mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
dcbf02a1ec
The 2019 FPGA image switched the output of auto SPI from plain bytes to a sequence of 32-bit words (timestamp, then words with the byte values in the least significant byte of each word). In addition to changing the HAL and simulators to reflect this, add piecewise integration support to wpilibc/wpilibj SPI to take advantage of the timestamps and use it in the ADXRS450 gyro.
158 lines
4.7 KiB
C++
158 lines
4.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "SimulatorJNI.h"
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#include "BufferCallbackStore.h"
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#include "CallbackStore.h"
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#include "ConstBufferCallbackStore.h"
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#include "SpiReadAutoReceiveBufferCallbackStore.h"
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#include "edu_wpi_first_hal_sim_mockdata_SimulatorJNI.h"
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#include "hal/HAL.h"
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#include "hal/cpp/Log.h"
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#include "hal/handles/HandlesInternal.h"
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#include "mockdata/MockHooks.h"
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using namespace wpi::java;
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static JavaVM* jvm = nullptr;
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static JClass simValueCls;
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static JClass notifyCallbackCls;
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static JClass bufferCallbackCls;
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static JClass constBufferCallbackCls;
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static JClass spiReadAutoReceiveBufferCallbackCls;
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static jmethodID notifyCallbackCallback;
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static jmethodID bufferCallbackCallback;
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static jmethodID constBufferCallbackCallback;
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static jmethodID spiReadAutoReceiveBufferCallbackCallback;
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namespace sim {
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jint SimOnLoad(JavaVM* vm, void* reserved) {
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jvm = vm;
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JNIEnv* env;
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if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
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return JNI_ERR;
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simValueCls = JClass(env, "edu/wpi/first/hal/sim/SimValue");
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if (!simValueCls) return JNI_ERR;
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notifyCallbackCls = JClass(env, "edu/wpi/first/hal/sim/NotifyCallback");
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if (!notifyCallbackCls) return JNI_ERR;
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notifyCallbackCallback = env->GetMethodID(notifyCallbackCls, "callbackNative",
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"(Ljava/lang/String;IJD)V");
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if (!notifyCallbackCallback) return JNI_ERR;
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bufferCallbackCls = JClass(env, "edu/wpi/first/hal/sim/BufferCallback");
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if (!bufferCallbackCls) return JNI_ERR;
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bufferCallbackCallback = env->GetMethodID(bufferCallbackCls, "callback",
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"(Ljava/lang/String;[BI)V");
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if (!bufferCallbackCallback) return JNI_ERR;
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constBufferCallbackCls =
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JClass(env, "edu/wpi/first/hal/sim/ConstBufferCallback");
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if (!constBufferCallbackCls) return JNI_ERR;
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constBufferCallbackCallback = env->GetMethodID(
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constBufferCallbackCls, "callback", "(Ljava/lang/String;[BI)V");
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if (!constBufferCallbackCallback) return JNI_ERR;
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spiReadAutoReceiveBufferCallbackCls =
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JClass(env, "edu/wpi/first/hal/sim/SpiReadAutoReceiveBufferCallback");
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if (!spiReadAutoReceiveBufferCallbackCls) return JNI_ERR;
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spiReadAutoReceiveBufferCallbackCallback =
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env->GetMethodID(spiReadAutoReceiveBufferCallbackCls, "callback",
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"(Ljava/lang/String;[II)I");
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if (!spiReadAutoReceiveBufferCallbackCallback) return JNI_ERR;
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InitializeStore();
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InitializeBufferStore();
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InitializeConstBufferStore();
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InitializeSpiBufferStore();
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return JNI_VERSION_1_6;
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}
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void SimOnUnload(JavaVM* vm, void* reserved) {
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JNIEnv* env;
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if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
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return;
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simValueCls.free(env);
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notifyCallbackCls.free(env);
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bufferCallbackCls.free(env);
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constBufferCallbackCls.free(env);
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spiReadAutoReceiveBufferCallbackCls.free(env);
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jvm = nullptr;
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}
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JavaVM* GetJVM() { return jvm; }
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jmethodID GetNotifyCallback() { return notifyCallbackCallback; }
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jmethodID GetBufferCallback() { return bufferCallbackCallback; }
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jmethodID GetConstBufferCallback() { return constBufferCallbackCallback; }
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jmethodID GetSpiReadAutoReceiveBufferCallback() {
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return spiReadAutoReceiveBufferCallbackCallback;
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}
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} // namespace sim
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_sim_mockdata_SimulatorJNI
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* Method: waitForProgramStart
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_sim_mockdata_SimulatorJNI_waitForProgramStart
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(JNIEnv*, jclass)
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{
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HALSIM_WaitForProgramStart();
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}
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/*
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* Class: edu_wpi_first_hal_sim_mockdata_SimulatorJNI
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* Method: setProgramStarted
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_sim_mockdata_SimulatorJNI_setProgramStarted
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(JNIEnv*, jclass)
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{
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HALSIM_SetProgramStarted();
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}
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/*
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* Class: edu_wpi_first_hal_sim_mockdata_SimulatorJNI
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* Method: restartTiming
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_sim_mockdata_SimulatorJNI_restartTiming
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(JNIEnv*, jclass)
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{
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HALSIM_RestartTiming();
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}
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/*
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* Class: edu_wpi_first_hal_sim_mockdata_SimulatorJNI
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* Method: resetHandles
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_sim_mockdata_SimulatorJNI_resetHandles
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(JNIEnv*, jclass)
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{
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hal::HandleBase::ResetGlobalHandles();
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}
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} // extern "C"
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