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Merge "Adds the Accumulator code to the AnalogJNI.cpp Disables the debug printlines from the AnalogJNI.cpp file"

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This commit is contained in:
Brad Miller (WPI)
2014-05-22 10:47:29 -07:00
committed by Gerrit Code Review
parent 04b6afb1cb 6d8629a8b3
commit 609fbfd8f6
2 changed files with 98 additions and 30 deletions
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9
hal/lib/Athena/Analog.cpp
View File

@@ -10,8 +10,6 @@
#include "NetworkCommunication/AICalibration.h"
#include "NetworkCommunication/LoadOut.h"
#include <stdio.h> // TODO: remove printf for debugging
static const long kTimebase = 40000000; ///< 40 MHz clock
static const long kDefaultOversampleBits = 0;
static const long kDefaultAverageBits = 7;
@@ -540,7 +538,6 @@ uint32_t getAccumulatorCount(void* analog_port_pointer, int32_t *status) {
* @param count Pointer to the number of accumulation cycles.
*/
void getAccumulatorOutput(void* analog_port_pointer, int64_t *value, uint32_t *count, int32_t *status) {
printf("[HAL] getAccumulatorOutput()\n");
AnalogPort* port = (AnalogPort*) analog_port_pointer;
if (port->accumulator == NULL) {
*status = NULL_PARAMETER;
@@ -551,12 +548,8 @@ void getAccumulatorOutput(void* analog_port_pointer, int64_t *value, uint32_t *c
return;
}
printf("[HAL]\t Getting output...\n");
tAccumulator::tOutput output = port->accumulator->readOutput(status);
printf("[HAL]\t Status: %d, Value: %lld, Count: %d.\n", *status, output.Value, output.Count);
printf("[HAL]\t value: %d, value2: %d, value3: %d.\n", output.value, output.value2, output.value3);
printf("[HAL]\t Value: %lld, Count: %d.\n", port->accumulator->readOutput_Value(status), port->accumulator->readOutput_Count(status));
*value = output.Value;
*count = output.Count;
}

119
wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp
View File

@@ -7,7 +7,7 @@
#include "HAL/Analog.h"
// set the logging level
TLogLevel analogJNILogLevel = logDEBUG;
TLogLevel analogJNILogLevel = logWARNING;
#define ANALOGJNI_LOG(level) \
if (level > analogJNILogLevel) ; \
@@ -278,9 +278,16 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAver
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeight
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject id, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getAnalogLSBWeight(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AnalogLSBWeight = " << returnValue;
return returnValue;
}
/*
@@ -289,9 +296,16 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeig
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOffset
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject id, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getAnalogOffset(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AnalogOffset = " << returnValue;
return returnValue;
}
/*
@@ -300,9 +314,20 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOffset
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorChannel
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject id, jobject status)
{
assert(false);
ANALOGJNI_LOG(logDEBUG) << "isAccumulatorChannel";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
// isAccumulaotrChanel returns a boolean
char vOut = isAccumulatorChannel(*javaId, statusPtr) ? 1 : 0;
//The C++ equivalent of a jbyte is a char
jbyte returnValue = vOut;
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AnalogOffset = " << returnValue;
return returnValue;
}
/*
@@ -311,9 +336,17 @@ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorCh
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject id, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
initAccumulator(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -322,9 +355,14 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject id, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
resetAccumulator(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -333,9 +371,15 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter
(JNIEnv *, jclass, jobject, jint, jobject)
(JNIEnv *env, jclass, jobject id, jint center, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setAccumulatorCenter(*javaId, center, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -344,9 +388,14 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCe
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband
(JNIEnv *, jclass, jobject, jint, jobject)
(JNIEnv *env, jclass, jobject id, jint deadband, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setAccumulatorDeadband(*javaId, deadband, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -355,9 +404,17 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDe
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)J
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv *env, jclass, jobject id, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jlong returnValue = getAccumulatorValue(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AccumulatorValue = " << returnValue;
return returnValue;
}
/*
@@ -366,9 +423,16 @@ JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorV
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv *env, jclass, jobject id, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getAccumulatorCount(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AccumulatorCount = " << returnValue;
return returnValue;
}
/*
@@ -377,9 +441,20 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCo
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/LongBuffer;Ljava/nio/IntBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput
(JNIEnv *, jclass, jobject, jobject, jobject, jobject)
(JNIEnv * env, jclass, jobject id, jobject value, jobject count, jobject status)
{
assert(false);
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jlong * valuePtr = (jlong*)env->GetDirectBufferAddress(value);
uint32_t * countPtr = (uint32_t*)env->GetDirectBufferAddress(count);
getAccumulatorOutput(*javaId, valuePtr, countPtr, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Value = " << *valuePtr;
ANALOGJNI_LOG(logDEBUG) << "Count = " << *countPtr;
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -388,7 +463,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOu
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger
(JNIEnv *, jclass, jobject, jobject, jobject)
(JNIEnv *, jclass, jobject, jobject , jobject)
{
assert(false);
}