[hal] Add a unified PCM object (#3331)

hal/src/main/native/cpp/jni/CTREPCMJNI.cpp

@@ -0,0 +1,340 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_CTREPCMJNI.h"
+#include "hal/CTREPCM.h"
+#include "hal/Ports.h"
+#include "hal/handles/HandlesInternal.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    initialize
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_initialize
+  (JNIEnv* env, jclass, jint module)
+{
+  int32_t status = 0;
+  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto handle = HAL_InitializeCTREPCM(module, stack.c_str(), &status);
+  CheckStatusForceThrow(env, status);
+  return handle;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_free
+  (JNIEnv* env, jclass, jint handle)
+{
+  HAL_FreeCTREPCM(handle);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    checkSolenoidChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_checkSolenoidChannel
+  (JNIEnv*, jclass, jint channel)
+{
+  return HAL_CheckCTREPCMSolenoidChannel(channel);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getCompressor
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressor
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressor(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    setClosedLoopControl
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_setClosedLoopControl
+  (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+  int32_t status = 0;
+  HAL_SetCTREPCMClosedLoopControl(handle, enabled, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getClosedLoopControl
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getClosedLoopControl
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMClosedLoopControl(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getPressureSwitch
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMPressureSwitch(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorCurrent
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorCurrent(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getCompressorCurrentTooHighFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorCurrentTooHighFault
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorCurrentTooHighFault(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getCompressorCurrentTooHighStickyFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorCurrentTooHighStickyFault
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result =
+      HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getCompressorShortedFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorShortedFault
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorShortedFault(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getCompressorShortedStickyFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorShortedStickyFault
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorShortedStickyFault(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getCompressorNotConnectedFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorNotConnectedFault
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMCompressorNotConnectedFault(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getCompressorNotConnectedStickyFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getCompressorNotConnectedStickyFault
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result =
+      HAL_GetCTREPCMCompressorNotConnectedStickyFault(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getSolenoids
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getSolenoids
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMSolenoids(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    setSolenoids
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_setSolenoids
+  (JNIEnv* env, jclass, jint handle, jint mask, jint value)
+{
+  int32_t status = 0;
+  HAL_SetCTREPCMSolenoids(handle, mask, value, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getSolenoidDisabledList
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getSolenoidDisabledList
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMSolenoidDisabledList(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getSolenoidVoltageFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getSolenoidVoltageFault
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMSolenoidVoltageFault(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    getSolenoidVoltageStickyFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_getSolenoidVoltageStickyFault
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetCTREPCMSolenoidVoltageStickyFault(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    clearAllStickyFaults
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_clearAllStickyFaults
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  HAL_ClearAllCTREPCMStickyFaults(handle, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    fireOneShot
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_fireOneShot
+  (JNIEnv* env, jclass, jint handle, jint index)
+{
+  int32_t status = 0;
+  HAL_FireCTREPCMOneShot(handle, index, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CTREPCMJNI
+ * Method:    setOneShotDuration
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CTREPCMJNI_setOneShotDuration
+  (JNIEnv* env, jclass, jint handle, jint index, jint durMs)
+{
+  int32_t status = 0;
+  HAL_SetCTREPCMOneShotDuration(handle, index, durMs, &status);
+  CheckStatus(env, status, false);
+}
+}  // extern "C"