allwpilib/wpilibj/src/athena/cpp/lib/DIOJNI.cpp

#include <jni.h>
#include <assert.h>
#include "Log.hpp"

#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"

#include "HAL/Digital.hpp"
#include "HALUtil.h"

// set the logging level
TLogLevel dioJNILogLevel = logWARNING;

#define DIOJNI_LOG(level) \
    if (level > dioJNILogLevel) ; \
    else Log().Get(level)

extern "C" {

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    initializeDigitalPort
 * Signature: (J)J;
 */
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDigitalPort
  (JNIEnv * env, jclass, jlong id)
{
	DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDigitalPort";
	DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
	int32_t status = 0;
	void* dio = initializeDigitalPort((void*)id, &status);
	DIOJNI_LOG(logDEBUG) << "Status = " << status;
	DIOJNI_LOG(logDEBUG) << "DIO Ptr = " << dio;
	CheckStatus(env, status);
	return (jlong)dio;
}

/*
* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
* Method:    freeDigitalPort
* Signature: (J)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDigitalPort
(JNIEnv * env, jclass, jlong id)
{
 DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDigitalPort";
 DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
 freeDigitalPort((void*)id);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    allocateDIO
 * Signature: (JZ)Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDIO
  (JNIEnv * env, jclass, jlong id, jboolean value)
{
	DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDIO";
	DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
	int32_t status = 0;
	jboolean returnValue = allocateDIO((void*)id, value, &status);
	DIOJNI_LOG(logDEBUG) << "Status = " << status;
	DIOJNI_LOG(logDEBUG) << "allocateDIOResult = " << (jint)returnValue;
	CheckStatus(env, status);
	return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    freeDIO
 * Signature: (J)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIO
  (JNIEnv * env, jclass, jlong id)
{
	DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIO";
	DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
	int32_t status = 0;
	freeDIO((void*)id, &status);
	DIOJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    setDIO
 * Signature: (JS)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO
  (JNIEnv *env, jclass, jlong id, jshort value)
{
	//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
	//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
	//DIOJNI_LOG(logDEBUG) << "Value = " << value;
	int32_t status = 0;
	setDIO((void*)id, value, &status);
	//DIOJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    getDIO
 * Signature: (J)Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO
  (JNIEnv * env, jclass, jlong id)
{
	//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
	//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
	int32_t status = 0;
	jboolean returnValue = getDIO((void*)id, &status);
	//DIOJNI_LOG(logDEBUG) << "Status = " << status;
	//DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue;
	CheckStatus(env, status);
	return returnValue;

}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    getDIODirection
 * Signature: (J)Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection
  (JNIEnv *env, jclass, jlong id)
{
	DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIODirection (RR upd)";
	//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
	int32_t status = 0;
	jboolean returnValue = getDIODirection((void*)id, &status);
	//DIOJNI_LOG(logDEBUG) << "Status = " << status;
	DIOJNI_LOG(logDEBUG) << "getDIODirectionResult = " << (jint)returnValue;
	CheckStatus(env, status);
	return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    pulse
 * Signature: (JD)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse
  (JNIEnv *env, jclass, jlong id, jdouble value)
{
	DIOJNI_LOG(logDEBUG) << "Calling DIOJNI pulse (RR upd)";
	//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
	//DIOJNI_LOG(logDEBUG) << "Value = " << value;
	int32_t status = 0;
	pulse((void*)id, value, &status);
	DIOJNI_LOG(logDEBUG) << "Did it work? Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    isPulsing
 * Signature: (J)Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing
  (JNIEnv *env, jclass, jlong id)
{
	DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isPulsing (RR upd)";
	//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
	int32_t status = 0;
	jboolean returnValue = isPulsing((void*)id, &status);
	//DIOJNI_LOG(logDEBUG) << "Status = " << status;
	DIOJNI_LOG(logDEBUG) << "isPulsingResult = " << (jint)returnValue;
	CheckStatus(env, status);
	return returnValue;


}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    isAnyPulsing
 * Signature: ()Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing
  (JNIEnv *env, jclass)
{
	DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isAnyPulsing (RR upd)";
	int32_t status = 0;
	jboolean returnValue = isAnyPulsing( &status );
	//DIOJNI_LOG(logDEBUG) << "Status = " << status;
	DIOJNI_LOG(logDEBUG) << "isAnyPulsingResult = " << (jint)returnValue;
	CheckStatus(env, status);
	return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    getLoopTiming
 * Signature: ()S
 */
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming
  (JNIEnv * env, jclass)
{
	DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
	int32_t status = 0;
	jshort returnValue = getLoopTiming( &status );
	DIOJNI_LOG(logDEBUG) << "Status = " << status;
	DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
	CheckStatus(env, status);
	return returnValue;

}

}  // extern "C"