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Switches PWM and DIO to Handles (#120)

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This commit is contained in:
Thad House
2016-06-30 21:39:09 -07:00
committed by Peter Johnson
parent 9b2af0d090
commit 3593ecb17e
37 changed files with 656 additions and 514 deletions
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97
wpilibj/src/athena/cpp/lib/DIOJNI.cpp
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@@ -28,78 +28,47 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: initializeDigitalPort
* Signature: (I)J;
* Method: initializeDIOPort
* Signature: (IZ)I;
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDigitalPort(
JNIEnv *env, jclass, jint id) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDigitalPort";
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort(
JNIEnv *env, jclass, jint id, jboolean input) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDIOPort";
DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalPortHandle)id;
DIOJNI_LOG(logDEBUG) << "Input = " << (jint)input;
int32_t status = 0;
void *dio = initializeDigitalPort((HalPortHandle)id, &status);
auto dio = initializeDIOPort((HalPortHandle)id, (uint8_t)input, &status);
DIOJNI_LOG(logDEBUG) << "Status = " << status;
DIOJNI_LOG(logDEBUG) << "DIO Ptr = " << dio;
DIOJNI_LOG(logDEBUG) << "DIO Handle = " << dio;
CheckStatus(env, status);
return (jlong)dio;
return (jint)dio;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: freeDigitalPort
* Signature: (J)V;
* Method: freeDIOPort
* Signature: (I)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDigitalPort(
JNIEnv *env, jclass, jlong id) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDigitalPort";
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void *)id;
freeDigitalPort((void *)id);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: allocateDIO
* Signature: (JZ)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDIO(
JNIEnv *env, jclass, jlong id, jboolean value) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDIO";
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void *)id;
int32_t status = 0;
jboolean returnValue = allocateDIO((void *)id, value, &status);
DIOJNI_LOG(logDEBUG) << "Status = " << status;
DIOJNI_LOG(logDEBUG) << "allocateDIOResult = " << (jint)returnValue;
CheckStatus(env, status);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: freeDIO
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIO(JNIEnv *env, jclass, jlong id) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIO";
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void *)id;
int32_t status = 0;
freeDIO((void *)id, &status);
DIOJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIOPort(
JNIEnv *env, jclass, jint id) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIOPort";
DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
freeDIOPort((HalDigitalHandle)id);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: setDIO
* Signature: (JS)V
* Signature: (IS)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO(
JNIEnv *env, jclass, jlong id, jshort value) {
JNIEnv *env, jclass, jint id, jshort value) {
// DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
// DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
// DIOJNI_LOG(logDEBUG) << "Value = " << value;
int32_t status = 0;
setDIO((void *)id, value, &status);
setDIO((HalDigitalHandle)id, value, &status);
// DIOJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -110,11 +79,11 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO(
* Signature: (J)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO(JNIEnv *env, jclass, jlong id) {
Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO(JNIEnv *env, jclass, jint id) {
// DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
// DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
jboolean returnValue = getDIO((void *)id, &status);
jboolean returnValue = getDIO((HalDigitalHandle)id, &status);
// DIOJNI_LOG(logDEBUG) << "Status = " << status;
// DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue;
CheckStatus(env, status);
@@ -128,11 +97,11 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO(JNIEnv *env, jclass, jlong id) {
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection(
JNIEnv *env, jclass, jlong id) {
JNIEnv *env, jclass, jint id) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIODirection (RR upd)";
// DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
jboolean returnValue = getDIODirection((void *)id, &status);
jboolean returnValue = getDIODirection((HalDigitalHandle)id, &status);
// DIOJNI_LOG(logDEBUG) << "Status = " << status;
DIOJNI_LOG(logDEBUG) << "getDIODirectionResult = " << (jint)returnValue;
CheckStatus(env, status);
@@ -145,12 +114,12 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection(
* Signature: (JD)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse(
JNIEnv *env, jclass, jlong id, jdouble value) {
JNIEnv *env, jclass, jint id, jdouble value) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI pulse (RR upd)";
// DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
// DIOJNI_LOG(logDEBUG) << "Value = " << value;
int32_t status = 0;
pulse((void *)id, value, &status);
pulse((HalDigitalHandle)id, value, &status);
DIOJNI_LOG(logDEBUG) << "Did it work? Status = " << status;
CheckStatus(env, status);
}
@@ -161,11 +130,11 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse(
* Signature: (J)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing(JNIEnv *env, jclass, jlong id) {
Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing(JNIEnv *env, jclass, jint id) {
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isPulsing (RR upd)";
// DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
jboolean returnValue = isPulsing((void *)id, &status);
jboolean returnValue = isPulsing((HalDigitalHandle)id, &status);
// DIOJNI_LOG(logDEBUG) << "Status = " << status;
DIOJNI_LOG(logDEBUG) << "isPulsingResult = " << (jint)returnValue;
CheckStatus(env, status);

10
wpilibj/src/athena/cpp/lib/DigitalGlitchFilterJNI.cpp
View File

@@ -17,11 +17,10 @@
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterSelect(
JNIEnv* env, jclass, jlong port_pointer, jint filter_index) {
JNIEnv* env, jclass, jint id, jint filter_index) {
int32_t status = 0;
void* digital_port_pointer = reinterpret_cast<void*>(port_pointer);
setFilterSelect(digital_port_pointer, filter_index, &status);
setFilterSelect((HalDigitalHandle)id, filter_index, &status);
CheckStatus(env, status);
}
@@ -31,11 +30,10 @@ Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterSelect(
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterSelect(
JNIEnv* env, jclass, jlong port_pointer) {
JNIEnv* env, jclass, jint id) {
int32_t status = 0;
void* digital_port_pointer = reinterpret_cast<void*>(port_pointer);
jint result = getFilterSelect(digital_port_pointer, &status);
jint result = getFilterSelect((HalDigitalHandle)id, &status);
CheckStatus(env, status);
return result;
}

71
wpilibj/src/athena/cpp/lib/PWMJNI.cpp
View File

@@ -28,48 +28,47 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: allocatePWMChannel
* Signature: (J)Z
* Method: initializePWMPort
* Signature: (I)I;
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWMChannel(
JNIEnv* env, jclass, jlong id) {
PWMJNI_LOG(logDEBUG) << "Calling DIOJNI allocatePWMChannel";
PWMJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort(
JNIEnv *env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI initializePWMPort";
PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalPortHandle)id;
int32_t status = 0;
jboolean returnValue = allocatePWMChannel((void*)id, &status);
auto pwm = initializePWMPort((HalPortHandle)id, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
PWMJNI_LOG(logDEBUG) << "allocatePWMChannelResult = " << (jint)returnValue;
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
CheckStatus(env, status);
return returnValue;
return (jint)pwm;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: freePWMChannel
* Signature: (J)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMChannel(
JNIEnv* env, jclass, jlong id) {
PWMJNI_LOG(logDEBUG) << "Calling DIOJNI freePWMChannel";
PWMJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: freeDIOPort
* Signature: (I)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMPort(
JNIEnv *env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMPort";
PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
freePWMChannel((void*)id, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
freePWMPort((HalDigitalHandle)id, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWM
* Signature: (JS)V
* Signature: (IS)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM(
JNIEnv* env, jclass, jlong id, jshort value) {
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << (void*)id;
JNIEnv* env, jclass, jint id, jshort value) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
setPWM((void*)id, value, &status);
setPWM((HalDigitalHandle)id, value, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -77,13 +76,13 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM(
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: getPWM
* Signature: (J)S
* Signature: (I)S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM(JNIEnv* env, jclass, jlong id) {
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM(JNIEnv* env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
jshort returnValue = getPWM((void*)id, &status);
jshort returnValue = getPWM((HalDigitalHandle)id, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
@@ -93,13 +92,13 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM(JNIEnv* env, jclass, jlong id) {
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: latchPWMZero
* Signature: (J)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero(
JNIEnv* env, jclass, jlong id) {
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
JNIEnv* env, jclass, jint id) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
int32_t status = 0;
latchPWMZero((void*)id, &status);
latchPWMZero((HalDigitalHandle)id, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -107,14 +106,14 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero(
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMPeriodScale
* Signature: (JI)V
* Signature: (II)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale(
JNIEnv* env, jclass, jlong id, jint value) {
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << (void*)id;
JNIEnv* env, jclass, jint id, jint value) {
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HalDigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
int32_t status = 0;
setPWMPeriodScale((void*)id, value, &status);
setPWMPeriodScale((HalDigitalHandle)id, value, &status);
PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}