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

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

#include "edu_wpi_first_wpilibj_hal_EncoderJNI.h"

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

// set the logging level
TLogLevel encoderJNILogLevel = logWARNING;

#define ENCODERJNI_LOG(level) \
    if (level > encoderJNILogLevel) ; \
    else Log().Get(level)

extern "C" {

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    initializeEncoder
 * Signature: (BIZBIZZLjava/nio/IntBuffer;)J
 */
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder
  (JNIEnv * env, jclass, jbyte port_a_module, jint port_a_pin, jboolean port_a_analog_trigger, jbyte port_b_module, jint port_b_pin, jboolean port_b_analog_trigger, jboolean reverseDirection, jobject index)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
	ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
	ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
	ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = " << (jint)port_a_analog_trigger;
	ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
	ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
	ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = " << (jint)port_b_analog_trigger;
	ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
	jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
	ENCODERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
	int32_t status = 0;
	void* encoder = initializeEncoder(port_a_module, port_a_pin, port_a_analog_trigger,
							  port_b_module, port_b_pin, port_b_analog_trigger,
							  reverseDirection, indexPtr, &status);

	ENCODERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	ENCODERJNI_LOG(logDEBUG) << "ENCODER Ptr = " << encoder;
	CheckStatus(env, status);
	return (jlong)encoder;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    freeEncoder
 * Signature: (J)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder
  (JNIEnv * env, jclass, jlong id)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	freeEncoder((void*)id, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    resetEncoder
 * Signature: (J)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder
  (JNIEnv * env, jclass, jlong id)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	resetEncoder((void*)id, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    getEncoder
 * Signature: (J)I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder
  (JNIEnv * env, jclass, jlong id)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	jint returnValue = getEncoder((void*)id, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " <<  returnValue;
	CheckStatus(env, status);
	return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    getEncoderPeriod
 * Signature: (J)D
 */
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod
  (JNIEnv * env, jclass, jlong id)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	double returnValue = getEncoderPeriod((void*)id, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodResult = " <<  returnValue;
	CheckStatus(env, status);
	return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    setEncoderMaxPeriod
 * Signature: (JD)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod
  (JNIEnv * env, jclass, jlong id, jdouble value)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	setEncoderMaxPeriod((void*)id, value, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    getEncoderStopped
 * Signature: (J)Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped
  (JNIEnv * env, jclass, jlong id)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	jboolean returnValue = getEncoderStopped((void*)id, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	ENCODERJNI_LOG(logDEBUG) << "getEncoderStoppedResult = " <<  returnValue;
	CheckStatus(env, status);
	return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    getEncoderDirection
 * Signature: (J)Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection
  (JNIEnv * env, jclass, jlong id)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	jboolean returnValue = getEncoderDirection((void*)id, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	ENCODERJNI_LOG(logDEBUG) << "getEncoderDirectionResult = " <<  returnValue;
	CheckStatus(env, status);
	return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    setEncoderReverseDirection
 * Signature: (JZ)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection
  (JNIEnv * env, jclass, jlong id, jboolean value)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	setEncoderReverseDirection((void*)id, value, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    setEncoderSamplesToAverage
 * Signature: (JI)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage
  (JNIEnv * env, jclass, jlong id, jint value)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	setEncoderSamplesToAverage((void*)id, value, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	if (status == PARAMETER_OUT_OF_RANGE) {
		ThrowBoundaryException(env, value, 1, 127);
		return;
	}
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    getEncoderSamplesToAverage
 * Signature: (J)I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage
  (JNIEnv * env, jclass, jlong id)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	int32_t status = 0;
	jint returnValue = getEncoderSamplesToAverage((void*)id, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " <<  returnValue;
	CheckStatus(env, status);
	return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
 * Method:    setEncoderIndexSource
 * Signature: (JIZZZ)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource
  (JNIEnv * env, jclass, jlong id, jint pin, jboolean analogTrigger, jboolean activeHigh, jboolean edgeSensitive)
{
	ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
	ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
	ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
	ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = " << (analogTrigger?"true":"false");
	ENCODERJNI_LOG(logDEBUG) << "Active High = " << (activeHigh?"true":"false");
	ENCODERJNI_LOG(logDEBUG) << "Edge Sensitive = " << (edgeSensitive?"true":"false");
	int32_t status = 0;
	setEncoderIndexSource((void*)id, pin, analogTrigger, activeHigh, edgeSensitive, &status);
	ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

}  // extern "C"