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Moves Gyros to the HAL (#131)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
b036bf2e34
commit
0a983eeeb8
214
wpilibj/src/athena/cpp/lib/AnalogGyroJNI.cpp
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214
wpilibj/src/athena/cpp/lib/AnalogGyroJNI.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <assert.h>
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#include <jni.h>
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#include "Log.h"
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#include "edu_wpi_first_wpilibj_hal_AnalogGyroJNI.h"
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#include "HAL/AnalogGyro.h"
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#include "HALUtil.h"
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// set the logging level
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TLogLevel analogGyroJNILogLevel = logWARNING;
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#define ANALOGGYROJNI_LOG(level) \
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if (level > analogGyroJNILogLevel) \
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; \
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else \
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Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: initializeAnalogGyro
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_initializeAnalogGyro(
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JNIEnv* env, jclass, jint id) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI initializeAnalogGyro";
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ANALOGGYROJNI_LOG(logDEBUG) << "Analog Input Handle = " << (HalAnalogInputHandle)id;
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int32_t status = 0;
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HalGyroHandle handle = initializeAnalogGyro((HalAnalogInputHandle)id, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << handle;
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return (jint) handle;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: setupAnalogGyro
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setupAnalogGyro(
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JNIEnv* env, jclass, jint id) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setupAnalogGyro";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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int32_t status = 0;
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setupAnalogGyro((HalGyroHandle)id, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: freeAnalogGyro
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_freeAnalogGyro(
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JNIEnv* env, jclass, jint id) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI freeAnalogGyro";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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freeAnalogGyro((HalGyroHandle)id);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: setAnalogGyroParameters
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* Signature: (IFFI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroParameters(
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JNIEnv* env, jclass, jint id, jfloat vPDPS, jfloat offset, jint center) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroParameters";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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int32_t status = 0;
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setAnalogGyroParameters((HalGyroHandle)id, vPDPS, offset, center, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: setAnalogGyroVoltsPerDegreePerSecond
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* Signature: (IF)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroVoltsPerDegreePerSecond(
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JNIEnv* env, jclass, jint id, jfloat vPDPS) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroVoltsPerDegreePerSecond";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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ANALOGGYROJNI_LOG(logDEBUG) << "vPDPS = " << vPDPS;
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int32_t status = 0;
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setAnalogGyroVoltsPerDegreePerSecond((HalGyroHandle)id, vPDPS, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: resetAnalogGyro
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_resetAnalogGyro(
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JNIEnv* env, jclass, jint id) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI resetAnalogGyro";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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int32_t status = 0;
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resetAnalogGyro((HalGyroHandle)id, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: calibrateAnalogGyro
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_calibrateAnalogGyro(
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JNIEnv* env, jclass, jint id) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI calibrateAnalogGyro";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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int32_t status = 0;
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calibrateAnalogGyro((HalGyroHandle)id, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: setAnalogGyroDeadband
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* Signature: (IF)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroDeadband(
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JNIEnv* env, jclass, jint id, jfloat deadband) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroDeadband";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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int32_t status = 0;
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setAnalogGyroDeadband((HalGyroHandle)id, deadband, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: getAnalogGyroAngle
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* Signature: (I)F
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*/
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JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroAngle(
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JNIEnv* env, jclass, jint id) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroAngle";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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int32_t status = 0;
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jfloat value = getAnalogGyroAngle((HalGyroHandle)id, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
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CheckStatus(env, status);
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return value;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: getAnalogGyroRate
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroRate(
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JNIEnv* env, jclass, jint id) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroRate";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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int32_t status = 0;
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jdouble value = getAnalogGyroRate((HalGyroHandle)id, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
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CheckStatus(env, status);
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return value;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: getAnalogGyroOffset
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* Signature: (I)F
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*/
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JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroOffset(
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JNIEnv* env, jclass, jint id) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroOffset";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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int32_t status = 0;
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jfloat value = getAnalogGyroOffset((HalGyroHandle)id, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
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CheckStatus(env, status);
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return value;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogGyroJNI
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* Method: getAnalogGyroCenter
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroCenter(
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JNIEnv* env, jclass, jint id) {
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ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroCenter";
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ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HalGyroHandle)id;
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int32_t status = 0;
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jint value = getAnalogGyroCenter((HalGyroHandle)id, &status);
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ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
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ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
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CheckStatus(env, status);
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return value;
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}
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} // extern "C"
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