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https://github.com/wpilibsuite/allwpilib
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de39877efb
In the current HAL, once the port structures were created, there was no way to free the structures. The way the C++ libraries were written this wasn't a problem, since it grabbed a copy of each and stored them in an array on bootup. However java does not do this, and grabs new ports every time an object is created. This causes memory leaks if an object is ever disposed in java. The same thing looks to be happening in python, and C# does it too currently, but that would change if this gets merged. Adds java memory management fixes Adds memory management to AnalogInput and Analog Output C++ SolenoidPorts and Digital Ports are all hold static arrays with their port pointers (although solenoid overwrites them if a new solenoid on the same module is created), however analog always grabbed new pointers. I would fix the solenoid one, but I don't know what the ideal way to do it would be. Silently ignores free(null) calls by checking passed parameter is non-null. Change-Id: Id32993b57b53f896e46e55c97541d3bd90b52648
79 lines
3.7 KiB
C++
79 lines
3.7 KiB
C++
#pragma once
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#include <stdint.h>
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enum AnalogTriggerType
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{
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kInWindow = 0,
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kState = 1,
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kRisingPulse = 2,
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kFallingPulse = 3
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};
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extern "C"
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{
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// Analog output functions
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void* initializeAnalogOutputPort(void* port_pointer, int32_t *status);
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void freeAnalogOutputPort(void* analog_port_pointer);
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void setAnalogOutput(void* analog_port_pointer, double voltage, int32_t *status);
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double getAnalogOutput(void* analog_port_pointer, int32_t *status);
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bool checkAnalogOutputChannel(uint32_t pin);
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// Analog input functions
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void* initializeAnalogInputPort(void* port_pointer, int32_t *status);
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void freeAnalogInputPort(void* analog_port_pointer);
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bool checkAnalogModule(uint8_t module);
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bool checkAnalogInputChannel(uint32_t pin);
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void setAnalogSampleRate(double samplesPerSecond, int32_t *status);
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float getAnalogSampleRate(int32_t *status);
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void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *status);
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uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status);
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void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t *status);
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uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status);
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int16_t getAnalogValue(void* analog_port_pointer, int32_t *status);
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int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status);
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int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage, int32_t *status);
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float getAnalogVoltage(void* analog_port_pointer, int32_t *status);
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float getAnalogAverageVoltage(void* analog_port_pointer, int32_t *status);
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uint32_t getAnalogLSBWeight(void* analog_port_pointer, int32_t *status);
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int32_t getAnalogOffset(void* analog_port_pointer, int32_t *status);
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bool isAccumulatorChannel(void* analog_port_pointer, int32_t *status);
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void initAccumulator(void* analog_port_pointer, int32_t *status);
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void resetAccumulator(void* analog_port_pointer, int32_t *status);
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void setAccumulatorCenter(void* analog_port_pointer, int32_t center, int32_t *status);
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void setAccumulatorDeadband(void* analog_port_pointer, int32_t deadband, int32_t *status);
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int64_t getAccumulatorValue(void* analog_port_pointer, int32_t *status);
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uint32_t getAccumulatorCount(void* analog_port_pointer, int32_t *status);
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void getAccumulatorOutput(void* analog_port_pointer, int64_t *value, uint32_t *count,
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int32_t *status);
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void* initializeAnalogTrigger(void* port_pointer, uint32_t *index, int32_t *status);
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void cleanAnalogTrigger(void* analog_trigger_pointer, int32_t *status);
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void setAnalogTriggerLimitsRaw(void* analog_trigger_pointer, int32_t lower, int32_t upper,
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int32_t *status);
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void setAnalogTriggerLimitsVoltage(void* analog_trigger_pointer, double lower, double upper,
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int32_t *status);
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void setAnalogTriggerAveraged(void* analog_trigger_pointer, bool useAveragedValue,
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int32_t *status);
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void setAnalogTriggerFiltered(void* analog_trigger_pointer, bool useFilteredValue,
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int32_t *status);
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bool getAnalogTriggerInWindow(void* analog_trigger_pointer, int32_t *status);
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bool getAnalogTriggerTriggerState(void* analog_trigger_pointer, int32_t *status);
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bool getAnalogTriggerOutput(void* analog_trigger_pointer, AnalogTriggerType type,
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int32_t *status);
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//// Float JNA Hack
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// Float
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int getAnalogSampleRateIntHack(int32_t *status);
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int getAnalogVoltageIntHack(void* analog_port_pointer, int32_t *status);
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int getAnalogAverageVoltageIntHack(void* analog_port_pointer, int32_t *status);
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// Doubles
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void setAnalogSampleRateIntHack(int samplesPerSecond, int32_t *status);
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int32_t getAnalogVoltsToValueIntHack(void* analog_port_pointer, int voltage, int32_t *status);
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void setAnalogTriggerLimitsVoltageIntHack(void* analog_trigger_pointer, int lower, int upper,
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int32_t *status);
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}
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