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

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

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

#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"

#include "HAL/DIO.h"
#include "HAL/PWM.h"
#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:    initializeDIOPort
 * Signature: (IZ)I;
 */
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort(
    JNIEnv *env, jclass, jint id, jboolean input) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDIOPort";
  DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
  DIOJNI_LOG(logDEBUG) << "Input = " << (jint)input;
  int32_t status = 0;
  auto dio = HAL_InitializeDIOPort((HAL_PortHandle)id, (uint8_t)input, &status);
  DIOJNI_LOG(logDEBUG) << "Status = " << status;
  DIOJNI_LOG(logDEBUG) << "DIO Handle = " << dio;
  CheckStatus(env, status);
  return (jint)dio;
}

/*
* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
* Method:    freeDIOPort
* Signature: (I)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIOPort(
    JNIEnv *env, jclass, jint id) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIOPort";
  DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  HAL_FreeDIOPort((HAL_DigitalHandle)id);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    setDIO
 * Signature: (IS)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO(
    JNIEnv *env, jclass, jint id, jshort value) {
  // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  // DIOJNI_LOG(logDEBUG) << "Value = " << value;
  int32_t status = 0;
  HAL_SetDIO((HAL_DigitalHandle)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, jint id) {
  // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  jboolean returnValue = HAL_GetDIO((HAL_DigitalHandle)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, jint id) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIODirection (RR upd)";
  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  jboolean returnValue = HAL_GetDIODirection((HAL_DigitalHandle)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, jint id, jdouble value) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI pulse (RR upd)";
  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  // DIOJNI_LOG(logDEBUG) << "Value = " << value;
  int32_t status = 0;
  HAL_Pulse((HAL_DigitalHandle)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, jint id) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isPulsing (RR upd)";
  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  jboolean returnValue = HAL_IsPulsing((HAL_DigitalHandle)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 = HAL_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 = HAL_GetLoopTiming(&status);
  DIOJNI_LOG(logDEBUG) << "Status = " << status;
  DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
  CheckStatus(env, status);
  return returnValue;
}


/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    allocateDigitalPWM
 * Signature: ()I
 */
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDigitalPWM(JNIEnv* env, jclass) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDigitalPWM";
  int32_t status = 0;
  auto pwm = HAL_AllocateDigitalPWM(&status);
  DIOJNI_LOG(logDEBUG) << "Status = " << status;
  DIOJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
  CheckStatus(env, status);
  return (jint)pwm;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    freeDigitalPWM
 * Signature: (I)V
 */
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDigitalPWM(JNIEnv* env, jclass, jint id) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDigitalPWM";
  DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
  int32_t status = 0;
  HAL_FreeDigitalPWM((HAL_DigitalPWMHandle)id, &status);
  DIOJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    setDigitalPWMRate
 * Signature: (D)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMRate(
    JNIEnv* env, jclass, jdouble value) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMRate";
  DIOJNI_LOG(logDEBUG) << "Rate= " << value;
  int32_t status = 0;
  HAL_SetDigitalPWMRate(value, &status);
  DIOJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    setDigitalPWMDutyCycle
 * Signature: (ID)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMDutyCycle(
    JNIEnv* env, jclass, jint id, jdouble value) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMDutyCycle";
  DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
  DIOJNI_LOG(logDEBUG) << "DutyCycle= " << value;
  int32_t status = 0;
  HAL_SetDigitalPWMDutyCycle((HAL_DigitalPWMHandle)id, value, &status);
  DIOJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
 * Method:    setDigitalPWMOutputChannel
 * Signature: (II)V
 */
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMOutputChannel(
    JNIEnv* env, jclass, jint id, jint value) {
  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMOutputChannel";
  DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
  DIOJNI_LOG(logDEBUG) << "Pin= " << value;
  int32_t status = 0;
  HAL_SetDigitalPWMOutputChannel((HAL_DigitalPWMHandle)id, (uint32_t)value, &status);
  DIOJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
}

}  // extern "C"