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https://github.com/wpilibsuite/allwpilib
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Version 4 Image
Updated the HAL library to work with the new version 3 headers from NI. There were multiple changes in this verison: more PWM generators were added, so the functions for setting PWM signals have been updated. UserWatchdog has been removed, and Watchdog has been removed from WPILib to accomodate for this. Digital selection has been consolidated to one function in the NI headers, so this has been updated in the HAL. New SPI and I2C libraries have been added, but need to be implemented in the HAL before they will work.
This commit is contained in:
Fredric Silberberg
committed by
Brad Miller
Brad Miller
parent
b1ef116104
commit
4546abc8c5
@@ -119,7 +119,6 @@ this default location, specify a value for the 'embeddedJDKHome' property at the
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<javahClassName>edu.wpi.first.wpilibj.hal.PWMJNI</javahClassName>
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<javahClassName>edu.wpi.first.wpilibj.hal.RelayJNI</javahClassName>
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<javahClassName>edu.wpi.first.wpilibj.hal.SPIJNI</javahClassName>
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<javahClassName>edu.wpi.first.wpilibj.hal.WatchdogJNI</javahClassName>
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</javahClassNames>
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<!-- enable additional javah interface in dependencies list -->
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<!-- javahSearchJNIFromDependencies>true</javahSearchJNIFromDependencies -->
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@@ -1,208 +0,0 @@
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#include <jni.h>
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#include <assert.h>
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#include "Log.h"
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#include "edu_wpi_first_wpilibj_hal_WatchdogJNI.h"
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#include "HAL/Watchdog.h"
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// set the logging level
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TLogLevel watchdogJNILogLevel = logDEBUG;
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#define WATCHDOGJNI_LOG(level) \
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if (level > watchdogJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: initializeWatchdog
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* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_initializeWatchdog
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(JNIEnv * env, jclass, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog initializeWatchdog";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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WATCHDOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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jlong statusCapacity = env->GetDirectBufferCapacity(status);
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WATCHDOGJNI_LOG(logDEBUG) << "Status Capacity = " << statusCapacity;
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void** watchdogPtr = (void**)new unsigned char[4];
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*watchdogPtr = initializeWatchdog(statusPtr);
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *watchdogPtr;
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return env->NewDirectByteBuffer( watchdogPtr, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: cleanWatchdog
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_cleanWatchdog
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog cleanWatchdog";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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cleanWatchdog( *javaId, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: feedWatchdog
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_feedWatchdog
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(JNIEnv * env, jclass, jobject id, jobject status )
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog feedWatchdog";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jbyte returnValue = feedWatchdog( *javaId, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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WATCHDOGJNI_LOG(logDEBUG) << "feedWatchdog return = " << (short)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: killWatchdog
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_killWatchdog
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog killWatchdog";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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killWatchdog( *javaId, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: getWatchdogLastFed
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
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*/
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_getWatchdogLastFed
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog getWatchdogLastFed";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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double returnValue = getWatchdogLastFed( *javaId, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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WATCHDOGJNI_LOG(logDEBUG) << "LastFed = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: getWatchdogExpiration
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
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*/
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_getWatchdogExpiration
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog getWatchdogExpiration";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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double returnValue = getWatchdogExpiration( *javaId, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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WATCHDOGJNI_LOG(logDEBUG) << "Expiration = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: setWatchdogExpiration
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* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_setWatchdogExpiration
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(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog setWatchdogExpiration";
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WATCHDOGJNI_LOG(logDEBUG) << "Expiration = " << value;
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setWatchdogExpiration( *javaId, value, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: getWatchdogEnabled
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_getWatchdogEnabled
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog getWatchdogEnabled";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jbyte returnValue = getWatchdogEnabled( *javaId, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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WATCHDOGJNI_LOG(logDEBUG) << "Enabled = " << (short)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: setWatchdogEnabled
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* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_setWatchdogEnabled
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(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog setWatchdogEnabled";
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WATCHDOGJNI_LOG(logDEBUG) << "Enabled = " << (short)value;
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setWatchdogEnabled( *javaId, value, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: isWatchdogAlive
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_isWatchdogAlive
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog isWatchdogAlive";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jbyte returnValue = isWatchdogAlive( *javaId, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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WATCHDOGJNI_LOG(logDEBUG) << "IsAlive = " << (short)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
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* Method: isWatchdogSystemActive
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_isWatchdogSystemActive
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog isWatchdogSystemActive";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jbyte returnValue = isWatchdogSystemActive( *javaId, statusPtr );
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WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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WATCHDOGJNI_LOG(logDEBUG) << "IsActive = " << (short)returnValue;
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return returnValue;
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}
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