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allwpilib/hal
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James Kuszmaul 0b7bb41b22 This commit adds JNI bindings for the C++ Notifier. 
The bindings only wrap the HAL interface, rather than the entire C++ Notifier,
as I ran into issues trying to wrap the whole Notifier (all the existing
bindings only wrap HAL components, so wrapping stuff in :wpilibc is
unexplored). As such, the new edu.wpi.first.wpilibj.Notifier is just a
re-implementation of the wpilibc/.../Notifier.cpp.

The purpose of doing this bindings is to allow Java users a better option
for running tasks which require good timing (such as control loops). The
previous method used java.util.Timer to schedule a task, causing various
issues. Although this update does improve things, Java loop timing is still
substantially worse than that of C++, and, even worse, if Java decides to call
the garbage collector at the wrong time then the loop can be delayed by
multiple milliseconds and the next iteration will be shorter to account for it
(although this particular behavior could be updated).

A few notes on individual components:
-the HAL Task.hpp and Task.cpp were modified due to compilation/linkage
 issues with the JNI bindings. Nothing substantive changed.
-NotifierJNI was added to the build files for gradle.
-HALUtil was modified to include a function for getting the length of a C
 pointer, rather than relying on it being 32-bit.

Change-Id: I966512d8a82c2a438ed8c8bbcc6cdc6ed186d0f2
2015-06-02 16:05:03 -04:00
..
include
This commit adds JNI bindings for the C++ Notifier.
2015-06-02 16:05:03 -04:00
lib/Athena
This commit adds JNI bindings for the C++ Notifier.
2015-06-02 16:05:03 -04:00
build.gradle
Gradle Build
2015-05-20 16:22:17 -04:00
CMakeLists.txt
HAL: build shared library as well as static library.
2014-10-03 19:13:34 -07:00
README.org
Initial checkin of unified hierarchy of WPILib 2015
2013-12-15 18:30:16 -05:00

README.org

Purpose

The HAL is a hardware abstraction layer that provides a uniform interface that can be used to access a number of primarily I/O features in the underlying platform. The features include:

  • Analog input, accumulation and triggers
  • PWM, Relay and Solenoid output
  • Digital input and output
  • I2C and SPI communication
  • Encoders and counters
  • Interrupts and Notifiers

The initial goal is to allow a higher level like WPILib to support both the CRIO and the upcoming Athena platform only by changing which version of the HAL it's running on.

Editing

You can always use any text editor and then build with Maven. There are also eclipse project files so that it can be edited in the same eclipse environment that teams develop with. For the AthenaXX, this can be found in the root directory of this project. It imports as an FRC Robot C++ Eclipse project. The Windriver project can be imported from the src directory.

Building with Maven

There are multiple build targets that the HAL supports. Instructions for setting up the environment and building each of these is described below. Current targets are listed below:

  • All: All of the following targets.
  • include: The header files for the HAL.
  • Azalea: CRIO C++ build.
  • AthenaXX: Athena Dos Equis C++ build.
  • AthenaXXJava: Athena Dos Equis Java build with auto-generated JNA wrappers.

Output from each build target is placed in the directory target/<target-name>. So, the Azalea output is placed in target/Azalea.

All

Note: Windows only due to the Windriver requirement.

  1. Ensure that C:\WindRiver\gnu\3.4.4-vxworks-6.3\x86-win32\bin is on the system path so that ccppc and arppc can be accessed.
  2. Set the environment variable WIND_BASE to C:\WindRiver\vxworks-6.3.
  3. Ensure that $HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/ is on the system path so that arm-none-linux-gnueabi-g++ and arm-none-linux-gnueabi-ar can be accessed.
  4. Checkout and install the NI-Libraries from Github: https://github.com/first/NI-Libraries.
  5. Run the following maven command: mvn clean install
  6. Success

include

  1. cd into the include directory: cd include
  2. Run the following maven command: mvn clean install
  3. Success

Azalea

Note: Windows only.

  1. Ensure that C:\WindRiver\gnu\3.4.4-vxworks-6.3\x86-win32\bin is on the system path so that ccppc and arppc can be accessed.
  2. Set the environment variable WIND_BASE to C:\WindRiver\vxworks-6.3.
  3. cd into the AthenaXX directory: cd AthenaXX
  4. cd into the Azalea directory: cd Azalea
  5. Run the following maven command: mvn clean install
  6. Success

AthenaXX

  1. Ensure that $HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/ is on the system path so that arm-none-linux-gnueabi-g++ and arm-none-linux-gnueabi-ar can be accessed.
  2. Install the include target.
  3. cd into the AthenaXX directory: cd AthenaXX
  4. Run the following maven command: mvn clean install
  5. Success

AthenaXXJava

  1. Ensure that $HOME/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/ is on the system path so that arm-none-linux-gnueabi-g++ and arm-none-linux-gnueabi-ar can be accessed.
  2. Checkout and install the NI-Libraries from Github: https://github.com/first/NI-Libraries.
  3. Install the include target.
  4. cd into the AthenaXXJava directory: cd AthenaXXJava
  5. Run the following maven command: mvn clean install
  6. Success
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