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Changes DigitalSource API for HAL ease of use (#144)

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This commit is contained in:
Thad House
2016-07-07 21:43:55 -07:00
committed by Peter Johnson
parent 7597e3c274
commit 4a3e3a6324
38 changed files with 398 additions and 336 deletions
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43
wpilibj/src/athena/cpp/lib/EncoderJNI.cpp
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@@ -29,29 +29,27 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: initializeEncoder
* Signature: (BIZBIZZI)I
* Signature: (IIIIZI)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
JNIEnv* env, jclass, jbyte port_a_module, jint port_a_pin,
jboolean port_a_analog_trigger, jbyte port_b_module, jint port_b_pin,
jboolean port_b_analog_trigger, jboolean reverseDirection, jint encodingType) {
JNIEnv* env, jclass, jint digitalSourceHandleA, jint analogTriggerTypeA,
jint digitalSourceHandleB, jint analogTriggerTypeB, jboolean reverseDirection,
jint encodingType) {
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = "
<< (jint)port_a_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = "
<< (jint)port_b_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Source Handle A = " << digitalSourceHandleA;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type A = "
<< analogTriggerTypeA;
ENCODERJNI_LOG(logDEBUG) << "Source Handle B = " << digitalSourceHandleB;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type B = "
<< analogTriggerTypeB;
ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
ENCODERJNI_LOG(logDEBUG) << "EncodingType = " << encodingType;
int32_t status = 0;
auto encoder = initializeEncoder(
port_a_module, port_a_pin, port_a_analog_trigger, port_b_module,
port_b_pin, port_b_analog_trigger, reverseDirection,
(EncoderEncodingType)encodingType, &status);
(HalHandle)digitalSourceHandleA, (AnalogTriggerType)analogTriggerTypeA,
(HalHandle)digitalSourceHandleB, (AnalogTriggerType)analogTriggerTypeB,
reverseDirection, (EncoderEncodingType)encodingType, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "ENCODER Handle = " << encoder;
@@ -336,20 +334,21 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage(
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderIndexSource
* Signature: (IIZI)V
* Signature: (IIII)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource(
JNIEnv* env, jclass, jint id, jint pin, jboolean analogTrigger,
jint type) {
JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType, jint type) {
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HalEncoderHandle)id;
ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = "
<< (analogTrigger ? "true" : "false");
ENCODERJNI_LOG(logDEBUG) << "Source Handle = " << digitalSourceHandle;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type = "
<< analogTriggerType;
ENCODERJNI_LOG(logDEBUG) << "IndexingType = " << type;
int32_t status = 0;
setEncoderIndexSource((HalEncoderHandle)id, pin, analogTrigger,
setEncoderIndexSource((HalEncoderHandle)id, (HalHandle)digitalSourceHandle,
(AnalogTriggerType)analogTriggerType,
(EncoderIndexingType)type, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);