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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
117 lines
6.2 KiB
C++
117 lines
6.2 KiB
C++
#pragma once
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#include <stdint.h>
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#include "HAL/cpp/priority_mutex.h"
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enum Mode
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{
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kTwoPulse = 0,
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kSemiperiod = 1,
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kPulseLength = 2,
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kExternalDirection = 3
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};
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priority_recursive_mutex& spiGetSemaphore(uint8_t port);
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extern "C"
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{
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void* initializeDigitalPort(void* port_pointer, int32_t *status);
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void freeDigitalPort(void* digital_port_pointer);
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bool checkPWMChannel(void* digital_port_pointer);
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bool checkRelayChannel(void* digital_port_pointer);
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void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status);
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bool allocatePWMChannel(void* digital_port_pointer, int32_t *status);
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void freePWMChannel(void* digital_port_pointer, int32_t *status);
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unsigned short getPWM(void* digital_port_pointer, int32_t *status);
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void latchPWMZero(void* digital_port_pointer, int32_t *status);
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void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status);
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void* allocatePWM(int32_t *status);
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void freePWM(void* pwmGenerator, int32_t *status);
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void setPWMRate(double rate, int32_t *status);
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void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status);
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void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status);
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void setRelayForward(void* digital_port_pointer, bool on, int32_t *status);
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void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status);
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bool getRelayForward(void* digital_port_pointer, int32_t *status);
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bool getRelayReverse(void* digital_port_pointer, int32_t *status);
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bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status);
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void freeDIO(void* digital_port_pointer, int32_t *status);
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void setDIO(void* digital_port_pointer, short value, int32_t *status);
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bool getDIO(void* digital_port_pointer, int32_t *status);
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bool getDIODirection(void* digital_port_pointer, int32_t *status);
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void pulse(void* digital_port_pointer, double pulseLength, int32_t *status);
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bool isPulsing(void* digital_port_pointer, int32_t *status);
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bool isAnyPulsing(int32_t *status);
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void* initializeCounter(Mode mode, uint32_t *index, int32_t *status);
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void freeCounter(void* counter_pointer, int32_t *status);
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void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status);
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void setCounterUpSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
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void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
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int32_t *status);
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void clearCounterUpSource(void* counter_pointer, int32_t *status);
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void setCounterDownSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
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void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
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int32_t *status);
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void clearCounterDownSource(void* counter_pointer, int32_t *status);
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void setCounterUpDownMode(void* counter_pointer, int32_t *status);
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void setCounterExternalDirectionMode(void* counter_pointer, int32_t *status);
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void setCounterSemiPeriodMode(void* counter_pointer, bool highSemiPeriod, int32_t *status);
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void setCounterPulseLengthMode(void* counter_pointer, double threshold, int32_t *status);
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int32_t getCounterSamplesToAverage(void* counter_pointer, int32_t *status);
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void setCounterSamplesToAverage(void* counter_pointer, int samplesToAverage, int32_t *status);
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void resetCounter(void* counter_pointer, int32_t *status);
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int32_t getCounter(void* counter_pointer, int32_t *status);
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double getCounterPeriod(void* counter_pointer, int32_t *status);
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void setCounterMaxPeriod(void* counter_pointer, double maxPeriod, int32_t *status);
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void setCounterUpdateWhenEmpty(void* counter_pointer, bool enabled, int32_t *status);
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bool getCounterStopped(void* counter_pointer, int32_t *status);
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bool getCounterDirection(void* counter_pointer, int32_t *status);
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void setCounterReverseDirection(void* counter_pointer, bool reverseDirection, int32_t *status);
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void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
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uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
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bool reverseDirection, int32_t *index, int32_t *status); // TODO: fix routing
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void freeEncoder(void* encoder_pointer, int32_t *status);
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void resetEncoder(void* encoder_pointer, int32_t *status);
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int32_t getEncoder(void* encoder_pointer, int32_t *status); // Raw value
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double getEncoderPeriod(void* encoder_pointer, int32_t *status);
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void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod, int32_t *status);
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bool getEncoderStopped(void* encoder_pointer, int32_t *status);
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bool getEncoderDirection(void* encoder_pointer, int32_t *status);
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void setEncoderReverseDirection(void* encoder_pointer, bool reverseDirection, int32_t *status);
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void setEncoderSamplesToAverage(void* encoder_pointer, uint32_t samplesToAverage,
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int32_t *status);
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uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
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void setEncoderIndexSource(void *encoder_pointer, uint32_t pin, bool analogTrigger, bool activeHigh,
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bool edgeSensitive, int32_t *status);
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uint16_t getLoopTiming(int32_t *status);
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void spiInitialize(uint8_t port, int32_t *status);
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int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size);
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int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
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int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count);
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void spiClose(uint8_t port);
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void spiSetSpeed(uint8_t port, uint32_t speed);
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void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high);
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void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status);
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void spiSetChipSelectActiveLow(uint8_t port, int32_t *status);
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int32_t spiGetHandle(uint8_t port);
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void spiSetHandle(uint8_t port, int32_t handle);
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void i2CInitialize(uint8_t port, int32_t *status);
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int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
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int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
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int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
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void i2CClose(uint8_t port);
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//// Float JNA Hack
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// double
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void setPWMRateIntHack(int rate, int32_t *status);
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void setPWMDutyCycleIntHack(void* pwmGenerator, int32_t dutyCycle, int32_t *status);
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}
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