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

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

#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"

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

// set the logging level
TLogLevel pwmJNILogLevel = logWARNING;

#define PWMJNI_LOG(level) \
    if (level > pwmJNILogLevel) ; \
    else Log().Get(level)

extern "C" {

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    allocatePWMChannel
 * Signature: (J)Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWMChannel
  (JNIEnv * env, jclass, jlong id)
{
	PWMJNI_LOG(logDEBUG) << "Calling DIOJNI allocatePWMChannel";
	PWMJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
	int32_t status = 0;
	jboolean returnValue = allocatePWMChannel((void*)id, &status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	PWMJNI_LOG(logDEBUG) << "allocatePWMChannelResult = " << (jint)returnValue;
	CheckStatus(env, status);
	return returnValue;
}

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

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWM
 * Signature: (JS)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM
  (JNIEnv * env, jclass, jlong id, jshort value)
{
	PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << (void*)id;
	PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
	int32_t status = 0;
	setPWM((void*)id, value, &status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    getPWM
 * Signature: (J)S
 */
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM
  (JNIEnv * env, jclass, jlong id)
{
	PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
	int32_t status = 0;
	jshort returnValue = getPWM((void*)id, &status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
	CheckStatus(env, status);
	return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    latchPWMZero
 * Signature: (J)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero
  (JNIEnv * env, jclass, jlong id)
{
	PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
	int32_t status = 0;
	latchPWMZero((void*)id, &status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMPeriodScale
 * Signature: (JI)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale
  (JNIEnv * env, jclass, jlong id, jint value)
{
	PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << (void*)id;
	PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
	int32_t status = 0;
	setPWMPeriodScale((void*)id, value, &status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    allocatePWM
 * Signature: ()J
 */
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWM
  (JNIEnv * env, jclass)
{
	PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWM";
	int32_t status = 0;
	void* pwm =  allocatePWM(&status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << pwm;
	CheckStatus(env, status);
	return (jlong)pwm;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    freePWM
 * Signature: (J)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWM
  (JNIEnv * env, jclass, jlong id)
{
	PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWM";
	PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
	int32_t status = 0;
	freePWM((void*)id, &status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMRate
 * Signature: (D)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRate
  (JNIEnv * env, jclass, jdouble value)
{
	PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRate";
	PWMJNI_LOG(logDEBUG) << "Rate= " << value;
	int32_t status = 0;
	setPWMRate(value, &status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMDutyCycle
 * Signature: (JD)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycle
  (JNIEnv * env, jclass, jlong id, jdouble value)
{
	PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycle";
	PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
	PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
	int32_t status = 0;
	setPWMDutyCycle((void*)id, value, &status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMOutputChannel
 * Signature: (JI)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannel
  (JNIEnv * env, jclass, jlong id, jint value)
{
	PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannel";
	PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
	PWMJNI_LOG(logDEBUG) << "Pin= " << value;
	int32_t status = 0;
	setPWMOutputChannel((void*)id, (uint32_t) value, &status);
	PWMJNI_LOG(logDEBUG) << "Status = " << status;
	CheckStatus(env, status);
}

}  // extern "C"