5.17.3

build.gradle

@@ -9,7 +9,7 @@ plugins {
     id "eclipse"
 }
 
-ext.ctre_library_version = "5.17.2"
+ext.ctre_library_version = "5.17.3"
 ext.release_version = ctre_library_version + "_V0_RC"
 
 repositories {
@@ -24,7 +24,7 @@ repositories {
 }
 
 ext.allwpilibVersion = {
-    return '2020.1.2'
+    return '2020.2.2'
 }
 
 ext.getWpiUtilVersion = {

create_unit_tests.py

@@ -5,11 +5,10 @@
 import shutil
 
 
-JAVA_PATH = r'C:\Users\Public\wpilib\2020\jdk'
-LIB_VERSION = "5.17.2"
-LIB_HASH = "ed192c71cffd6eb083149d27e3386acd4f1225b0"
 
 def create_tests(jar_path):
+    print(r'C:\Users\PJ\.gradle\caches\modules-2\files-2.1\com.ctre.phoenix\wpiapi-java\5.17.2')
+    print(jar_path)
     output_dir = "build/tempCreateTests"
     if os.path.exists(output_dir):
         shutil.rmtree(output_dir)
@@ -18,10 +17,10 @@ def create_tests(jar_path):
     os.chdir(output_dir)
 
     classes = collections.defaultdict(list)
-    classes["talon"].append("com/ctre/phoenix/motorcontrol/can/TalonSRX.class")
-    classes["talon"].append("com/ctre/phoenix/motorcontrol/can/BaseMotorController.class")
-    classes["imu"].append("com/ctre/phoenix/sensors/PigeonIMU.class")
-    classes["canifier"].append("com/ctre/phoenix/CANifier.class")
+    classes["talon"].append(("com/ctre/phoenix/motorcontrol/can/TalonSRX.class", TALON_TEMPLATE_HEADER))
+    classes["talon"].append(("com/ctre/phoenix/motorcontrol/can/BaseMotorController.class", BASE_MOTOR_CONTROLLER_TEMPLATE_HEADER))
+    classes["imu"].append(("com/ctre/phoenix/sensors/PigeonIMU.class", PIGEON_TEMPLATE_HEADER))
+    classes["canifier"].append(("com/ctre/phoenix/CANifier.class", CANNIFIER_TEMPLATE_HEADER))
 
 
     unzip_args = []
@@ -30,15 +29,21 @@ def create_tests(jar_path):
     unzip_args.append(jar_path)
 
     for class_list in classes.values():
-        for clazz in class_list:
+        for clazz, _ in class_list:
             unzip_args.append(clazz)
 
-    print " ".join(unzip_args)
-    print subprocess.call(unzip_args)
+    print(subprocess.call(unzip_args))
+
+
+    known_classes = ["IMotorController", "SlotConfiguration", "FilterConfiguration", "TrajectoryPoint", "BufferedTrajectoryPointStream", "MotionProfileStatus", "Faults", "StickyFaults",
+                     "PinValues", "PWMChannel", "CANifierFaults", "CANifierStickyFaults", "CANifierConfiguration", 
+                     "PigeonIMU_Faults", "PigeonIMU_StickyFaults", "PigeonIMUConfiguration", "GeneralStatus"]
+
+
 
     for key in classes:
-        for clazz in classes[key]:
-            run_javap(key, clazz)
+        for clazz, header_template in classes[key]:
+            run_javap(key, clazz, known_classes, header_template)
 
 
 def prepare_variable_name(in_name):
@@ -53,20 +58,28 @@ def prepare_variable_name(in_name):
 
 
 
-def run_javap(objName, class_file):
+def run_javap(objName, class_file, known_classes, header_template):
 
-    print "File %s ---------------------" % class_file
+    print("File %s ---------------------" % class_file)
+    output_file = "Test%sFunctions" % class_file.split('/')[-1][:-6]
+    output_file = os.path.join("%s/src/test/java/com/snobot/simulator/ctre/%s.java" % (os.path.dirname(os.path.realpath(__file__)), output_file))
+    print(class_file)
+    print(output_file)
 
     javap_args = []
     javap_args.append(JAVA_PATH + r'\bin\javap')
     javap_args.append(class_file)
     p = subprocess.Popen(javap_args, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
 
-    stdout, _ = p.communicate()
+    stdout, stderr = p.communicate()
+    stdout = stdout.decode("utf-8")
+    print(stderr)
+    print("Returned with %s" % p.returncode)
 
     tests = ""
 
     for line in stdout.split("\n"):
+#         print(line)
         matches = re.findall("  public .* (.*)\((.*)\)", line)
         if len(matches) != 0:
             matches = matches[0]
@@ -88,23 +101,264 @@ def run_javap(objName, class_file):
                         if "$" in stripped_name:
                             stripped_name = stripped_name[stripped_name.rfind("$") + 1:]
 
-                        enumerations.append(stripped_name)
-                        arg_replacement.append(prepare_variable_name(stripped_name))
+                        if stripped_name in known_classes:
+                            arg_replacement.append("new %s()" % stripped_name)
+                        else:
+                            enumerations.append(stripped_name)
+                            arg_replacement.append(prepare_variable_name(stripped_name))
 
             if len(enumerations) == 0:
-                tests += "    %s.%s(%s);\n" % (objName, func, ", ".join(arg_replacement))
-            else:
-                tests += "    for({0} {1} : {0}.values())".format(enumerations[0], prepare_variable_name(enumerations[0])) + "\n    {\n"
                 tests += "        %s.%s(%s);\n" % (objName, func, ", ".join(arg_replacement))
-                tests += "    }\n"
+            else:
+                indent = "        "
+                tests += dump_enemerate(iter(enumerations), indent, ", ".join(arg_replacement), objName, func, arg_replacement)
 
+    with(open(output_file, 'w')) as f:
+        f.write(header_template)
+        f.write(tests) 
+        f.write("\n}\n")
+#     print tests
+
+def dump_enemerate(enumeration_iter, indent, args, objName, func, arg_replacement):
 
-    print tests
+    def safe_get_next(enumeration_iter):
+        try:
+            n = next(enumeration_iter)
+            return True, n
+        except StopIteration:
+            return False, None
+
+    tests = ""
+    valid, enum = safe_get_next(enumeration_iter)
+    if valid:
+        print(indent, "DUMPING ENUM ", enum, args)
+        var_name = prepare_variable_name(enum)
+        tests += "{indent}for ({enum} {var_name} : {enum}.values())".format(**locals()) 
+        tests += "\n%s{\n" % indent
+        tests += dump_enemerate(enumeration_iter, indent + "    ", args, objName, func, arg_replacement)
+        tests += "{indent}}}\n".format(**locals())
+    else:
+        tests += "%s%s.%s(%s);\n" % (indent, objName, func, ", ".join(arg_replacement))
+
+    return tests
+
+def dump_single_test(indent, objName, func, arg_replacement, enumerations):
+    tests = ""
+    args=", ".join(arg_replacement)
+    if len(enumerations) == 0:
+        tests += "        {objName}.{func}({args});\n".format(**locals())
+    else:
+
+        enumeration_iter = iter(enumerations)
+        dump_enemerate(enumeration_iter, indent, args, objName, func, arg_replacement)
+
+    return tests
 
 
+BASE_MOTOR_CONTROLLER_TEMPLATE_HEADER = """package com.snobot.simulator.ctre;
+
+import java.nio.ByteBuffer;
+
+import org.junit.jupiter.api.Test;
+
+import com.ctre.phoenix.ParamEnum;
+import com.ctre.phoenix.motion.BufferedTrajectoryPointStream;
+import com.ctre.phoenix.motion.MotionProfileStatus;
+import com.ctre.phoenix.motion.TrajectoryPoint;
+import com.ctre.phoenix.motorcontrol.ControlFrame;
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.DemandType;
+import com.ctre.phoenix.motorcontrol.Faults;
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.FollowerType;
+import com.ctre.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
+import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.RemoteFeedbackDevice;
+import com.ctre.phoenix.motorcontrol.RemoteLimitSwitchSource;
+import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
+import com.ctre.phoenix.motorcontrol.SensorTerm;
+import com.ctre.phoenix.motorcontrol.StatusFrame;
+import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
+import com.ctre.phoenix.motorcontrol.StickyFaults;
+import com.ctre.phoenix.motorcontrol.VelocityMeasPeriod;
+import com.ctre.phoenix.motorcontrol.can.FilterConfiguration;
+import com.ctre.phoenix.motorcontrol.can.SlotConfiguration;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration;
+import com.ctre.phoenix.motorcontrol.can.TalonSRXPIDSetConfiguration;
+
+public class TestBaseMotorControllerFunctions
+{
+    private CtreCallback mTestCallback = new CtreCallback()
+    {
+
+        @Override
+        public void callback(String aName, int aDeviceId, ByteBuffer aBuffer, int aCount)
+        {
+            System.out.println("Getting callback " + aName);
+        }
+    };
+    private CtreCallback mTestBuffTrajPointStreamCallback = new CtreCallback()
+    {
+
+        @Override
+        public void callback(String aName, int aDeviceId, ByteBuffer aBuffer, int aCount)
+        {
+            System.out.println("Getting TrajPoint callback " + aName);
+        }
+    };
+
+    @Test
+    public void testAllFunctions()
+    {
+        CtreJni.registerCanBuffTrajPointStreamCallback(mTestBuffTrajPointStreamCallback);
+
+        TalonSRX talon = new TalonSRX(0);
+        TalonSRX followTalon = new TalonSRX(1);
+        CtreJni.registerCanMotorCallback(mTestCallback);
+
+        TrajectoryPoint trajectoryPoint = new TrajectoryPoint();
+        trajectoryPoint.timeDur = 10;
+
+
+"""
+
+TALON_TEMPLATE_HEADER = """package com.snobot.simulator.ctre;
+
+import java.nio.ByteBuffer;
+
+import org.junit.jupiter.api.Test;
+
+import com.ctre.phoenix.motion.TrajectoryPoint;
+import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
+import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
+import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
+import com.ctre.phoenix.motorcontrol.VelocityMeasPeriod;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration;
+import com.ctre.phoenix.motorcontrol.can.TalonSRXPIDSetConfiguration;
+
+public class TestTalonSRXFunctions
+{
+    private CtreCallback mTestCallback = new CtreCallback()
+    {
+
+        @Override
+        public void callback(String aName, int aDeviceId, ByteBuffer aBuffer, int aCount)
+        {
+            System.out.println("Getting callback " + aName);
+        }
+    };
+    private CtreCallback mTestBuffTrajPointStreamCallback = new CtreCallback()
+    {
+
+        @Override
+        public void callback(String aName, int aDeviceId, ByteBuffer aBuffer, int aCount)
+        {
+            System.out.println("Getting TrajPoint callback " + aName);
+        }
+    };
+
+    @Test
+    public void testAllFunctions()
+    {
+        CtreJni.registerCanBuffTrajPointStreamCallback(mTestBuffTrajPointStreamCallback);
+
+        TalonSRX talon = new TalonSRX(0);
+        CtreJni.registerCanMotorCallback(mTestCallback);
+
+        TrajectoryPoint trajectoryPoint = new TrajectoryPoint();
+        trajectoryPoint.timeDur = 10;
+
+        //////////////////////////////////////////////
+
+"""
+
+PIGEON_TEMPLATE_HEADER = """package com.snobot.simulator.ctre;
+
+import java.nio.ByteBuffer;
+
+import org.junit.jupiter.api.Tag;
+import org.junit.jupiter.api.Test;
+
+import com.ctre.phoenix.ParamEnum;
+import com.ctre.phoenix.sensors.PigeonIMU;
+import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
+import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus;
+import com.ctre.phoenix.sensors.PigeonIMU.GeneralStatus;
+import com.ctre.phoenix.sensors.PigeonIMUConfiguration;
+import com.ctre.phoenix.sensors.PigeonIMU_ControlFrame;
+import com.ctre.phoenix.sensors.PigeonIMU_Faults;
+import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
+import com.ctre.phoenix.sensors.PigeonIMU_StickyFaults;
+
+@Tag("CTRE")
+public class TestPigeonIMUFunctions
+{
+    private CtreCallback mTestCallback = new CtreCallback()
+    {
+
+        @Override
+        public void callback(String aName, int aDeviceId, ByteBuffer aBuffer, int aCount)
+        {
+            System.out.println("Getting callback " + aName);
+        }
+    };
+
+    @Test
+    public void testAllFunctions()
+    {
+        PigeonIMU imu = new PigeonIMU(0);
+        CtreJni.registerCanPigeonImuCallback(mTestCallback);
+
+"""
+
+CANNIFIER_TEMPLATE_HEADER = """package com.snobot.simulator.ctre;
+
+import java.nio.ByteBuffer;
+
+import org.junit.jupiter.api.Test;
+
+import com.ctre.phoenix.CANifier;
+import com.ctre.phoenix.CANifier.GeneralPin;
+import com.ctre.phoenix.CANifier.LEDChannel;
+import com.ctre.phoenix.CANifier.PWMChannel;
+import com.ctre.phoenix.CANifier.PinValues;
+import com.ctre.phoenix.CANifierConfiguration;
+import com.ctre.phoenix.CANifierControlFrame;
+import com.ctre.phoenix.CANifierFaults;
+import com.ctre.phoenix.CANifierStatusFrame;
+import com.ctre.phoenix.CANifierStickyFaults;
+import com.ctre.phoenix.ParamEnum;
+import com.ctre.phoenix.VelocityPeriod;
+
+public class TestCanifierFunctions {
+
+    private CtreCallback mTestCallback = new CtreCallback() {
+
+        @Override
+        public void callback(String aName, int aDeviceId, ByteBuffer aBuffer, int aCount) {
+            System.out.println("Getting callback " + aName);
+        }
+    };
+
+    @Test
+    public void testAllFunctions()
+    {
+        CANifier canifier = new CANifier(0);
+        CtreJni.registerCanCanifierCallback(mTestCallback);
+
+"""
+
+JAVA_PATH = r'C:\Users\Public\wpilib\2020\jdk'
+LIB_VERSION = "5.17.3"
+LIB_HASH = "53b38914d133657ea058c86a97547dfd2035401d"
+ARTIFACT_PACKAGE = "com.ctre.phoenix"
+ARTIFACT_NAME = "api-java"
 create_tests(r'C:\Users\PJ\.gradle\caches\modules-2\files-2.1\{artifact_package}\{artifact_name}\{lib_version}\{lib_hash}/{artifact_name}-{lib_version}.jar'.format(
         lib_hash=LIB_HASH,
         lib_version=LIB_VERSION,
-        m2_dir=M2_DIRECTORY,
         artifact_package=ARTIFACT_PACKAGE,
         artifact_name=ARTIFACT_NAME))

ctre_source/cci/native/include/ctre/phoenix/cci/Logger_CCI.h

@@ -7,6 +7,6 @@
 extern "C" {
 	CCIEXPORT void c_Logger_Close();
 	CCIEXPORT void c_Logger_Open(int language, bool logDriverStation);
-	CCIEXPORT ctre::phoenix::ErrorCode c_Logger_Log(ctre::phoenix::ErrorCode code, const char* origin, int hierarchy, const char *stacktrace);
+	CCIEXPORT ctre::phoenix::ErrorCode c_Logger_Log(ctre::phoenix::ErrorCode code, const char* device, const char * func, int hierarchy, const char *stacktrace);
 	CCIEXPORT void c_Logger_Description(ctre::phoenix::ErrorCode code, std::string & shortDescripToFill, std::string & longDescripToFill);
 }