mirror of
https://github.com/wpilibsuite/allwpilib
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6307d41002
This avoids a direct byte buffer allocation on every read/write/transaction for the byte[] variants. Also change spiGetAccumulatorOutput() to directly set the AccumulatorResult object, avoiding a ByteBuffer allocation. Changes HAL SPI interfaces to use const for dataToSend. Fixes #733.
72 lines
2.5 KiB
C++
72 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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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#ifndef HALUTIL_H
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#define HALUTIL_H
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#include <stdint.h>
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#include <jni.h>
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extern JavaVM *jvm;
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struct HAL_MatchInfo;
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namespace frc {
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void ReportError(JNIEnv *env, int32_t status, bool doThrow = true);
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void ThrowError(JNIEnv *env, int32_t status, int32_t minRange, int32_t maxRange,
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int32_t requestedValue);
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inline bool CheckStatus(JNIEnv *env, int32_t status, bool doThrow = true) {
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if (status != 0) ReportError(env, status, doThrow);
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return status == 0;
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}
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inline bool CheckStatusRange(JNIEnv *env, int32_t status, int32_t minRange,
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int32_t maxRange, int32_t requestedValue) {
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if (status != 0) ThrowError(env, status, minRange, maxRange, requestedValue);
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return status == 0;
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}
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inline bool CheckStatusForceThrow(JNIEnv *env, int32_t status) {
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if (status != 0) ThrowError(env, status, 0, 0, 0);
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return status == 0;
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}
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void ReportCANError(JNIEnv *env, int32_t status, int32_t message_id);
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inline bool CheckCANStatus(JNIEnv *env, int32_t status, int32_t message_id) {
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if (status != 0) ReportCANError(env, status, message_id);
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return status == 0;
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}
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void ThrowIllegalArgumentException(JNIEnv *env, const char *msg);
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void ThrowBoundaryException(JNIEnv *env, double value, double lower,
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double upper);
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jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
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int32_t deadbandMaxPwm, int32_t centerPwm,
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int32_t deadbandMinPwm, int32_t minPwm);
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void SetCanStatusObject(JNIEnv *env, jobject canStatus,
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float percentBusUtilization,
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uint32_t busOffCount, uint32_t txFullCount,
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uint32_t receiveErrorCount,
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uint32_t transmitErrorCount);
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void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
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const HAL_MatchInfo& matchInfo);
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void SetAccumulatorResultObject(JNIEnv* env, jobject accumulatorResult,
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int64_t value, int64_t count);
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} // namespace frc
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#endif // HALUTIL_H
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