allwpilib/wpilibj/src/athena/cpp/lib/PWMJNI.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 "HAL/cpp/Log.h"

#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"

#include "HAL/DIO.h"
#include "HAL/PWM.h"
#include "HAL/Ports.h"
#include "HALUtil.h"
#include "HAL/handles/HandlesInternal.h"

using namespace frc;

// 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:    initializePWMPort
 * Signature: (I)I;
 */
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort(
    JNIEnv *env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI initializePWMPort";
  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
  int32_t status = 0;
  auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, &status);
  PWMJNI_LOG(logDEBUG) << "Status = " << status;
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
  CheckStatusRange(env, status, 0, HAL_GetNumPWMChannels(),
                   hal::getPortHandleChannel((HAL_PortHandle)id));
  return (jint)pwm;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    checkPWMChannel
 * Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_checkPWMChannel(
    JNIEnv *env, jclass, jint channel) {
  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI checkPWMChannel";
  PWMJNI_LOG(logDEBUG) << "Channel = " << channel;
  return HAL_CheckPWMChannel(channel);
}

/*
* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
* Method:    freeDIOPort
* Signature: (I)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMPort(
    JNIEnv *env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMPort";
  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  HAL_FreePWMPort((HAL_DigitalHandle)id, &status);
  CheckStatus(env, status);
}

/*
* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
* Method:    setPWMConfigRaw
* Signature: (IIIIII)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfigRaw(
    JNIEnv *env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm, 
    jint centerPwm, jint deadbandMinPwm, jint minPwm) {
  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfigRaw";
  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm, 
               deadbandMinPwm, minPwm, &status);
  CheckStatus(env, status);
}

/*
* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
* Method:    setPWMConfig
* Signature: (IDDDDD)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfig(
    JNIEnv *env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm, 
    jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm) {
  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfig";
  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm, 
               deadbandMinPwm, minPwm, &status);
  CheckStatus(env, status);
}

/*
* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
* Method:    getPWMConfigRaw
* Signature: (I)Ledu/wpi/first/wpilibj/PWMConfigDataResult;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw(
    JNIEnv *env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI getPWMConfigRaw";
  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  int32_t maxPwm = 0;
  int32_t deadbandMaxPwm = 0;
  int32_t centerPwm = 0;
  int32_t deadbandMinPwm = 0;
  int32_t minPwm = 0;
  HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm, &centerPwm, 
               &deadbandMinPwm, &minPwm, &status);
  CheckStatus(env, status);
  return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
                                   deadbandMinPwm, minPwm);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMEliminateDeadband
 * Signature: (IZ)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDeadband(
    JNIEnv* env, jclass, jint id, jboolean value) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  HAL_SetPWMEliminateDeadband((HAL_DigitalHandle)id, value, &status);
  PWMJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    getPWMEliminateDeadband
 * Signature: (I)Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM(
    JNIEnv* env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  auto val = HAL_GetPWMEliminateDeadband((HAL_DigitalHandle)id, &status);
  PWMJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
  return (jboolean)val;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMRaw
 * Signature: (IS)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw(
    JNIEnv* env, jclass, jint id, jshort value) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
  int32_t status = 0;
  HAL_SetPWMRaw((HAL_DigitalHandle)id, value, &status);
  PWMJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMSpeed
 * Signature: (IF)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed(
    JNIEnv* env, jclass, jint id, jfloat value) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
  int32_t status = 0;
  HAL_SetPWMSpeed((HAL_DigitalHandle)id, value, &status);
  PWMJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMPosition
 * Signature: (IF)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition(
    JNIEnv* env, jclass, jint id, jfloat value) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
  int32_t status = 0;
  HAL_SetPWMPosition((HAL_DigitalHandle)id, value, &status);
  PWMJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    getPWMRaw
 * Signature: (I)S
 */
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw(
    JNIEnv* env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)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:    getPWMSpeed
 * Signature: (I)F
 */
JNIEXPORT jfloat JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed(
    JNIEnv* env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  jfloat returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)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:    getPWMPosition
 * Signature: (I)F
 */
JNIEXPORT jfloat JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition(
    JNIEnv* env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  jfloat returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)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:    setPWMDisabled
 * Signature: (I)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled(
    JNIEnv* env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
  HAL_SetPWMDisabled((HAL_DigitalHandle)id, &status);
  PWMJNI_LOG(logDEBUG) << "Status = " << status;
  CheckStatus(env, status);
}

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

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

}  // extern "C"