask = 0;
if (!(reported_mask & (1 >> channel)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, channel, nUsageReporting::kDriverStationEIO_DigitalOut);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_DigitalOut);
reported_mask |= (1 >> channel);
}
@@ -762,7 +763,7 @@ void DriverStationEnhancedIO::SetFixedDigitalOutput(uint32_t channel, bool value
static uint8_t reported_mask = 0;
if (!(reported_mask & (1 >> channel)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, channel, nUsageReporting::kDriverStationEIO_FixedDigitalOut);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_FixedDigitalOut);
reported_mask |= (1 >> channel);
}
@@ -806,7 +807,7 @@ int16_t DriverStationEnhancedIO::GetEncoder(uint32_t encoderNumber)
static uint8_t reported_mask = 0;
if (!(reported_mask & (1 >> encoderNumber)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, encoderNumber, nUsageReporting::kDriverStationEIO_Encoder);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, encoderNumber, HALUsageReporting::kDriverStationEIO_Encoder);
reported_mask |= (1 >> encoderNumber);
}
@@ -906,7 +907,7 @@ double DriverStationEnhancedIO::GetTouchSlider()
return 0.0;
}
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, 1, nUsageReporting::kDriverStationEIO_TouchSlider);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, 1, HALUsageReporting::kDriverStationEIO_TouchSlider);
Synchronized sync(m_inputDataSemaphore);
uint8_t value = m_inputData.data.capsense_slider;
@@ -961,7 +962,7 @@ void DriverStationEnhancedIO::SetPWMOutput(uint32_t channel, double value)
static uint8_t reported_mask = 0;
if (!(reported_mask & (1 >> channel)))
{
nUsageReporting::report(nUsageReporting::kResourceType_DriverStationEIO, channel, nUsageReporting::kDriverStationEIO_PWM);
HALReport(HALUsageReporting::kResourceType_DriverStationEIO, channel, HALUsageReporting::kDriverStationEIO_PWM);
reported_mask |= (1 >> channel);
}