Add FPGA Duty Cycle support (#1987)

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

@@ -486,18 +486,31 @@ Java_edu_wpi_first_hal_AnalogJNI_getAccumulatorOutput
 /*
  * Class:     edu_wpi_first_hal_AnalogJNI
  * Method:    initializeAnalogTrigger
- * Signature: (ILjava/lang/Object;)I
+ * Signature: (I)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogTrigger
-  (JNIEnv* env, jclass, jint id, jobject index)
+  (JNIEnv* env, jclass, jint id)
 {
-  jint* indexHandle =
-      reinterpret_cast<jint*>(env->GetDirectBufferAddress(index));
   int32_t status = 0;
-  HAL_AnalogTriggerHandle analogTrigger = HAL_InitializeAnalogTrigger(
-      (HAL_AnalogInputHandle)id, reinterpret_cast<int32_t*>(indexHandle),
-      &status);
+  HAL_AnalogTriggerHandle analogTrigger =
+      HAL_InitializeAnalogTrigger((HAL_AnalogInputHandle)id, &status);
+  CheckStatus(env, status);
+  return (jint)analogTrigger;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AnalogJNI
+ * Method:    initializeAnalogTriggerDutyCycle
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogTriggerDutyCycle
+  (JNIEnv* env, jclass, jint id)
+{
+  int32_t status = 0;
+  HAL_AnalogTriggerHandle analogTrigger =
+      HAL_InitializeAnalogTriggerDutyCycle((HAL_DutyCycleHandle)id, &status);
   CheckStatus(env, status);
   return (jint)analogTrigger;
 }
@@ -531,6 +544,21 @@ Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerLimitsRaw
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_AnalogJNI
+ * Method:    setAnalogTriggerLimitsDutyCycle
+ * Signature: (IDD)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerLimitsDutyCycle
+  (JNIEnv* env, jclass, jint id, jdouble lower, jdouble upper)
+{
+  int32_t status = 0;
+  HAL_SetAnalogTriggerLimitsDutyCycle((HAL_AnalogTriggerHandle)id, lower, upper,
+                                      &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_AnalogJNI
  * Method:    setAnalogTriggerLimitsVoltage
@@ -622,4 +650,20 @@ Java_edu_wpi_first_hal_AnalogJNI_getAnalogTriggerOutput
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_AnalogJNI
+ * Method:    getAnalogTriggerFPGAIndex
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_AnalogJNI_getAnalogTriggerFPGAIndex
+  (JNIEnv* env, jclass, jint id)
+{
+  int32_t status = 0;
+  auto val =
+      HAL_GetAnalogTriggerFPGAIndex((HAL_AnalogTriggerHandle)id, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
 }  // extern "C"

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

@@ -0,0 +1,126 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. 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 <jni.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_DutyCycleJNI.h"
+#include "hal/DutyCycle.h"
+
+using namespace frc;
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    initialize
+ * Signature: (II)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_initialize
+  (JNIEnv* env, jclass, jint digitalSourceHandle, jint analogTriggerType)
+{
+  int32_t status = 0;
+  auto handle = HAL_InitializeDutyCycle(
+      static_cast<HAL_Handle>(digitalSourceHandle),
+      static_cast<HAL_AnalogTriggerType>(analogTriggerType), &status);
+  CheckStatus(env, status);
+  return handle;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_free
+  (JNIEnv*, jclass, jint handle)
+{
+  HAL_FreeDutyCycle(static_cast<HAL_DutyCycleHandle>(handle));
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getFrequency
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getFrequency
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleFrequency(
+      static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getOutput
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getOutput
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal =
+      HAL_GetDutyCycleOutput(static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getOutputRaw
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getOutputRaw
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleOutputRaw(
+      static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getOutputScaleFactor
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getOutputScaleFactor
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleOutputScaleFactor(
+      static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getFPGAIndex
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getFPGAIndex
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleFPGAIndex(
+      static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+}  // extern "C"