[hal, wpilib] Add REV PneumaticsHub (#3600)

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

@@ -0,0 +1,191 @@
+// 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_REVPHJNI.h"
+#include "hal/Ports.h"
+#include "hal/REVPH.h"
+#include "hal/handles/HandlesInternal.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    initialize
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_initialize
+  (JNIEnv* env, jclass, jint module)
+{
+  int32_t status = 0;
+  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto handle = HAL_InitializeREVPH(module, stack.c_str(), &status);
+  CheckStatusForceThrow(env, status);
+  return handle;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_free
+  (JNIEnv* env, jclass, jint handle)
+{
+  HAL_FreeREVPH(handle);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    checkSolenoidChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_checkSolenoidChannel
+  (JNIEnv*, jclass, jint channel)
+{
+  return HAL_CheckREVPHSolenoidChannel(channel);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getCompressor
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getCompressor
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressor(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    setClosedLoopControl
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControl
+  (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControl(handle, enabled, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getClosedLoopControl
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getClosedLoopControl
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHClosedLoopControl(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getPressureSwitch
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHPressureSwitch(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getAnalogPressure
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getAnalogPressure
+  (JNIEnv* env, jclass, jint handle, jint channel)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHAnalogPressure(handle, channel, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getCompressorCurrent
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressorCurrent(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getSolenoids
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getSolenoids
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHSolenoids(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    setSolenoids
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setSolenoids
+  (JNIEnv* env, jclass, jint handle, jint mask, jint value)
+{
+  int32_t status = 0;
+  HAL_SetREVPHSolenoids(handle, mask, value, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    fireOneShot
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_fireOneShot
+  (JNIEnv* env, jclass, jint handle, jint index, jint durMs)
+{
+  int32_t status = 0;
+  HAL_FireREVPHOneShot(handle, index, durMs, &status);
+  CheckStatus(env, status, false);
+}
+
+}  // extern "C"