mirror of
https://github.com/wpilibsuite/allwpilib
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28a41e4ac2
Currently, the JNI bindings are generated by Swig and, unfortunately, the interface available through Java is lower-level than that for C++ (ie, direct access to the ctre code through the JNI bindings, rather than an interface on top of that), but it does work. See eclipse plugins for some short samples. There are a couple of short unit tests as placeholders. Still needs some cleaning up. Change-Id: Iae2f74693ca6b80bf7d5aca0625c66aa6e0b7f85 Added quick samples for C++/Java CAN Talon stuff. Change-Id: I3acb27d6fd5568d88931e0d678c09973d436735d
246 lines
6.6 KiB
C++
246 lines
6.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2013. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#ifdef __vxworks
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#include <vxWorks.h>
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#else
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#include <stdint.h>
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#endif
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#include <cmath>
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#include "Accelerometer.hpp"
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#include "Analog.hpp"
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#include "Compressor.hpp"
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#include "Digital.hpp"
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#include "Solenoid.hpp"
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#include "Notifier.hpp"
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#include "Interrupts.hpp"
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#include "Errors.hpp"
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#include "PDP.hpp"
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#include "Power.hpp"
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#include "SerialPort.hpp"
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#include "Utilities.hpp"
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#include "Semaphore.hpp"
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#include "Task.hpp"
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#define HAL_IO_CONFIG_DATA_SIZE 32
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#define HAL_SYS_STATUS_DATA_SIZE 44
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#define HAL_USER_STATUS_DATA_SIZE (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
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#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
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#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
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#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
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namespace HALUsageReporting
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{
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enum tResourceType
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{
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kResourceType_Controller,
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kResourceType_Module,
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kResourceType_Language,
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kResourceType_CANPlugin,
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kResourceType_Accelerometer,
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kResourceType_ADXL345,
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kResourceType_AnalogChannel,
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kResourceType_AnalogTrigger,
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kResourceType_AnalogTriggerOutput,
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kResourceType_CANJaguar,
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kResourceType_Compressor,
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kResourceType_Counter,
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kResourceType_Dashboard,
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kResourceType_DigitalInput,
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kResourceType_DigitalOutput,
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kResourceType_DriverStationCIO,
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kResourceType_DriverStationEIO,
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kResourceType_DriverStationLCD,
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kResourceType_Encoder,
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kResourceType_GearTooth,
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kResourceType_Gyro,
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kResourceType_I2C,
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kResourceType_Framework,
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kResourceType_Jaguar,
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kResourceType_Joystick,
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kResourceType_Kinect,
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kResourceType_KinectStick,
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kResourceType_PIDController,
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kResourceType_Preferences,
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kResourceType_PWM,
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kResourceType_Relay,
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kResourceType_RobotDrive,
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kResourceType_SerialPort,
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kResourceType_Servo,
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kResourceType_Solenoid,
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kResourceType_SPI,
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kResourceType_Task,
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kResourceType_Ultrasonic,
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kResourceType_Victor,
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kResourceType_Button,
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kResourceType_Command,
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kResourceType_AxisCamera,
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kResourceType_PCVideoServer,
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kResourceType_SmartDashboard,
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kResourceType_Talon,
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kResourceType_HiTechnicColorSensor,
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kResourceType_HiTechnicAccel,
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kResourceType_HiTechnicCompass,
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kResourceType_SRF08,
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};
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enum tInstances
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{
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kLanguage_LabVIEW = 1,
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kLanguage_CPlusPlus = 2,
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kLanguage_Java = 3,
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kLanguage_Python = 4,
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kCANPlugin_BlackJagBridge = 1,
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kCANPlugin_2CAN = 2,
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kFramework_Iterative = 1,
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kFramework_Simple = 2,
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kRobotDrive_ArcadeStandard = 1,
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kRobotDrive_ArcadeButtonSpin = 2,
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kRobotDrive_ArcadeRatioCurve = 3,
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kRobotDrive_Tank = 4,
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kRobotDrive_MecanumPolar = 5,
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kRobotDrive_MecanumCartesian = 6,
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kDriverStationCIO_Analog = 1,
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kDriverStationCIO_DigitalIn = 2,
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kDriverStationCIO_DigitalOut = 3,
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kDriverStationEIO_Acceleration = 1,
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kDriverStationEIO_AnalogIn = 2,
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kDriverStationEIO_AnalogOut = 3,
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kDriverStationEIO_Button = 4,
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kDriverStationEIO_LED = 5,
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kDriverStationEIO_DigitalIn = 6,
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kDriverStationEIO_DigitalOut = 7,
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kDriverStationEIO_FixedDigitalOut = 8,
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kDriverStationEIO_PWM = 9,
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kDriverStationEIO_Encoder = 10,
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kDriverStationEIO_TouchSlider = 11,
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kADXL345_SPI = 1,
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kADXL345_I2C = 2,
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kCommand_Scheduler = 1,
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kSmartDashboard_Instance = 1,
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};
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}
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struct HALControlWord {
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uint32_t enabled : 1;
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uint32_t autonomous : 1;
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uint32_t test :1;
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uint32_t eStop : 1;
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uint32_t fmsAttached:1;
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uint32_t dsAttached:1;
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uint32_t control_reserved : 26;
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};
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enum HALAllianceStationID {
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kHALAllianceStationID_red1,
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kHALAllianceStationID_red2,
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kHALAllianceStationID_red3,
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kHALAllianceStationID_blue1,
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kHALAllianceStationID_blue2,
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kHALAllianceStationID_blue3,
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};
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/* The maximum number of axes that will be stored in a single HALJoystickAxes
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struct. This is used for allocating buffers, not bounds checking, since
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there are usually less axes in practice. */
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static constexpr size_t kMaxJoystickAxes = 12;
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static constexpr size_t kMaxJoystickPOVs = 12;
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struct HALJoystickAxes {
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uint16_t count;
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int16_t axes[kMaxJoystickAxes];
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};
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struct HALJoystickPOVs {
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uint16_t count;
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int16_t povs[kMaxJoystickPOVs];
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};
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struct HALJoystickButtons {
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uint32_t buttons;
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uint8_t count;
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};
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inline float intToFloat(int value)
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{
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return (float)value;
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}
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inline int floatToInt(float value)
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{
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return round(value);
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}
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extern "C"
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{
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extern const uint32_t dio_kNumSystems;
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extern const uint32_t solenoid_kNumDO7_0Elements;
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extern const uint32_t interrupt_kNumSystems;
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extern const uint32_t kSystemClockTicksPerMicrosecond;
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void* getPort(uint8_t pin);
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void* getPortWithModule(uint8_t module, uint8_t pin);
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const char* getHALErrorMessage(int32_t code);
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uint16_t getFPGAVersion(int32_t *status);
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uint32_t getFPGARevision(int32_t *status);
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uint32_t getFPGATime(int32_t *status);
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bool getFPGAButton(int32_t *status);
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int HALSetErrorData(const char *errors, int errorsLength, int wait_ms);
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int HALGetControlWord(HALControlWord *data);
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int HALGetAllianceStation(enum HALAllianceStationID *allianceStation);
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int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes);
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int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs);
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int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons);
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int HALGetMatchTime(float *matchTime);
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void HALSetNewDataSem(pthread_cond_t *);
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bool HALGetSystemActive(int32_t *status);
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bool HALGetBrownedOut(int32_t *status);
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int HALInitialize(int mode = 0);
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void HALNetworkCommunicationObserveUserProgramStarting();
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void HALNetworkCommunicationObserveUserProgramDisabled();
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void HALNetworkCommunicationObserveUserProgramAutonomous();
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void HALNetworkCommunicationObserveUserProgramTeleop();
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void HALNetworkCommunicationObserveUserProgramTest();
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uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, uint8_t context = 0,
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const char *feature = NULL);
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}
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// TODO: HACKS for now...
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extern "C"
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{
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void NumericArrayResize();
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void RTSetCleanupProc();
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void EDVR_CreateReference();
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void Occur();
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}
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