mirror of
https://github.com/wpilibsuite/allwpilib
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[hal] Implement stub mockdata on RoboRIO (#2575)
This makes it much more user-friendly to use simulation classes without needing to ifdef for C++ to avoid linker errors or be very careful about construction to avoid runtime errors in Java.
This commit is contained in:
Peter Johnson
490
hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
Normal file
490
hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
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@@ -0,0 +1,490 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 FIRST. 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 <jni.h>
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#include "CallbackStore.h"
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#include "edu_wpi_first_hal_simulation_EncoderDataJNI.h"
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#include "hal/simulation/EncoderData.h"
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using namespace hal;
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: registerInitializedCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerInitializedCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterEncoderInitializedCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: cancelInitializedCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelInitializedCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelEncoderInitializedCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: getInitialized
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getInitialized
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetEncoderInitialized(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: setInitialized
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setInitialized
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(JNIEnv*, jclass, jint index, jboolean value)
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{
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HALSIM_SetEncoderInitialized(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: registerCountCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerCountCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterEncoderCountCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: cancelCountCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelCountCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelEncoderCountCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: getCount
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getCount
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetEncoderCount(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: setCount
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setCount
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(JNIEnv*, jclass, jint index, jint value)
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{
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HALSIM_SetEncoderCount(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: registerPeriodCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerPeriodCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterEncoderPeriodCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: cancelPeriodCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelPeriodCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelEncoderPeriodCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: getPeriod
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getPeriod
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetEncoderPeriod(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: setPeriod
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setPeriod
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(JNIEnv*, jclass, jint index, jdouble value)
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{
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HALSIM_SetEncoderPeriod(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: registerResetCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerResetCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterEncoderResetCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: cancelResetCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelResetCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelEncoderResetCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: getReset
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getReset
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetEncoderReset(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: setReset
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setReset
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(JNIEnv*, jclass, jint index, jboolean value)
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{
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HALSIM_SetEncoderReset(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: registerMaxPeriodCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerMaxPeriodCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterEncoderMaxPeriodCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: cancelMaxPeriodCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelMaxPeriodCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelEncoderMaxPeriodCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: getMaxPeriod
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getMaxPeriod
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetEncoderMaxPeriod(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: setMaxPeriod
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setMaxPeriod
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(JNIEnv*, jclass, jint index, jdouble value)
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{
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HALSIM_SetEncoderMaxPeriod(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: registerDirectionCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerDirectionCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterEncoderDirectionCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: cancelDirectionCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelDirectionCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelEncoderDirectionCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: getDirection
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getDirection
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetEncoderDirection(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: setDirection
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setDirection
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(JNIEnv*, jclass, jint index, jboolean value)
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{
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HALSIM_SetEncoderDirection(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: registerReverseDirectionCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerReverseDirectionCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterEncoderReverseDirectionCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: cancelReverseDirectionCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelReverseDirectionCallback
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(JNIEnv* env, jclass, jint index, jint handle)
|
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelEncoderReverseDirectionCallback);
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}
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|
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
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* Method: getReverseDirection
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getReverseDirection
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetEncoderReverseDirection(index);
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}
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|
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/*
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
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* Method: setReverseDirection
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setReverseDirection
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(JNIEnv*, jclass, jint index, jboolean value)
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{
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HALSIM_SetEncoderReverseDirection(index, value);
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}
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|
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/*
|
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: registerSamplesToAverageCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerSamplesToAverageCallback
|
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
|
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterEncoderSamplesToAverageCallback);
|
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}
|
||||
|
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/*
|
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* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: cancelSamplesToAverageCallback
|
||||
* Signature: (II)V
|
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*/
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JNIEXPORT void JNICALL
|
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Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelSamplesToAverageCallback
|
||||
(JNIEnv* env, jclass, jint index, jint handle)
|
||||
{
|
||||
return sim::FreeCallback(env, handle, index,
|
||||
&HALSIM_CancelEncoderSamplesToAverageCallback);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: getSamplesToAverage
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getSamplesToAverage
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
return HALSIM_GetEncoderSamplesToAverage(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: setSamplesToAverage
|
||||
* Signature: (II)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setSamplesToAverage
|
||||
(JNIEnv*, jclass, jint index, jint value)
|
||||
{
|
||||
HALSIM_SetEncoderSamplesToAverage(index, value);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: setDistance
|
||||
* Signature: (ID)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setDistance
|
||||
(JNIEnv*, jclass, jint index, jdouble value)
|
||||
{
|
||||
HALSIM_SetEncoderDistance(index, value);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: getDistance
|
||||
* Signature: (I)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getDistance
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
return HALSIM_GetEncoderDistance(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: setRate
|
||||
* Signature: (ID)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setRate
|
||||
(JNIEnv*, jclass, jint index, jdouble value)
|
||||
{
|
||||
HALSIM_SetEncoderRate(index, value);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: getRate
|
||||
* Signature: (I)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getRate
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
return HALSIM_GetEncoderRate(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: resetData
|
||||
* Signature: (I)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_EncoderDataJNI_resetData
|
||||
(JNIEnv*, jclass, jint index)
|
||||
{
|
||||
HALSIM_ResetEncoderData(index);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
|
||||
* Method: findForChannel
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_EncoderDataJNI_findForChannel
|
||||
(JNIEnv*, jclass, jint channel)
|
||||
{
|
||||
return HALSIM_FindEncoderForChannel(channel);
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
Reference in New Issue
Block a user